gz_sim対応(crane_plus_gazeboパッケージ)

rt-net · Nov 26, 2024 · d0fa64a · d0fa64a
1 parent d6a4e16
commit d0fa64a
Show file tree

Hide file tree

Showing 3 changed files with 32 additions and 32 deletions.
diff --git a/crane_plus_gazebo/gui/gui.config b/crane_plus_gazebo/gui/gui.config
@@ -28,11 +28,11 @@
 
 <!-- 3D scene -->
 <plugin filename="GzScene3D" name="3D View">
-  <ignition-gui>
+  <gz-gui>
     <title>3D View</title>
     <property type="bool" key="showTitleBar">false</property>
     <property type="string" key="state">docked</property>
-  </ignition-gui>
+  </gz-gui>
 
   <engine>ogre2</engine>
   <scene>scene</scene>
@@ -43,7 +43,7 @@
 
 <!-- Play / pause / step -->
 <plugin filename="WorldControl" name="World control">
-  <ignition-gui>
+  <gz-gui>
     <title>World control</title>
     <property type="bool" key="showTitleBar">false</property>
     <property type="bool" key="resizable">false</property>
@@ -56,7 +56,7 @@
       <line own="left" target="left"/>
       <line own="bottom" target="bottom"/>
     </anchors>
-  </ignition-gui>
+  </gz-gui>
 
   <play_pause>true</play_pause>
   <step>true</step>
@@ -66,7 +66,7 @@
 
 <!-- Time / RTF -->
 <plugin filename="WorldStats" name="World stats">
-  <ignition-gui>
+  <gz-gui>
     <title>World stats</title>
     <property type="bool" key="showTitleBar">false</property>
     <property type="bool" key="resizable">false</property>
@@ -79,7 +79,7 @@
       <line own="right" target="right"/>
       <line own="bottom" target="bottom"/>
     </anchors>
-  </ignition-gui>
+  </gz-gui>
 
   <sim_time>true</sim_time>
   <real_time>true</real_time>
@@ -90,7 +90,7 @@
 
 <!-- Translate / rotate -->
 <plugin filename="TransformControl" name="Transform control">
-  <ignition-gui>
+  <gz-gui>
     <property key="resizable" type="bool">false</property>
     <property key="x" type="double">0</property>
     <property key="y" type="double">0</property>
@@ -99,12 +99,12 @@
     <property key="state" type="string">floating</property>
     <property key="showTitleBar" type="bool">false</property>
     <property key="cardBackground" type="string">#666666</property>
-  </ignition-gui>
+  </gz-gui>
 </plugin>
 
 <!-- Insert simple shapes -->
 <plugin filename="Shapes" name="Shapes">
-  <ignition-gui>
+  <gz-gui>
     <property key="resizable" type="bool">false</property>
     <property key="x" type="double">250</property>
     <property key="y" type="double">0</property>
@@ -113,12 +113,12 @@
     <property key="state" type="string">floating</property>
     <property key="showTitleBar" type="bool">false</property>
     <property key="cardBackground" type="string">#666666</property>
-  </ignition-gui>
+  </gz-gui>
 </plugin>
 
 <!-- Screenshot -->
 <plugin filename="Screenshot" name="Screenshot">
-  <ignition-gui>
+  <gz-gui>
     <property key="resizable" type="bool">false</property>
     <property key="x" type="double">400</property>
     <property key="y" type="double">0</property>
@@ -127,21 +127,21 @@
     <property key="state" type="string">floating</property>
     <property key="showTitleBar" type="bool">false</property>
     <property key="cardBackground" type="string">#666666</property>
-  </ignition-gui>
+  </gz-gui>
 </plugin>
 
 <!-- Inspector -->
 <plugin filename="ComponentInspector" name="Component inspector">
-  <ignition-gui>
+  <gz-gui>
     <property type="bool" key="showTitleBar">false</property>
     <property type="string" key="state">docked</property>
-  </ignition-gui>
+  </gz-gui>
 </plugin>
 
