diff --git a/README.md b/README.md
index aa0d6b61..f408d350 100644
--- a/README.md
+++ b/README.md
@@ -39,7 +39,7 @@ docker/join.sh mbari_lrauv
## To build
To run the code in this repository natively without Docker, make sure you have
-[Ignition Fortress](https://ignitionrobotics.org/docs/fortress) and
+[Ignition Garden](https://ignitionrobotics.org/docs/garden) and
[colcon](https://colcon.readthedocs.io/en/released/), on Ubuntu Focal or higher.
Install dependencies
diff --git a/docker/debug_integration/Dockerfile b/docker/debug_integration/Dockerfile
index ee30fcb6..e030016a 100644
--- a/docker/debug_integration/Dockerfile
+++ b/docker/debug_integration/Dockerfile
@@ -19,7 +19,7 @@
# Research Institute (MBARI) and the David and Lucile Packard Foundation
#
-FROM mbari/lrauv-ignition-sim
+FROM mbari/lrauv-ignition-sim:garden
USER root
@@ -41,11 +41,12 @@ RUN apt-get update \
# Add Ignition's latest packages, which may be more up-to-date than the ones from the MBARI image
RUN /bin/sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list' && \
+ /bin/sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-nightly `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-nightly.list' && \
/bin/sh -c 'wget http://packages.osrfoundation.org/gazebo.key -O - | apt-key add -'
# Install the latest Ignition binaries
RUN apt-get -qq update && apt-get -q -y install \
- ignition-fortress
+ ignition-garden
# Install PCL
RUN apt-get update \
diff --git a/docker/empty_world/Dockerfile b/docker/empty_world/Dockerfile
index 853a0297..e18a5c41 100644
--- a/docker/empty_world/Dockerfile
+++ b/docker/empty_world/Dockerfile
@@ -73,12 +73,13 @@ RUN apt-get -qq update && apt-get -q -y install \
ENV IGN_WS /home/ign_ws
RUN mkdir -p ${IGN_WS}/src \
&& cd ${IGN_WS}/src \
- && wget https://raw.githubusercontent.com/ignition-tooling/gazebodistro/master/collection-fortress.yaml \
- && vcs import < collection-fortress.yaml
+ && wget https://raw.githubusercontent.com/ignition-tooling/gazebodistro/master/collection-garden.yaml \
+ && vcs import < collection-garden.yaml
# Install Ignition dependencies
# This parses Ignition source tree to find package dependencies
RUN /bin/sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list' \
+ && /bin/sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-nightly `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-nightly.list' \
&& /bin/sh -c 'wget http://packages.osrfoundation.org/gazebo.key -O - | apt-key add -' \
&& apt-get update \
&& apt-get install -y \
diff --git a/docker/tests/Dockerfile b/docker/tests/Dockerfile
index c3f3b9c2..f91b6c6e 100644
--- a/docker/tests/Dockerfile
+++ b/docker/tests/Dockerfile
@@ -19,7 +19,7 @@
# Research Institute (MBARI) and the David and Lucile Packard Foundation
#
-FROM mbari/lrauv-ignition-sim
+FROM mbari/lrauv-ignition-sim:garden
USER root
@@ -41,11 +41,12 @@ RUN apt-get update \
# Add Ignition's latest packages, which may be more up-to-date than the ones from the MBARI image
RUN /bin/sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list' && \
+ /bin/sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-nightly `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-nightly.list' && \
/bin/sh -c 'wget http://packages.osrfoundation.org/gazebo.key -O - | apt-key add -'
# Install the latest Ignition binaries
RUN apt-get -qq update && apt-get -q -y install \
- ignition-fortress
+ ignition-garden
# Install PCL
RUN apt-get update \
