Add classic name to markdown references to gazebo

README.md

@@ -1,6 +1,9 @@
-# Gazebo Tutorials #
+# Gazebo-classicTutorials #
 
-This repository contains the source for each gazebo tutorial found on [Gazebo Tutorials](http://classic.gazebosim.org/tutorials).
+This repository contains the source for each Gazebo-classic tutorial found on [Gazebo-classicClassic Tutorials](http://classic.gazebosim.org/tutorials).
+
+> :warning: **WARNING:** This repository is for Gazebo-classic, which has been superseded by [Gazebo](https://gazebosim.org/home).
+Click [here](https://github.com/gazebosim/docs/tree/master) to find the source code to the [latest Gazebo release tutorials](https://gazebosim.org/docs/harmonic/tutorials).
 
 ## Tips for creating tutorials
 

actor/tutorial.md

@@ -1,4 +1,4 @@
-#**This tutorial applies to Gazebo versions 8+**
+#**This tutorial applies to Gazebo-classic versions 8+**
 
 # Overview
 
@@ -58,7 +58,7 @@ meshes, links and joints.
 # Scripted trajectories
 
 This is the high level animation of actors, which consists of specifying
-a series of poses to be reached at specific times. Gazebo takes care of
+a series of poses to be reached at specific times. Gazebo-classic takes care of
 interpolating the motion between them so the movement is fluid.
 
 ## Example world
@@ -188,7 +188,7 @@ the next section!
 
 # Skeleton
 
-Gazebo supports two different skeleton animation file formats:
+Gazebo-classic supports two different skeleton animation file formats:
 [COLLADA (.dae)](https://www.khronos.org/collada/wiki/Main_page) and
 [Biovision Hierarchy (.bvh)](http://research.cs.wisc.edu/graphics/Courses/cs-838-1999/Jeff/BVH.html).
 
@@ -226,22 +226,22 @@ described within the `<skin>` tag.
 
 > **Note**: If you've made
 [custom](/tutorials?tut=import_mesh&cat=build_robot)
-Gazebo models before, you might have used COLLADA files as visuals and
+Gazebo-classic models before, you might have used COLLADA files as visuals and
 collisions for your models. When used within *links*, COLLADA animations are
 ignored, but when used within *skins*, they are loaded!
 
 The file specified in `<filename>` can be an absolute path, for example:
 
     /home/<user>/my_gazebo_models/skeleton_model/skeleton.dae
 
-You can also tell Gazebo to look for the mesh in all the directories contained in
+You can also tell Gazebo-classic to look for the mesh in all the directories contained in
 the environment variable
 [`GAZEBO_MODEL_PATH`](/tutorials?tut=components),
 like this:
 
     model://skeketon_model/skeleton.dae
 
-Finally, you can use a few example meshes which are installed with Gazebo by
+Finally, you can use a few example meshes which are installed with Gazebo-classic by
 referencing directly to their filenames. Below is the list of the ones
 available. Take a look at some of them substituting into the `walk.world` above!
 
@@ -260,7 +260,7 @@ available. Take a look at some of them substituting into the `walk.world` above!
 ### Combining different skins and animations
 
 Sometimes, it is useful to combine different skins with different animations.
-Gazebo allows us to take the skin from one file, and the animation from
+Gazebo-classic allows us to take the skin from one file, and the animation from
 another file, as long as they have compatible skeletons.
 
 For example, the files `walk.dae` and `moonwalk.dae` are compatible so they can
@@ -353,7 +353,7 @@ and try that, I'll even give you an example:
     </sdf>
 
 Go ahead and load it and see what happens. That's not what yopu expected,
-right? The actor's legs are not moving at all. That's because Gazebo doesn't
+right? The actor's legs are not moving at all. That's because Gazebo-classic doesn't
 know which animation to match with which trajectory. So let's change the
 animation name to match the trajectory type like this:
 
@@ -395,10 +395,10 @@ that is, it is not taking any feedback from the environment. Now we're going to
 take a look at an example of how to change the trajectory dinamically using
 plugins.
 
