Fixes for porting 4 ➡️ 5 (#695)

chapulina · chapulina · commit 84ae00703ea8 · 2021-03-19T21:35:36.000-07:00
Signed-off-by: Louise Poubel &lt;louise@openrobotics.org&gt;
diff --git a/README.md b/README.md
@@ -9,10 +9,10 @@
 
 Build | Status
 -- | --
-Test coverage | [![codecov](https://codecov.io/gh/ignitionrobotics/ign-gazebo/branch/master/graph/badge.svg)](https://codecov.io/gh/ignitionrobotics/ign-gazebo)
-Ubuntu Bionic | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_gazebo-ci-master-bionic-amd64)](https://build.osrfoundation.org/job/ignition_gazebo-ci-master-bionic-amd64)
-Homebrew      | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_gazebo-ci-master-homebrew-amd64)](https://build.osrfoundation.org/job/ignition_gazebo-ci-master-homebrew-amd64)
-Windows       | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_gazebo-ci-master-windows7-amd64)](https://build.osrfoundation.org/job/ignition_gazebo-ci-master-windows7-amd64)
+Test coverage | [![codecov](https://codecov.io/gh/ignitionrobotics/ign-gazebo/branch/main/graph/badge.svg)](https://codecov.io/gh/ignitionrobotics/ign-gazebo)
+Ubuntu Bionic | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_gazebo-ci-main-bionic-amd64)](https://build.osrfoundation.org/job/ignition_gazebo-ci-main-bionic-amd64)
+Homebrew      | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_gazebo-ci-main-homebrew-amd64)](https://build.osrfoundation.org/job/ignition_gazebo-ci-main-homebrew-amd64)
+Windows       | [![Build Status](https://build.osrfoundation.org/job/ign_gazebo-ci-win/badge/icon)](https://build.osrfoundation.org/job/ign_gazebo-ci-win/)
 
 Ignition Gazebo is an open source robotics simulator. Through Ignition Gazebo, users have access to high fidelity physics, rendering, and sensor models. Additionally, users and developers have multiple points of entry to simulation including a graphical user interface, plugins, and asynchronous message passing and services.
 
diff --git a/src/gui/plugins/CMakeLists.txt b/src/gui/plugins/CMakeLists.txt
@@ -84,19 +84,23 @@ function(gz_add_gui_plugin plugin_name)
   )
 
   if(gz_add_gui_plugin_TEST_SOURCES)
-    ign_build_tests(TYPE UNIT
-      SOURCES
-        ${gz_add_gui_plugin_TEST_SOURCES}
-      LIB_DEPS
-        ignition-gazebo${PROJECT_VERSION_MAJOR}-gui
-        ${plugin_name}
-      INCLUDE_DIRS
-        # Used to make internal source file headers visible to the unit tests
-        ${CMAKE_CURRENT_SOURCE_DIR}
-        # Used to make test-directory headers visible to the unit tests
-        ${PROJECT_SOURCE_DIR}
-        # Used to make test_config.h visible to the unit tests
-        ${PROJECT_BINARY_DIR})
+    # Plugin symbols failing to resolve on Windows:
+    # error LNK2001: unresolved external symbol
+    if(NOT WIN32)
+      ign_build_tests(TYPE UNIT
+        SOURCES
+          ${gz_add_gui_plugin_TEST_SOURCES}
+        LIB_DEPS
+          ignition-gazebo${PROJECT_VERSION_MAJOR}-gui
+          ${plugin_name}
+        INCLUDE_DIRS
+          # Used to make internal source file headers visible to the unit tests
+          ${CMAKE_CURRENT_SOURCE_DIR}
+          # Used to make test-directory headers visible to the unit tests
+          ${PROJECT_SOURCE_DIR}
+          # Used to make test_config.h visible to the unit tests
+          ${PROJECT_BINARY_DIR})
+    endif()
   endif()
 
   install (TARGETS ${plugin_name} DESTINATION ${IGNITION_GAZEBO_GUI_PLUGIN_INSTALL_DIR})
diff --git a/src/gui/plugins/joint_position_controller/JointPositionController_TEST.cc b/src/gui/plugins/joint_position_controller/JointPositionController_TEST.cc
@@ -25,10 +25,11 @@
 #endif
 #include <ignition/common/Console.hh>
 #include <ignition/gui/Application.hh>
-#include <ignition/gui/Plugin.hh>
 #include <ignition/gui/MainWindow.hh>
+#include <ignition/gui/Plugin.hh>
 #include <ignition/transport/Node.hh>
 #include <ignition/utilities/ExtraTestMacros.hh>
+#include <ignition/utils/SuppressWarning.hh>
 