diff --git a/lrauv_description/models/tethys_equipped/model.sdf b/lrauv_description/models/tethys_equipped/model.sdf
index 46e648c8..6f48b2fc 100644
--- a/lrauv_description/models/tethys_equipped/model.sdf
+++ b/lrauv_description/models/tethys_equipped/model.sdf
@@ -181,7 +181,7 @@
+ name="ignition::gazebo::systems::BuoyancyEngine">
buoyancy_engine
tethys
1000
diff --git a/lrauv_ignition_plugins/CMakeLists.txt b/lrauv_ignition_plugins/CMakeLists.txt
index b9579b9f..d592e798 100644
--- a/lrauv_ignition_plugins/CMakeLists.txt
+++ b/lrauv_ignition_plugins/CMakeLists.txt
@@ -20,20 +20,20 @@ endif()
# Find dependencies
find_package(ignition-cmake2 REQUIRED)
-find_package(ignition-gazebo6 REQUIRED COMPONENTS gui)
-set(IGN_GAZEBO_VER ${ignition-gazebo6_VERSION_MAJOR})
+find_package(ignition-gazebo7 REQUIRED COMPONENTS gui)
+set(IGN_GAZEBO_VER ${ignition-gazebo7_VERSION_MAJOR})
-find_package(ignition-gui6 REQUIRED)
-set(IGN_GUI_VER ${ignition-gui6_VERSION_MAJOR})
+find_package(ignition-gui7 REQUIRED)
+set(IGN_GUI_VER ${ignition-gui7_VERSION_MAJOR})
-find_package(ignition-rendering6 REQUIRED)
-set(IGN_RENDERING_VER ${ignition-rendering6_VERSION_MAJOR})
+find_package(ignition-rendering7 REQUIRED)
+set(IGN_RENDERING_VER ${ignition-rendering7_VERSION_MAJOR})
-find_package(ignition-sensors6 REQUIRED)
-set(IGN_SENSORS_VER ${ignition-sensors6_VERSION_MAJOR})
+find_package(ignition-sensors7 REQUIRED)
+set(IGN_SENSORS_VER ${ignition-sensors7_VERSION_MAJOR})
-find_package(ignition-msgs8 REQUIRED)
-set(IGN_MSGS_VER ${ignition-msgs8_VERSION_MAJOR})
+find_package(ignition-msgs9 REQUIRED)
+set(IGN_MSGS_VER ${ignition-msgs9_VERSION_MAJOR})
find_package(ignition-plugin1 REQUIRED COMPONENTS register)
set(IGN_PLUGIN_VER ${ignition-plugin1_VERSION_MAJOR})
diff --git a/lrauv_ignition_plugins/src/WorldCommPlugin.cc b/lrauv_ignition_plugins/src/WorldCommPlugin.cc
index 6a3b40c5..255af06a 100644
--- a/lrauv_ignition_plugins/src/WorldCommPlugin.cc
+++ b/lrauv_ignition_plugins/src/WorldCommPlugin.cc
@@ -218,7 +218,7 @@ std::string WorldCommPlugin::TethysSdfString(const std::string &_id)
)" + _id + R"(/state_topic
-
+
)" + _id + R"(
diff --git a/lrauv_ignition_plugins/test/test_mission_yoyo_circle.cc b/lrauv_ignition_plugins/test/test_mission_yoyo_circle.cc
index a18d937d..89884286 100644
--- a/lrauv_ignition_plugins/test/test_mission_yoyo_circle.cc
+++ b/lrauv_ignition_plugins/test/test_mission_yoyo_circle.cc
@@ -96,7 +96,7 @@ TEST_F(LrauvTestFixture, YoYoCircle)
if (i > 2000)
{
// Check that the vehicle actually is moving.
- EXPECT_LT(0.0, linVel);
+ EXPECT_LT(0.0, linVel) << i;
}
EXPECT_NEAR(1.0, linVel, 1.0) << i;
diff --git a/lrauv_ignition_plugins/worlds/multi_lrauv.sdf b/lrauv_ignition_plugins/worlds/multi_lrauv.sdf
index 7beed595..4b06618d 100644
--- a/lrauv_ignition_plugins/worlds/multi_lrauv.sdf
+++ b/lrauv_ignition_plugins/worlds/multi_lrauv.sdf
@@ -131,7 +131,7 @@
triton/command_topic
triton/state_topic
-
+
triton
@@ -174,7 +174,7 @@
daphne/command_topic
daphne/state_topic
-
+
daphne
diff --git a/lrauv_ignition_plugins/worlds/star_world.sdf b/lrauv_ignition_plugins/worlds/star_world.sdf
index 8652a38a..bb6b6f17 100644
--- a/lrauv_ignition_plugins/worlds/star_world.sdf
+++ b/lrauv_ignition_plugins/worlds/star_world.sdf
@@ -96,7 +96,7 @@
tethys2/command_topic
tethys2/state_topic
-
+
tethys2
@@ -137,7 +137,7 @@
tethys3/command_topic
tethys3/state_topic
-
+
tethys3
@@ -178,7 +178,7 @@
tethys4/command_topic
tethys4/state_topic
-
+
tethys4
@@ -196,6 +196,6 @@
-
+