Update Gazebo nomenclature

.ci/install_debian.sh

@@ -21,7 +21,7 @@ source ${SCRIPT_DIR}/../scripts/install_apt_python_dependencies.sh
 # Octave
 apt-get install -y liboctave-dev
 
-# Gazebo
+# Gazebo Classic
 lsb_dist="$(. /etc/os-release && echo "$ID")"
 dist_version="$(lsb_release -c | cut -d: -f2 | sed s/'^\t'//)"
 echo "lsb_dist: ${lsb_dist}"

CMakeLists.txt

@@ -75,7 +75,7 @@ endif()
 # Configure a setup.sh
 if(ROBOTOLOGY_USES_GAZEBO)
   if(WIN32 OR ROBOTOLOGY_CONFIGURING_UNDER_CONDA)
-    # On Windows or Conda we assume that the Gazebo's enviroment variables are already set,
+    # On Windows or Conda we assume that the Gazebo Classic's environment variables are already set,
     # so we set as this name a file that does not exists and so will be ignored
     set(GAZEBO_SETUP_SH_PATH "on-windows-or-conda-we-assume-that-gazebo-env-variables-are-already-set")
   elseif(APPLE)

README.md

@@ -130,11 +130,11 @@ More details can be found at https://github.com/robotology/QA/issues/364 .
 
 For some [profile](doc/cmake-options.md#profile-cmake-options) or [dependency](doc/cmake-options.md#dependencies-cmake-options) specific CMake option you may need to install additional system dependencies, following the dependency-specific documentation listed in the following. If you do not want to enable an option, you should ignore the corresponding section and continue with the installation process.
 
-Note that the `ROBOTOLOGY_USES_GAZEBO` option is enabled by default, so you should install Gazebo unless you plan to disable this option.
+Note that the `ROBOTOLOGY_USES_GAZEBO` option is enabled by default, so you should install Gazebo Classic unless you plan to disable this option.
 
 #### `ROBOTOLOGY_USES_GAZEBO`
 
-On Linux with apt dependencies install Gazebo classic, if you are on:
+On Linux with apt dependencies install Gazebo Classic, if you are on:
 * Ubuntu 20.04
 * Debian Buster 10
 
@@ -147,7 +147,7 @@ sudo apt install libgazebo-dev
 
 #### `ROBOTOLOGY_USES_GZ`
 
-On Ubuntu Jammy (22.04) and other supported Debian/Ubuntu systems, follow the instructions available at https://gazebosim.org/docs/harmonic/install_ubuntu#binary-installation-on-ubuntu .
+To install Modern Gazebo (gz-sim) on Ubuntu Jammy (22.04) and other supported Debian/Ubuntu systems, follow the instructions available at https://gazebosim.org/docs/harmonic/install_ubuntu#binary-installation-on-ubuntu .
 
 #### `ROBOTOLOGY_USES_PYTHON`
 

cmake/template/setup.sh.in

@@ -26,7 +26,7 @@ export GAZEBO_RESOURCE_PATH=${GAZEBO_RESOURCE_PATH:+${GAZEBO_RESOURCE_PATH}:}${R
 
 @cmakeif ROBOTOLOGY_USES_GZ
 # ROBOTOLOGY_USES_GZ-specific lines
-# Gazebo related env variables (see https://gazebosim.org/api/sim/8/resources.html )
+# Modern Gazebo (gz-sim) related env variables (see https://gazebosim.org/api/sim/8/resources.html )
 export GZ_SIM_SYSTEM_PLUGIN_PATH=${GZ_SIM_SYSTEM_PLUGIN_PATH:+${GZ_SIM_SYSTEM_PLUGIN_PATH}:}${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/lib
 export GZ_SIM_RESOURCE_PATH=${GZ_SIM_RESOURCE_PATH:+${GZ_SIM_RESOURCE_PATH}:}${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/gazebo/models:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/iCub/robots:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/ergoCub/robots:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/gazebo/worlds
 @endcmakeif ROBOTOLOGY_USES_GZ