 #include "ignition/gazebo/components/Joint.hh"
 #include "ignition/gazebo/components/JointAxis.hh"
@@ -67,7 +68,10 @@ TEST_F(JointPositionControllerGui, IGN_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Load))
   app->AddPluginPath(std::string(PROJECT_BINARY_PATH) + "/lib");
 
   // Create GUI runner to handle gazebo::gui plugins
+  // TODO(anyone) Remove deprecation guard once GuiRunner becomes private
+  IGN_UTILS_WARN_IGNORE__DEPRECATED_DECLARATION
   auto runner = new gazebo::GuiRunner("test");
+  IGN_UTILS_WARN_RESUME__DEPRECATED_DECLARATION
   runner->connect(app.get(), &gui::Application::PluginAdded,
                   runner, &gazebo::GuiRunner::OnPluginAdded);
   runner->setParent(gui::App());
@@ -142,7 +146,10 @@ TEST_F(JointPositionControllerGui,
   app->AddPluginPath(std::string(PROJECT_BINARY_PATH) + "/lib");
 
   // Create GUI runner to handle gazebo::gui plugins
+  // TODO(anyone) Remove deprecation guard once GuiRunner becomes private
+  IGN_UTILS_WARN_IGNORE__DEPRECATED_DECLARATION
   auto runner = new gazebo::GuiRunner("test");
+  IGN_UTILS_WARN_RESUME__DEPRECATED_DECLARATION
   runner->connect(app.get(), &gui::Application::PluginAdded,
                   runner, &gazebo::GuiRunner::OnPluginAdded);
   runner->setParent(gui::App());
diff --git a/src/network/NetworkConfig.hh b/src/network/NetworkConfig.hh
@@ -36,7 +36,7 @@ namespace ignition
     ///
     /// NetworkConfig can either be created programatically, or populated from
     /// environment variables set before the execution of the Gazebo server.
-    class NetworkConfig
+    class IGNITION_GAZEBO_VISIBLE NetworkConfig
     {
       /// \brief Populate a new NetworkConfig object based on
       /// values.
diff --git a/src/network/NetworkManager.hh b/src/network/NetworkManager.hh
@@ -43,7 +43,7 @@ namespace ignition
     /// \brief The NetworkManager provides a common interface to derived
     /// objects that control the flow of information in the distributed
     /// simulation environment.
-    class NetworkManager
+    class IGNITION_GAZEBO_VISIBLE NetworkManager
     {
       /// \brief Convenience type alias for NodeOptions
       public: using NodeOptions = ignition::transport::NodeOptions;
diff --git a/src/network/NetworkManagerPrimary.hh b/src/network/NetworkManagerPrimary.hh
@@ -57,7 +57,7 @@ namespace ignition
     /// \class NetworkManagerPrimary NetworkManagerPrimary.hh
     ///   ignition/gazebo/network/NetworkManagerPrimary.hh
     /// \brief Simulation primary specific behaviors
-    class NetworkManagerPrimary:
+    class IGNITION_GAZEBO_VISIBLE NetworkManagerPrimary:
       public NetworkManager
     {
       // Documentation inherited
diff --git a/src/network/NetworkManagerPrivate.hh b/src/network/NetworkManagerPrivate.hh
@@ -35,7 +35,7 @@ namespace ignition
     inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
     /// \class NetworkManagerPrivate NetworkManagerPrivate.hh
     /// ignition/gazebo/NetworkManagerPrivate.hh
-    class NetworkManagerPrivate
+    class IGNITION_GAZEBO_VISIBLE NetworkManagerPrivate
     {
       /// \brief Network Configuration
       public: NetworkConfig config;
diff --git a/src/network/NetworkManagerSecondary.hh b/src/network/NetworkManagerSecondary.hh
@@ -40,7 +40,7 @@ namespace ignition
     /// \class NetworkManagerSecondary NetworkManagerSecondary.hh
     ///   ignition/gazebo/network/NetworkManagerSecondary.hh
     /// \brief Secondary specific behaviors
-    class NetworkManagerSecondary:
+    class IGNITION_GAZEBO_VISIBLE NetworkManagerSecondary:
       public NetworkManager
     {
       // Documentation inherited
diff --git a/src/network/PeerInfo.hh b/src/network/PeerInfo.hh
@@ -31,7 +31,7 @@ namespace ignition
   {
     // Inline bracket to help doxygen filtering.
     inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
-    class PeerInfo {
+    class IGNITION_GAZEBO_VISIBLE PeerInfo {
       /// \brief Constructor
       public: explicit PeerInfo(const NetworkRole &_role = NetworkRole::None);
 