 <!-- Entity tree -->
 <plugin filename="EntityTree" name="Entity tree">
-  <ignition-gui>
+  <gz-gui>
     <property type="bool" key="showTitleBar">false</property>
     <property type="string" key="state">docked</property>
-  </ignition-gui>
+  </gz-gui>
 </plugin>
diff --git a/crane_plus_gazebo/launch/crane_plus_with_table.launch.py b/crane_plus_gazebo/launch/crane_plus_with_table.launch.py
@@ -26,16 +26,16 @@
 
 def generate_launch_description():
     # PATHを追加で通さないとSTLファイルが読み込まれない
-    env = {'IGN_GAZEBO_SYSTEM_PLUGIN_PATH': os.environ['LD_LIBRARY_PATH'],
-           'IGN_GAZEBO_RESOURCE_PATH': os.path.dirname(
+    env = {'GZ_SIM_SYSTEM_PLUGIN_PATH': os.environ['LD_LIBRARY_PATH'],
+           'GZ_SIM_RESOURCE_PATH': os.path.dirname(
                get_package_share_directory('crane_plus_description'))}
     world_file = os.path.join(
         get_package_share_directory('crane_plus_gazebo'), 'worlds', 'table.sdf')
     gui_config = os.path.join(
         get_package_share_directory('crane_plus_gazebo'), 'gui', 'gui.config')
     # -r オプションで起動時にシミュレーションをスタートしないと、コントローラが起動しない
-    ign_gazebo = ExecuteProcess(
-            cmd=['ign gazebo -r', world_file, '--gui-config', gui_config],
+    gz_sim = ExecuteProcess(
+            cmd=['gz sim -r', world_file, '--gui-config', gui_config],
             output='screen',
             additional_env=env,
             shell=True
@@ -86,13 +86,13 @@ def generate_launch_description():
     bridge = Node(
                 package='ros_gz_bridge',
                 executable='parameter_bridge',
-                arguments=['/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock'],
+                arguments=['/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock'],
                 output='screen'
             )
 
     return LaunchDescription([
         SetParameter(name='use_sim_time', value=True),
-        ign_gazebo,
+        gz_sim,
         gazebo_spawn_entity,
         move_group,
         spawn_joint_state_controller,

diff --git a/crane_plus_gazebo/worlds/table.sdf b/crane_plus_gazebo/worlds/table.sdf
@@ -6,40 +6,40 @@
       <real_time_factor>1.0</real_time_factor>
     </physics>
     <plugin
-      filename="ignition-gazebo-physics-system"
-      name="ignition::gazebo::systems::Physics">
+        filename="gz-sim-physics-system"
+        name="gz::sim::systems::Physics">
     </plugin>
     <plugin
-      filename="ignition-gazebo-user-commands-system"
-      name="ignition::gazebo::systems::UserCommands">
+      filename="gz-sim-user-commands-system"
+      name="gz::sim::systems::UserCommands">
     </plugin>
     <plugin
-      filename="ignition-gazebo-scene-broadcaster-system"
-      name="ignition::gazebo::systems::SceneBroadcaster">
+      filename="gz-sim-scene-broadcaster-system"
+      name="gz::sim::systems::SceneBroadcaster">
     </plugin>
 
     <include>
       <uri>
-        https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Sun
+        https://fuel.gazebosim.org/1.0/OpenRobotics/models/Sun
       </uri>
     </include>
 
     <include>
       <uri>
-        https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Ground%20Plane
+        https://fuel.gazebosim.org/1.0/OpenRobotics/models/Ground%20Plane
       </uri>
     </include>
 
     <include>
       <uri>
-        https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Table
+        https://fuel.gazebosim.org/1.0/OpenRobotics/models/Table
       </uri>
       <pose>0.29 0 0 0 0 1.5708</pose>
     </include>
 
     <include>
       <uri>
-        https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Wood%20cube%205cm
+        https://fuel.gazebosim.org/1.0/OpenRobotics/models/Wood%20cube%205cm
       </uri>
       <pose>0 -0.1 1.0 0 0 0</pose>
     </include>