doc/cmake-options.md

@@ -18,7 +18,7 @@ Table of Contents
     * [Event-driven profile](#event-driven)
   * [Dependencies-specific documentation](#dependencies-specific-documentation)
     * [Gazebo Classic simulator](#gazebo-classic-simulator)
-    * [Modern Gazebo (gz-sim) simulator](#modern-gazebo-simulator)
+    * [Modern Gazebo simulator](#modern-gazebo-simulator)
     * [MuJoCo simulator](#mujoco)
     * [Ignition](#ignition)
     * [MATLAB](#matlab)
@@ -63,7 +63,7 @@ The dependencies CMake options specify if the packages dependending on something
 | CMake Option | Description | Default Value | Dependency-specific documentation |
 |:------------:|:-----------:|:-------------:|:---------------------------------:|
 | `ROBOTOLOGY_USES_GAZEBO`  | Include software and plugins that depend on the [Gazebo Classic simulator](https://classic.gazebosim.org/).  | `ON` | [Documentation on Gazebo Classic dependency.](#gazebo-classic-simulator) |
-| `ROBOTOLOGY_USES_GZ_SIM`  | Include software and plugins that depend on the [Gazebo simulator](http://gazebosim.org/). This and `ROBOTOLOGY_USES_GAZEBO` options are mutually exclusive. | `OFF` | [Documentation on Gazebo dependency.](#gazebo-simulator) |
+| `ROBOTOLOGY_USES_GZ_SIM`  | Include software and plugins that depend on the [Modern Gazebo (gz-sim) simulator](http://gazebosim.org/). | `OFF` | [Documentation on Modern Gazebo (gz-sim) dependency.](#modern-gazebo-simulator) |
 | `ROBOTOLOGY_USES_MUJOCO`  | Include software and plugins that depend on the [MuJoCo simulator](https://mujoco.org/).  | `ON` | [Documentation on MuJoCo dependency.](#mujoco) |
 | `ROBOTOLOGY_USES_PCL_AND_VTK`  | Include software and plugins that depend on the [PCL](https://pointclouds.org/) or [VTK](https://vtk.org/). | `OFF`   | [Documentation on PCL and VTK dependency.](#pcl_and_vtk) |
 | `ROBOTOLOGY_USES_IGNITION` | Include software that depends on [Ignition](ignitionrobotics.org/). | `OFF` | [Documentation on Ignition Gazebo dependency.](#ignition) |

doc/conda-forge.md

@@ -73,11 +73,16 @@ For example, if you want to install yarp and icub-main, you simple need to insta
 mamba install -c conda-forge -c robotology yarp icub-main
 ~~~
 
-In addition, if you want to simulate the iCub in Gazebo, you should also install `icub-models` and `gazebo-yarp-plugins`:
+In addition, if you want to simulate the iCub in Gazebo Classic, you should also install `icub-models` and `gazebo-yarp-plugins`:
 ~~~
 mamba install -c conda-forge -c robotology gazebo-yarp-plugins icub-models
 ~~~
 
+While if you want to simulate it with Modern Gazebo (gz-sim), you should install `icub-models` and `gz-sim-yarp-plugins`:
+~~~
+mamba install -c conda-forge -c robotology gz-sim-yarp-plugins icub-models
+~~~
+
 If you want to develop some C++ code on the top of these libraries, it is recommended to also install the necessary compiler and development tools directly in the same environment:
 ~~~
 mamba install -c conda-forge compilers cmake pkg-config make ninja

doc/environment-variables-configuration.md

@@ -62,18 +62,18 @@ For all dependecies option not listed, no additional configuration is necessary.
 ### Gazebo Classic
 The following enviroment variables need to be appended with robotology-superbuild related directories:
 ~~~
-# Gazebo related env variables (see http://gazebosim.org/tutorials?tut=components#EnvironmentVariables )
+# Gazebo Classic related env variables (see http://gazebosim.org/tutorials?tut=components#EnvironmentVariables )
 # This is only necessary if are using apt, if you are using conda-forge do not include the next line
 source /usr/share/gazebo/setup.sh
 export GAZEBO_PLUGIN_PATH=${GAZEBO_PLUGIN_PATH}:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/lib
 export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/gazebo/models:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/iCub/robots:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/ergoCub/robots
 export GAZEBO_RESOURCE_PATH=${GAZEBO_RESOURCE_PATH}:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/gazebo/worlds
 ~~~
 
-### Gazebo
+### Modern Gazebo
 The following enviroment variables need to be appended with robotology-superbuild related directories:
 ~~~
-# Gazebo related env variables (see https://gazebosim.org/api/sim/8/resources.html )
+# Modern Gazebo (gz-sim) related env variables (see https://gazebosim.org/api/sim/8/resources.html )
 export GZ_SIM_SYSTEM_PLUGIN_PATH=${GZ_SIM_SYSTEM_PLUGIN_PATH}:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/lib
 export GZ_SIM_RESOURCE_PATH=${GZ_SIM_RESOURCE_PATH}:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/gazebo/models:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/iCub/robots:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/ergoCub/robots:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/gazebo/worlds
 ~~~
@@ -95,7 +95,7 @@ For MATLAB to find the robot model files added by the repository [`matlab-whole-
 `GAZEBO_MODEL_PATH` needs to be appended with:
 * `$ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX/share/RRbot/robots`
 
-#### MATLAB/Gazebo
+#### MATLAB/Modern Gazebo
 
 `GZ_SIM_RESOURCE_PATH` needs to be appended with:
 * `$ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX/share/RRbot/robots`