@@ -53,13 +53,13 @@ namespace ignition
     /// \brief Construct a `PeerInfo` object from a message.
     /// \param[in] _proto Message
     /// \result Equivalent PeerInfo
-    PeerInfo fromProto(
+    IGNITION_GAZEBO_VISIBLE PeerInfo fromProto(
         const private_msgs::PeerInfo &_proto);
 
     /// \brief Construct a `PeerInfo` message from an object.
     /// \param[in] _info Peer info object
     /// \result Equivalent message
-    private_msgs::PeerInfo toProto(
+    IGNITION_GAZEBO_VISIBLE private_msgs::PeerInfo toProto(
         const PeerInfo &_info);
   }  // namespace gazebo
 }  // namespace ignition
diff --git a/src/network/PeerTracker.hh b/src/network/PeerTracker.hh
@@ -53,7 +53,7 @@ namespace ignition
     ///
     /// It is used to both announce the existence of a peer, as well as track
     /// announcements and heartbeats from other peers.
-    class PeerTracker {
+    class IGNITION_GAZEBO_VISIBLE PeerTracker {
       /// \brief Convenience type alias for NodeOptions
       public: using NodeOptions = ignition::transport::NodeOptions;
 
diff --git a/src/systems/ackermann_steering/AckermannSteering.hh b/src/systems/ackermann_steering/AckermannSteering.hh
@@ -95,12 +95,12 @@ namespace systems
   /// right_steering_joint
   ///
   /// References:
-  /// https://github.com/ignitionrobotics/ign-gazebo/tree/ign-gazebo4/src/systems/diff_drive
+  /// https://github.com/ignitionrobotics/ign-gazebo/tree/main/src/systems/diff_drive
   /// https://www.auto.tuwien.ac.at/bib/pdf_TR/TR0183.pdf
   /// https://github.com/froohoo/ackermansteer/blob/master/ackermansteer/
 
 
-  class IGNITION_GAZEBO_VISIBLE AckermannSteering
+  class AckermannSteering
       : public System,
         public ISystemConfigure,
         public ISystemPreUpdate,
diff --git a/src/systems/ackermann_steering/SpeedLimiter.hh b/src/systems/ackermann_steering/SpeedLimiter.hh
@@ -57,7 +57,7 @@ namespace systems
 
   /// \brief Class to limit velocity, acceleration and jerk.
   /// \ref https://github.com/ros-controls/ros_controllers/tree/melodic-devel/diff_drive_controller
-  class IGNITION_GAZEBO_VISIBLE SpeedLimiter
+  class SpeedLimiter
   {
     /// \brief Constructor.
     /// \param [in] _hasVelocityLimits     if true, applies velocity limits.
diff --git a/test/integration/ackermann_steering_system.cc b/test/integration/ackermann_steering_system.cc
@@ -17,6 +17,7 @@
 
 #include <gtest/gtest.h>
 #include <ignition/common/Console.hh>
+#include <ignition/common/Util.hh>
 #include <ignition/math/Pose3.hh>
 #include <ignition/transport/Node.hh>
 
@@ -42,8 +43,8 @@ class AckermannSteeringTest : public ::testing::TestWithParam<int>
   protected: void SetUp() override
   {
     common::Console::SetVerbosity(4);
-    setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH",
-           (std::string(PROJECT_BINARY_PATH) + "/lib").c_str(), 1);
+    ignition::common::setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH",
+           (std::string(PROJECT_BINARY_PATH) + "/lib").c_str());
   }
 
   /// \param[in] _sdfFile SDF file to load.
diff --git a/test/integration/thermal_sensor_system.cc b/test/integration/thermal_sensor_system.cc
@@ -22,6 +22,7 @@
 
 #include <ignition/common/Console.hh>
 #include <ignition/common/Filesystem.hh>
+#include <ignition/common/Util.hh>
 #include <ignition/transport/Node.hh>
 #include <ignition/utilities/ExtraTestMacros.hh>
 
@@ -46,8 +47,8 @@ class ThermalSensorTest : public ::testing::Test
   protected: void SetUp() override
   {
     common::Console::SetVerbosity(4);
-    setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH",
-           (std::string(PROJECT_BINARY_PATH) + "/lib").c_str(), 1);
+    ignition::common::setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH",
+           (std::string(PROJECT_BINARY_PATH) + "/lib").c_str());
   }
 };
 
diff --git a/tutorials/collada_world_exporter.md b/tutorials/collada_world_exporter.md
@@ -7,7 +7,7 @@ loader.
 