-> **Tip**: If you're not familiar with Gazebo plugins, take a look at some
+> **Tip**: If you're not familiar with Gazebo-classic plugins, take a look at some
 [plugin tutorials](/tutorials?cat=write_plugin) first.
 
-Gazebo has an example world with actors moving around while avoiding obstacles.
+Gazebo-classic has an example world with actors moving around while avoiding obstacles.
 Take a look at it running:
 
     gazebo worlds/cafe.world

add_laser/tutorial.md

@@ -4,7 +4,7 @@
 
 This tutorials demonstrates how the user can create composite models directly
 from other models in the
-[Gazebo Model Database](https://github.com/osrf/gazebo_models)
+[Gazebo-classic Model Database](https://github.com/osrf/gazebo_models)
 by using the
 [\<include\>](http://sdformat.org/spec?ver=1.5&elem=world#world_include)
 tags and
@@ -41,7 +41,7 @@ Adding a laser to a robot, or any model, is simply a matter of including the sen
         </joint>
     ~~~
 
-    The `<include>` block tells Gazebo to find a model, and insert it at a
+    The `<include>` block tells Gazebo-classic to find a model, and insert it at a
     given `<pose>` relative to the parent model. In this case we place the
     hokuyo laser forward and above the robot.  The `<uri>` block tells gazebo
     where to find the model inside its model database (note, you can see a

add_laser/tutorial_6+.md

@@ -4,7 +4,7 @@
 
 This tutorials demonstrates how the user can create composite models directly
 from other models in the
-[Gazebo Model Database](https://github.com/osrf/gazebo_models)
+[Gazebo-classic Model Database](https://github.com/osrf/gazebo_models)
 by using the
 [\<include\>](http://sdformat.org/spec?ver=1.5&elem=world#world_include)
 tags and
@@ -34,7 +34,7 @@ Adding a laser to a robot, or any model, is simply a matter of including the sen
         </joint>
     ~~~
 
-    The `<include>` block tells Gazebo to find a model, and insert it at a
+    The `<include>` block tells Gazebo-classic to find a model, and insert it at a
     given `<pose>` relative to the parent model. In this case we place the
     hokuyo laser forward and above the robot.  The `<uri>` block tells gazebo
     where to find the model inside its model database (note, you can see a
@@ -55,7 +55,7 @@ Adding a laser to a robot, or any model, is simply a matter of including the sen
 
     When the hokuyo model is inserted, the hokuyo's links are namespaced with their model name. In this case the model name is `hokuyo`, so each link in the hokuyo model is prefaced with `hokuyo::`.
 
-1.  Now start gazebo, and add the robot to the simulation using the Insert tab on the GUI. If the hokuyo model does not exist locally, Gazebo will pull the model from the [Model Database](https://github.com/osrf/gazebo_models). Alternatively, manually download the model files to your local cache:
+1.  Now start gazebo, and add the robot to the simulation using the Insert tab on the GUI. If the hokuyo model does not exist locally, Gazebo-classic will pull the model from the [Model Database](https://github.com/osrf/gazebo_models). Alternatively, manually download the model files to your local cache:
 
         cd ~/.gazebo/models
         wget -q -R *index.html*,*.tar.gz --no-parent -r -x -nH http://models.gazebosim.org/hokuyo/

aerodynamics/tutorial.md

@@ -1,7 +1,7 @@
 # Overview
 
 This tutorial gives an overview of the physical phenomena of lift and drag
-and how they are implemented in Gazebo in the [LiftDragPlugin](http://gazebosim.org/api/code/dev/classgazebo_1_1LiftDragPlugin.html). After this
+and how they are implemented in Gazebo-classic in the [LiftDragPlugin](http://gazebosim.org/api/code/dev/classgazebo_1_1LiftDragPlugin.html). After this
 tutorial, you will be able to simulate aerodynamic robots.
 
