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rename 'gazebo' simulation to 'gazebo-classic' (#20936)

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- use `gazebo-classic` everywhere consistently referring to the original Gazebo (eg version 9,10,11)
   - additional `gazebo_*` helper targets added for compatibility, but warn about deprecation and tell you the new target naming
 - use `gz` everywhere when referring to Gazebo (aka Ignition Gazebo or new Gazebo)
This commit is contained in:
Daniel Agar
2023-01-15 11:36:12 -05:00
committed by GitHub
parent 6605378d0d
commit 6991ac014c
56 changed files with 169 additions and 153 deletions
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launch/posix_sitl.launch
+1 -1
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@@ -14,7 +14,7 @@
<arg name="vehicle" default="iris"/>
<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
<arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/>
<env name="PX4_SIM_MODEL" value="gazebo_$(arg vehicle)" />
<env name="PX4_SIM_MODEL" value="gazebo-classic_$(arg vehicle)" />
<!-- gazebo configs -->
<arg name="gui" default="true"/>
launch/px4.launch
+1 -1
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@@ -9,7 +9,7 @@
<arg name="ID" default="0"/>
<arg name="interactive" default="true"/>
<env name="PX4_SIM_MODEL" value="gazebo_$(arg vehicle)" />
<env name="PX4_SIM_MODEL" value="gazebo-classic_$(arg vehicle)" />
<arg unless="$(arg interactive)" name="px4_command_arg1" value="-d"/>
<arg if="$(arg interactive)" name="px4_command_arg1" value=""/>
<node name="sitl_$(arg ID)" pkg="px4" type="px4" output="screen" args="$(find px4)/build/px4_sitl_default/etc -s etc/init.d-posix/rcS -i $(arg ID) $(arg px4_command_arg1)">
launch/single_vehicle_spawn.launch
+1 -1
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@@ -13,7 +13,7 @@
<arg name="est" default="ekf2"/>
<arg name="vehicle" default="iris"/>
<arg name="ID" default="1"/>
<env name="PX4_SIM_MODEL" value="gazebo_$(arg vehicle)" />
<env name="PX4_SIM_MODEL" value="gazebo-classic_$(arg vehicle)" />
<arg name="mavlink_udp_port" default="14560"/>
<arg name="mavlink_tcp_port" default="4560"/>
<arg name="gst_udp_port" default="5600"/>
launch/single_vehicle_spawn_sdf.launch
+2 -2
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@@ -13,13 +13,13 @@
<arg name="est" default="ekf2"/>
<arg name="vehicle" default="plane"/>
<arg name="ID" default="1"/>
<env name="PX4_SIM_MODEL" value="gazebo_$(arg vehicle)" />
<env name="PX4_SIM_MODEL" value="gazebo-classic_$(arg vehicle)" />
<arg name="mavlink_udp_port" default="14560"/>
<arg name="mavlink_tcp_port" default="4560"/>
<!-- PX4 configs -->
<arg name="interactive" default="true"/>
<!-- generate sdf vehicle model -->
<arg name="cmd" default="xmlstarlet ed -d '//plugin[@name=&quot;mavlink_interface&quot;]/mavlink_tcp_port' -s '//plugin[@name=&quot;mavlink_interface&quot;]' -t elem -n mavlink_tcp_port -v $(arg mavlink_tcp_port) $(find px4)/Tools/simulation/gazebo/sitl_gazebo/models/$(arg vehicle)/$(arg vehicle).sdf"/>
<arg name="cmd" default="xmlstarlet ed -d '//plugin[@name=&quot;mavlink_interface&quot;]/mavlink_tcp_port' -s '//plugin[@name=&quot;mavlink_interface&quot;]' -t elem -n mavlink_tcp_port -v $(arg mavlink_tcp_port) $(find px4)/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/$(arg vehicle)/$(arg vehicle).sdf"/>
<param command="$(arg cmd)" name="model_description"/>
<!-- PX4 SITL -->
<arg unless="$(arg interactive)" name="px4_command_arg1" value=""/>