Migrate to Ignition Garden 🔥🌱

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

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 \

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 \

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 \

lrauv_description/models/tethys_equipped/model.sdf

@@ -181,7 +181,7 @@
       </plugin>
       <plugin
         filename="ignition-gazebo-buoyancy-engine-system"
-        name="ignition::gazebo::v6::systems::BuoyancyEnginePlugin">
+        name="ignition::gazebo::systems::BuoyancyEngine">
         <link_name>buoyancy_engine</link_name>
         <namespace>tethys</namespace>
         <fluid_density>1000</fluid_density>

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})

lrauv_ignition_plugins/src/WorldCommPlugin.cc

@@ -218,7 +218,7 @@ std::string WorldCommPlugin::TethysSdfString(const std::string &_id)
           <state_topic>)" + _id + R"(/state_topic</state_topic>
         </plugin>
 
-        <plugin element_id="ignition::gazebo::v6::systems::BuoyancyEnginePlugin" action="modify">
+        <plugin element_id="ignition::gazebo::systems::BuoyancyEngine" action="modify">
           <namespace>)" + _id + R"(</namespace>
         </plugin>
 

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;

lrauv_ignition_plugins/worlds/multi_lrauv.sdf

@@ -131,7 +131,7 @@
           <command_topic>triton/command_topic</command_topic>
           <state_topic>triton/state_topic</state_topic>
         </plugin>
-        <plugin element_id="ignition::gazebo::v6::systems::BuoyancyEnginePlugin" action="modify">
+        <plugin element_id="ignition::gazebo::systems::BuoyancyEngine" action="modify">
           <namespace>triton</namespace>
         </plugin>
         <plugin element_id="ignition::gazebo::systems::DetachableJoint" action="modify">
@@ -174,7 +174,7 @@
           <command_topic>daphne/command_topic</command_topic>
           <state_topic>daphne/state_topic</state_topic>
         </plugin>
-        <plugin element_id="ignition::gazebo::v6::systems::BuoyancyEnginePlugin" action="modify">
+        <plugin element_id="ignition::gazebo::systems::BuoyancyEngine" action="modify">
           <namespace>daphne</namespace>
         </plugin>
         <plugin element_id="ignition::gazebo::systems::DetachableJoint" action="modify">

lrauv_ignition_plugins/worlds/star_world.sdf

@@ -96,7 +96,7 @@
           <command_topic>tethys2/command_topic</command_topic>
           <state_topic>tethys2/state_topic</state_topic>
         </plugin>
-        <plugin element_id="ignition::gazebo::v6::systems::BuoyancyEnginePlugin" action="modify">
+        <plugin element_id="ignition::gazebo::systems::BuoyancyEngine" action="modify">
           <namespace>tethys2</namespace>
         </plugin>
         <plugin element_id="ignition::gazebo::systems::DetachableJoint" action="modify">
@@ -137,7 +137,7 @@
           <command_topic>tethys3/command_topic</command_topic>
           <state_topic>tethys3/state_topic</state_topic>
         </plugin>
-        <plugin element_id="ignition::gazebo::v6::systems::BuoyancyEnginePlugin" action="modify">
+        <plugin element_id="ignition::gazebo::systems::BuoyancyEngine" action="modify">
           <namespace>tethys3</namespace>
         </plugin>
         <plugin element_id="ignition::gazebo::systems::DetachableJoint" action="modify">
@@ -178,7 +178,7 @@
           <command_topic>tethys4/command_topic</command_topic>
           <state_topic>tethys4/state_topic</state_topic>
         </plugin>
-        <plugin element_id="ignition::gazebo::v6::systems::BuoyancyEnginePlugin" action="modify">
+        <plugin element_id="ignition::gazebo::systems::BuoyancyEngine" action="modify">
           <namespace>tethys4</namespace>
         </plugin>
         <plugin element_id="ignition::gazebo::systems::DetachableJoint" action="modify">
@@ -196,6 +196,6 @@
     </include>
 
 
- 
+
   </world>
 </sdf>