 ## Using the Collada World Exporter
 
-1. Add the following lines as a child to the `<world>` tag in an SDF file. 
+1. Add the following lines as a child to the `<world>` tag in an SDF file.
 ```
 <plugin
   filename="ignition-gazebo-collada-world-exporter-system"
@@ -22,4 +22,4 @@ ign gazebo -v 4 -s -r --iterations 1 WORLD_FILE_NAME
 
 3. A subdirectory, named after the world, has been created in the current working directory. Within this subdirectory is the mesh and materials for the world.
 
-Refer to the [collada_world_exporter.sdf](https://github.com/ignitionrobotics/ign-gazebo/blob/ign-gazebo4/examples/worlds/collada_world_exporter.sdf) example.
+Refer to the [collada_world_exporter.sdf](https://github.com/ignitionrobotics/ign-gazebo/blob/main/examples/worlds/collada_world_exporter.sdf) example.
diff --git a/tutorials/distributed_simulation.md b/tutorials/distributed_simulation.md
@@ -106,7 +106,7 @@ keeps all performers loaded, but performs no physics simulation.
 Stepping happens in 2 stages: the primary update and the secondaries update,
 according to the diagram below:
 
-<img src="https://raw.githubusercontent.com/ignitionrobotics/ign-gazebo/ign-gazebo3/tutorials/files/distributed_step.png"/>
+<img src="https://raw.githubusercontent.com/ignitionrobotics/ign-gazebo/main/tutorials/files/distributed_step.png"/>
 
 1. The primary publishes a `SimulationStep` message on the `/step` topic,
 containing:
diff --git a/tutorials/mesh_to_fuel.md b/tutorials/mesh_to_fuel.md
@@ -126,17 +126,17 @@ Click the `Add folders` button, or drag and drop the `Electrical Box` folder you
 All the files in your model description will be listed there.
 Press `Upload`, and the "Fuel Model Info" page for your model will open.
 
-![Electrical Box Test](https://raw.githubusercontent.com/ignitionrobotics/ign-gazebo/master/tutorials/files/mesh_to_fuel/model_info2.png)
+![Electrical Box Test](https://raw.githubusercontent.com/ignitionrobotics/ign-gazebo/main/tutorials/files/mesh_to_fuel/model_info2.png)
 
 You can always delete a model by clicking the "Edit model" button and then selecting "Delete model" at the bottom of the page
 
-![Delete model](https://raw.githubusercontent.com/ignitionrobotics/ign-gazebo/master/tutorials/files/mesh_to_fuel/delete2.png)
+![Delete model](https://raw.githubusercontent.com/ignitionrobotics/ign-gazebo/main/tutorials/files/mesh_to_fuel/delete2.png)
 
 ## Include the Model in a World
 
 With your mesh successfully uploaded to Fuel, you can now easily include it in a world SDF file.
 
-Copy [this example world code](https://github.com/ignitionrobotics/ign-gazebo/raw/master/examples/worlds/import_mesh.sdf) into a text editor and save it as `import_mesh.sdf`.
+Copy [this example world code](https://github.com/ignitionrobotics/ign-gazebo/raw/main/examples/worlds/import_mesh.sdf) into a text editor and save it as `import_mesh.sdf`.
 This is a simple world SDF file, which you can learn more about on the [SDF website](http://sdformat.org/).
 
 Scroll all the way to the bottom of the file until you see the `include` tag section following the `<!-- mesh -->` comment line.
@@ -182,4 +182,4 @@ To launch the world and see your mesh, run Ignition from inside the directory wh
 ign gazebo import_mesh.sdf
 ```
 
-![Launch sample world with mesh](https://raw.githubusercontent.com/ignitionrobotics/ign-gazebo/master/tutorials/files/mesh_to_fuel/launch_world2.png)
+![Launch sample world with mesh](https://raw.githubusercontent.com/ignitionrobotics/ign-gazebo/main/tutorials/files/mesh_to_fuel/launch_world2.png)
diff --git a/tutorials/migrating_ardupilot_plugin.md b/tutorials/migrating_ardupilot_plugin.md
@@ -832,7 +832,7 @@ In the new model, we do this instead:
 <!-- NEW -->
 <plugin
     name="ignition::gazebo::systems::LiftDrag"
-    filename="ignition-gazebo3-lift-drag-system">
+    filename="ignition-gazebo-lift-drag-system">
   <!-- ...configuration goes here... -->
   <link_name>rotor_0</link_name>
 </plugin>
diff --git a/tutorials/migration_sdf.md b/tutorials/migration_sdf.md
@@ -198,7 +198,7 @@ sure you're loading the correct plugins.
 Both simulators are installed with several built-in plugins.
 [Gazebo classic's plugins](https://github.com/osrf/gazebo/tree/gazebo11/plugins)
 and
-[Ignition Gazebo's plugins](https://github.com/ignitionrobotics/ign-gazebo/tree/ign-gazebo3/src/systems)
+[Ignition Gazebo's plugins](https://github.com/ignitionrobotics/ign-gazebo/tree/main/src/systems)
 have different file names. For example, to use Gazebo classic's differential drive
 plugin, the user can refer to it as follows:
 