 # Physics background
@@ -11,7 +11,7 @@ tutorial, you will be able to simulate aerodynamic robots.
 Fluid mechanics is the study of the forces on or due to liquids and gases.
 Solving fluid mechanics problems is complex, and a truly
 faithful simulation of fluid mechanics would be computationally prohibitive.
-Thus, Gazebo simulates the forces on an object immersed in a fluid and applies
+Thus, Gazebo-classic simulates the forces on an object immersed in a fluid and applies
 the forces to the object's links directly. In particular, the phenomena of lift
 and drag are instrumental to underwater and aerodynamic vehicles.
 
@@ -65,7 +65,7 @@ and drag coefficient.
 
 Note in this example, the airfoil has non-zero camber, and has a net
 positive lift at zero angle of attack.  To obtain equivalent representation
-using the current Gazebo `LiftDragPlugin` plugin parameters, shift the entire
+using the current Gazebo-classic `LiftDragPlugin` plugin parameters, shift the entire
 curve to the right such that the zero lift point corresponds to zero
 angle of attack. And we can label the original zero angle of attack
 location as `a0` in the shifted curve, i.e. `a0` is 5 degrees.
@@ -149,7 +149,7 @@ types:
 
 * [CessnaPlugin](http://gazebosim.org/api/code/dev/classgazebo_1_1CessnaPlugin.html):
 This model plugin exposes the topic `~/cessna_c172/control` for controlling the
-thrust and control surfaces via Gazebo messages. It also publishes the state of
+thrust and control surfaces via Gazebo-classic messages. It also publishes the state of
 the model into the topic `~/cessna_c172/state`. Please, read the documentation
 included in the header file of this plugin for a detailed explanation of its
 required and optional parameters. Here is the plugin block included in our
@@ -203,7 +203,7 @@ the Cessna:
 gz topic -e /gazebo/default/cessna_c172/state
 ~~~
 
-In the Gazebo window, right click on the model and press `Follow`. The user
+In the Gazebo-classic window, right click on the model and press `Follow`. The user
 camera will follow the plane during the flight and you will not lose it.
 
 Press '1' to start the preset for take-off. The propeller

animated_box/tutorial.md

@@ -4,7 +4,7 @@ This tutorial creates a simulation world with a simple box that is animated
 in a 10 second repeating loop where it slides around on the ground.
 
 This tutorial also demonstrates several different ways of viewing,
-accessing, and interacting with simulation using the Gazebo executable
+accessing, and interacting with simulation using the Gazebo-classic executable
 or your own custom executable.
 
 The simulated box broadcasts its pose,
@@ -43,7 +43,7 @@ cmake ../
 make
 ~~~
 
-Make sure Gazebo can load the plugins later
+Make sure Gazebo-classic can load the plugins later
 
 ~~~
 export GAZEBO_PLUGIN_PATH=`pwd`:$GAZEBO_PLUGIN_PATH
@@ -71,9 +71,9 @@ You should see a graphical interface that displays the pose of the box.
 
 # Connect to a simulation with your own executable
 
-Make sure Gazebo is not running.
+Make sure Gazebo-classic is not running.
 
-We will start Gazebo as above, and then run the independent listener
+We will start Gazebo-classic as above, and then run the independent listener
 executable that connects to Gazebo. The independent listener receives
 the location and timestamp of the box and prints it out.
 
@@ -84,7 +84,7 @@ gazebo animated_box.world & ./build/independent_listener
 
 # Run the simulation and connect with your own executable
 
-Make sure Gazebo is not running.
+Make sure Gazebo-classic is not running.
 
 The integrated_main example demonstrates the following:
 

animated_box/tutorial_4.md

@@ -4,7 +4,7 @@ This tutorial creates a simulation world with a simple box that is animated
 in a 10 second repeating loop where it slides around on the ground.
 
 This tutorial also demonstrates several different ways of viewing,
-accessing, and interacting with simulation using the Gazebo executable
+accessing, and interacting with simulation using the Gazebo-classic executable
 or your own custom executable.
 
 The simulated box broadcasts its pose,
@@ -41,7 +41,7 @@ cmake ../
 make
 ~~~
 
