Skip to content

Migration.md

Latest commit

 

History

History
98 lines (63 loc) · 3.22 KB

Migration.md

File metadata and controls

98 lines (63 loc) · 3.22 KB
Raw

Note on deprecations

A tick-tock release cycle allows easy migration to new software versions. Obsolete code is marked as deprecated for one major release. Deprecated code produces compile-time warnings. These warning serve as notification to users that their code should be upgraded. The next major release will remove the deprecated code.

Gazebo Physics 9.X to 10.X

Gazebo Physics 8.X to 9.X

Deprecations

  • The macro GZ_PHYSICS_ENGINE_INSTALL_DIR has been removed. Use gz::physics::getEngineInstallDir() instead.

Gazebo Physics 5.X to 6.X

Deprecations

  1. The ignition namespace is deprecated and will be removed in future versions. Use gz instead.

  2. Header files under ignition/... are deprecated and will be removed in future versions. Use gz/... instead.

  3. The shared libraries have gz where there used to be ignition.

  4. Using the un-migrated version is still possible due to tick-tocks, but will be removed in future versions.

  5. The following IGN_ / IGNITION_ prefixed macros are deprecated and will be removed in future versions. Additionally, they will only be available when including the corresponding ignition/... header. Use the GZ_ prefix instead.

    1. IGN_PHYSICS_DECLARE_JOINT_TYPE, IGN_PHYSICS_DECLARE_SHAPE_TYPE
    2. IGN_PHYSICS_MAKE_ALL_TYPE_COMBOS
    3. IGN_PHYSICS_ADD_PLUGIN
    4. IGN_PLUGIN_REGISTER_MORE_TRANS_UNITS -> GZ_**PHYSICS**_REGISTER_MORE_TRANS_UNITS
    5. IGN_PHYSICS_REQUEST_FEATURES_MACRO
    6. IGN_PHYSICS_CREATE_SELECTOR
    7. IGNITION_PHYSICS_CONST_GET_ERROR (hard-tocked, inside detail header)
    8. IGNITION_UNITTEST_EXPECTDATA_ACCESS (hard-tocked, inside test and detail headers)
    9. IGNITION_PHYSICS_DEFINE_COORDINATE_SPACE (hard-tocked, inside detail header)

  6. The ignition:expressed_in SDF attribute is deprecated and will be removed. Please use gz:expressed_in instead.

Breaking Changes

  • The project name has been changed to use the gz- prefix, you must use the gz prefix!
    • This also means that any generated code that use the project name (e.g. CMake variables, in-source macros) would have to be migrated.
    • Some non-exhaustive examples of this include:
      • GZ_<PROJECT>_<VISIBLE/HIDDEN>
      • CMake -config files
      • Paths that depend on the project name

Gazebo Physics 4.X to 5.X

Modifications

  1. Depends on sdformat12.

Gazebo Physics 4.1 to 4.2

Additions

  1. Bullet: new plugin implementation.

  2. Heightmap: Feature defined and implemented in dartsim.

  3. TPE: Capsule and Ellipsoid shapes added.

Gazebo Physics 3.X to 4.X

Modifications

  1. Depends on gz-utils1.

  2. Depends on sdformat11.

  3. ignition::physics::FindFreeGroupFeature::Implementation::GetFreeGroupCanonicalLink has been replaced by ignition::physics::FindFreeGroupFeature::Implementation::GetFreeGroupRootLink.

Deprecations

  1. physics/FreeGroup.hh
    • Deprecation: Identity ignition::physics::FreeGroup::CanonicalLink(const Identity &_groupID)
    • Replacement: Identity ignition::physics::FreeGroup::RootLink(const Identity &_groupID)

Gazebo Physics 2.X to 3.X

Modifications

  1. Depends on sdformat10.

Gazebo Physics 1.X to 2.X

Modifications

  1. Depends on sdformat9.