diff --git a/tutorials/point_cloud_to_mesh.md b/tutorials/point_cloud_to_mesh.md
diff --git a/tutorials/resources.md b/tutorials/resources.md

Original file line number	Diff line number	Diff line change
`@@ -36,7 +36,7 @@ namespace ignition`
`36`	`36`	`///`
`37`	`37`	`/// NetworkConfig can either be created programatically, or populated from`
`38`	`38`	`/// environment variables set before the execution of the Gazebo server.`
`39`		`- class NetworkConfig`
	`39`	`+ class IGNITION_GAZEBO_VISIBLE NetworkConfig`
`40`	`40`	`{`
`41`	`41`	`/// \brief Populate a new NetworkConfig object based on`
`42`	`42`	`/// values.`
Original file line number	Diff line number	Diff line change
`@@ -43,7 +43,7 @@ namespace ignition`
`43`	`43`	`/// \brief The NetworkManager provides a common interface to derived`
`44`	`44`	`/// objects that control the flow of information in the distributed`
`45`	`45`	`/// simulation environment.`
`46`		`- class NetworkManager`
	`46`	`+ class IGNITION_GAZEBO_VISIBLE NetworkManager`
`47`	`47`	`{`
`48`	`48`	`/// \brief Convenience type alias for NodeOptions`
`49`	`49`	`public: using NodeOptions = ignition::transport::NodeOptions;`
Original file line number	Diff line number	Diff line change
`@@ -57,7 +57,7 @@ namespace ignition`
`57`	`57`	`/// \class NetworkManagerPrimary NetworkManagerPrimary.hh`
`58`	`58`	`/// ignition/gazebo/network/NetworkManagerPrimary.hh`
`59`	`59`	`/// \brief Simulation primary specific behaviors`
`60`		`- class NetworkManagerPrimary:`
	`60`	`+ class IGNITION_GAZEBO_VISIBLE NetworkManagerPrimary:`
`61`	`61`	`public NetworkManager`
`62`	`62`	`{`
`63`	`63`	`// Documentation inherited`
Original file line number	Diff line number	Diff line change
`@@ -35,7 +35,7 @@ namespace ignition`
`35`	`35`	`inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {`
`36`	`36`	`/// \class NetworkManagerPrivate NetworkManagerPrivate.hh`
`37`	`37`	`/// ignition/gazebo/NetworkManagerPrivate.hh`
`38`		`- class NetworkManagerPrivate`
	`38`	`+ class IGNITION_GAZEBO_VISIBLE NetworkManagerPrivate`
`39`	`39`	`{`
`40`	`40`	`/// \brief Network Configuration`
`41`	`41`	`public: NetworkConfig config;`
Original file line number	Diff line number	Diff line change
`@@ -40,7 +40,7 @@ namespace ignition`
`40`	`40`	`/// \class NetworkManagerSecondary NetworkManagerSecondary.hh`
`41`	`41`	`/// ignition/gazebo/network/NetworkManagerSecondary.hh`
`42`	`42`	`/// \brief Secondary specific behaviors`
`43`		`- class NetworkManagerSecondary:`
	`43`	`+ class IGNITION_GAZEBO_VISIBLE NetworkManagerSecondary:`
`44`	`44`	`public NetworkManager`
`45`	`45`	`{`
`46`	`46`	`// Documentation inherited`
Original file line number	Diff line number	Diff line change
`@@ -57,7 +57,7 @@ namespace systems`
`57`	`57`
`58`	`58`	`/// \brief Class to limit velocity, acceleration and jerk.`
`59`	`59`	`/// \ref https://github.com/ros-controls/ros_controllers/tree/melodic-devel/diff_drive_controller`
`60`		`- class IGNITION_GAZEBO_VISIBLE SpeedLimiter`
	`60`	`+ class SpeedLimiter`
`61`	`61`	`{`
`62`	`62`	`/// \brief Constructor.`
`63`	`63`	`/// \param [in] _hasVelocityLimits if true, applies velocity limits.`