-Make sure Gazebo can load the plugins later
+Make sure Gazebo-classic can load the plugins later
 
 ~~~
 export GAZEBO_PLUGIN_PATH=`pwd`:$GAZEBO_PLUGIN_PATH
@@ -69,9 +69,9 @@ You should see a graphical interface that displays the pose of the box.
 
 # Connect to a simulation with your own executable
 
-Make sure Gazebo is not running.
+Make sure Gazebo-classic is not running.
 
-We will start Gazebo as above, and then run the independent listener
+We will start Gazebo-classic as above, and then run the independent listener
 executable that connects to Gazebo. The independent listener receives
 the location and timestamp of the box and prints it out.
 
@@ -82,7 +82,7 @@ gazebo animated_box.world & ./build/independent_listener
 
 # Run the simulation and connect with your own executable
 
-Make sure Gazebo is not running.
+Make sure Gazebo-classic is not running.
 
 The integrated_main example demonstrates the following:
 

animated_box/tutorial_6.md

@@ -4,7 +4,7 @@ This tutorial creates a simulation world with a simple box that is animated
 in a 10 second repeating loop where it slides around on the ground.
 
 This tutorial also demonstrates several different ways of viewing,
-accessing, and interacting with simulation using the Gazebo executable
+accessing, and interacting with simulation using the Gazebo-classic executable
 or your own custom executable.
 
 The simulated box broadcasts its pose,
@@ -43,7 +43,7 @@ cmake ../
 make
 ~~~
 
-Make sure Gazebo can load the plugins later
+Make sure Gazebo-classic can load the plugins later
 
 ~~~
 export GAZEBO_PLUGIN_PATH=`pwd`:$GAZEBO_PLUGIN_PATH
@@ -71,9 +71,9 @@ You should see a graphical interface that displays the pose of the box.
 
 # Connect to a simulation with your own executable
 
-Make sure Gazebo is not running.
+Make sure Gazebo-classic is not running.
 
-We will start Gazebo as above, and then run the independent listener
+We will start Gazebo-classic as above, and then run the independent listener
 executable that connects to Gazebo. The independent listener receives
 the location and timestamp of the box and prints it out.
 
@@ -84,7 +84,7 @@ gazebo animated_box.world & ./build/independent_listener
 
 # Run the simulation and connect with your own executable
 
-Make sure Gazebo is not running.
+Make sure Gazebo-classic is not running.
 
 The integrated_main example demonstrates the following:
 

apply_force_torque/tutorial.md

@@ -4,7 +4,7 @@ This tutorial will explain how to apply force and/or torque to models during sim
 
 # Applying force and torque examples
 
-Let's go through an example of applying force and torque to simple models. Open Gazebo and from the insert tab, insert a `Simple Arm` into the scene. Then, from the top toolbar, insert a box. Make sure the simulation is not paused.
+Let's go through an example of applying force and torque to simple models. Open Gazebo-classic and from the insert tab, insert a `Simple Arm` into the scene. Then, from the top toolbar, insert a box. Make sure the simulation is not paused.
 
 [[file:files/insert_models.png|800px]]
 

architecture/tutorial.md

@@ -1,6 +1,6 @@
 # Introduction
 
-Gazebo uses a distributed architecture
+Gazebo-classic uses a distributed architecture
 with separate libraries for physics simulation,
 rendering, user interface, communication, and sensor generation.
 Additionally, gazebo provides two executable programs for running simulations:
@@ -27,7 +27,7 @@ of Gazebo.
 
 ## System
 
-### Gazebo Master
+### Gazebo-classic Master
 
 This is essentially a topic name server.
 It provides name lookup, and topic management.
@@ -37,7 +37,7 @@ sensor generators, and GUIs.
 ### Communication Library
 
  * **Dependencies:** Protobuf and boost::ASIO
- * **External API:** Support communication with Gazebo nodes over named topics
+ * **External API:** Support communication with Gazebo-classic nodes over named topics
  * **Internal API:** None
  * **Advertised Topics:** None
  * **Subscribed Topics:** None

attach_gripper/tutorial-1.9+.md

@@ -50,6 +50,6 @@ Start up gazebo and make sure you can load the models from the two previous tuto
 
     <include src='https://github.com/osrf/gazebo_tutorials/raw/master/attach_gripper/files/manipulator-1.9+.sdf' />
 
-1. Make sure the `model.config` and `manipulator.sdf` files above are saved, start Gazebo and spawn the model above by using the **insert** tab and choosing **Simple Mobile Manipulator** model.  You should see something similar to:
+1. Make sure the `model.config` and `manipulator.sdf` files above are saved, start Gazebo-classic and spawn the model above by using the **insert** tab and choosing **Simple Mobile Manipulator** model.  You should see something similar to:
 
     [[file:files/Simple_mobile_manipulator.png|640px]]

attach_gripper/tutorial.md

@@ -50,6 +50,6 @@ Start up gazebo and make sure you can load the models from the two previous tuto
 
     <include src='https://github.com/osrf/gazebo_tutorials/raw/master/attach_gripper/files/manipulator.sdf' />
 
-1. Make sure the `model.config` and `manipulator.sdf` files above are saved, start Gazebo and spawn the model above by using the **insert** tab and choosing **Simple Mobile Manipulator** model.  You should see something similar to:
+1. Make sure the `model.config` and `manipulator.sdf` files above are saved, start Gazebo-classic and spawn the model above by using the **insert** tab and choosing **Simple Mobile Manipulator** model.  You should see something similar to:
 
     [[file:files/Simple_mobile_manipulator.png|640px]]

attach_meshes/tutorial.md

@@ -45,7 +45,7 @@ The most common use case for a mesh is to create a realistic looking visual.
 
         ls -l ~/.gazebo/models/pioneer2dx/meshes/chassis.dae
 
-    If the mesh file does not exist, make Gazebo pull the model from the [Model Database](https://github.com/osrf/gazebo_models) by spawning the `Pioneer 2DX` model at least once in gazebo (under `Insert->http://gazebosim.org/models`).
+    If the mesh file does not exist, make Gazebo-classic pull the model from the [Model Database](https://github.com/osrf/gazebo_models) by spawning the `Pioneer 2DX` model at least once in gazebo (under `Insert->http://gazebosim.org/models`).
 
     Or manually download the model files to your local cache:
 

build_model/tutorial-7.md

@@ -27,13 +27,13 @@ SDF Models can range from simple shapes to complex robots. It refers to the `<mo
 
 ### Step 1: Collect your meshes
 
-This step involves gathering all the necessary 3D mesh files that are required to build your model. Gazebo provides a set of simple shapes: box, sphere, and cylinder. If your model needs something more complex, then continue reading.
+This step involves gathering all the necessary 3D mesh files that are required to build your model. Gazebo-classic provides a set of simple shapes: box, sphere, and cylinder. If your model needs something more complex, then continue reading.
 
 Meshes come from a number of places. [Google's 3D warehouse](https://3dwarehouse.sketchup.com/index.html) is a good repository of 3D models. Alternatively, you may already have the necessary files. Finally, you can make your own meshes using a 3D modeler such as [Blender](http://blender.org) or [Sketchup](http://sketchup.google.com).
 
-Gazebo requires that mesh files be formatted as STL, Collada or OBJ, with Collada and OBJ being the preferred formats.
+Gazebo-classic requires that mesh files be formatted as STL, Collada or OBJ, with Collada and OBJ being the preferred formats.
 
-> **Tip:** Use your 3D modeling software to move each mesh so that it is centered on the origin. This will make placement of the model in Gazebo significantly easier.
+> **Tip:** Use your 3D modeling software to move each mesh so that it is centered on the origin. This will make placement of the model in Gazebo-classic significantly easier.
 
 > **Tip:** Collada and OBJ file formats allow you to attach materials to the meshes. Use this mechanism to improve the visual appearance of your meshes.