Remove deprecations: tock (#648)

* Remove deprecations: tock

Signed-off-by: Carlos Agüero <[email protected]>

CMakeLists.txt

@@ -100,10 +100,6 @@ set(GZ_GUI_PLUGIN_RELATIVE_INSTALL_DIR
   ${GZ_LIB_INSTALL_DIR}/gz-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins
 )
 
-set(GZ_GUI_PLUGIN_INSTALL_DIR
-  ${CMAKE_INSTALL_PREFIX}/${GZ_GUI_PLUGIN_RELATIVE_INSTALL_DIR}
-)
-
 #============================================================================
 # Configure the build
 #============================================================================

Migration.md

@@ -5,6 +5,15 @@ 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 GUI 9.X to 10.X
+
+* The environment variable `GZ_GUI_PLUGIN_INSTALL_DIR` is removed. Use
+`gz::gui::getPluginInstallDir()` instead.
+
+* The camera tracking `/gui/follow` and `/gui/follow/offset` services are
+removed. You can now publish a regular message on the `/gui/track` topic
+passing a `gz::msgs::CameraTrack` message.
+
 ## Gazebo GUI 6.X to 7.X
 
 * The environment variable `IGN_GUI_PLUGIN_PATH` is deprecated. Use `GZ_GUI_PLUGIN_PATH` instead.

examples/standalone/scene_provider/README.md

@@ -75,15 +75,3 @@ Update follow offset from track topic:
 ```bash
 gz topic -t /gui/track -m gz.msgs.CameraTrack -p 'track_mode: 2, follow_target: {name: "box_model"}, follow_offset: {x: -1, y: 0, z: 1}'
 ```
-
-Follow box from service (deprecated):
-
-```bash
-gz service -s /gui/follow --reqtype gz.msgs.StringMsg --reptype gz.msgs.Boolean --timeout 2000 --req 'data: "box_model"'
-```
-
-Update follow offset from follow offset service (deprecated):
-
-```bash
-gz service -s /gui/follow/offset --reqtype gz.msgs.Vector3d --reptype gz.msgs.Boolean --timeout 2000 --req 'x: 5, y: 5, z: 5'
-```

include/gz/gui/config.hh.in

@@ -31,6 +31,4 @@
 
 #define GZ_GUI_VERSION_HEADER "Gazebo GUI, version ${PROJECT_VERSION_FULL}\nCopyright (C) 2017 Open Source Robotics Foundation.\nReleased under the Apache 2.0 License.\n\n"
 
-#define GZ_GUI_PLUGIN_INSTALL_DIR _Pragma ("GCC warning \"'GZ_GUI_PLUGIN_INSTALL_DIR' macro is deprecated, use gz::gui::getPluginInstallDir() function instead. \"") "${GZ_GUI_PLUGIN_INSTALL_DIR}"
-
 #endif  // GZ_GUI_CONFIG_HH_

src/plugins/camera_tracking/CameraTracking.cc

@@ -69,27 +69,13 @@ class CameraTracking::Implementation
   /// \param[in] _msg Message is of type CameraTrack.
   public: void OnTrackSub(const msgs::CameraTrack &_msg);
 
-  /// \brief Callback for a follow request
-  /// \param[in] _msg Request message to set the target to follow.
-  /// \param[in] _res Response data
-  /// \return True if the request is received
-  public: bool OnFollow(const msgs::StringMsg &_msg,
-      msgs::Boolean &_res);
-
   /// \brief Callback for a move to pose request.
   /// \param[in] _msg GUICamera request message.
   /// \param[in] _res Response data
   /// \return True if the request is received
   public: bool OnMoveToPose(const msgs::GUICamera &_msg,
                msgs::Boolean &_res);
 
-  /// \brief Callback for a follow offset request
-  /// \param[in] _msg Request message to set the camera's follow offset.
-  /// \param[in] _res Response data
-  /// \return True if the request is received
-  public: bool OnFollowOffset(const msgs::Vector3d &_msg,
-               msgs::Boolean &_res);
-
   /// \brief Callback when a move to animation is complete
   private: void OnMoveToComplete();
 
@@ -161,12 +147,6 @@ class CameraTracking::Implementation
   /// \brief Move to service
   public: std::string moveToService;
 
-  /// \brief Follow service (deprecated)
-  public: std::string followService;
-
-  /// \brief Follow offset service (deprecated)
-  public: std::string followOffsetService;
-
   /// \brief The pose set from the move to pose service.
   public: std::optional<math::Pose3d> moveToPoseValue;
 
@@ -224,13 +204,6 @@ void CameraTracking::Implementation::Initialize()
   gzmsg << "Move to service on ["
          << this->moveToService << "]" << std::endl;
 
-  // follow
-  this->followService = "/gui/follow";
-  this->node.Advertise(this->followService,
-      &Implementation::OnFollow, this);
-  gzmsg << "Follow service on ["
-         << this->followService << "] (deprecated)" << std::endl;
-
   // track
   this->trackTopic = "/gui/track";
   this->node.Subscribe(this->trackTopic,
@@ -259,13 +232,6 @@ void CameraTracking::Implementation::Initialize()
     this->node.Advertise<msgs::Pose>(this->cameraPoseTopic);
   gzmsg << "Camera pose topic advertised on ["
          << this->cameraPoseTopic << "]" << std::endl;
-
-  // follow offset
-  this->followOffsetService = "/gui/follow/offset";
-  this->node.Advertise(this->followOffsetService,
-      &Implementation::OnFollowOffset, this);
-  gzmsg << "Follow offset service on ["
-          << this->followOffsetService << "] (deprecated)" << std::endl;
 }
 
 /////////////////////////////////////////////////
@@ -279,21 +245,6 @@ bool CameraTracking::Implementation::OnMoveTo(const msgs::StringMsg &_msg,
   return true;
 }
 
-/////////////////////////////////////////////////
-bool CameraTracking::Implementation::OnFollow(const msgs::StringMsg &_msg,
-  msgs::Boolean &_res)
-{
-  std::lock_guard<std::mutex> lock(this->mutex);
-  this->selectedFollowTarget = _msg.data();
-
-  _res.set_data(true);
-
-  this->trackMode = gz::msgs::CameraTrack::FOLLOW;
-
-  this->newTrack = true;
-  return true;
-}
-
 /////////////////////////////////////////////////
 void CameraTracking::Implementation::OnTrackSub(const msgs::CameraTrack &_msg)
 {
@@ -351,21 +302,6 @@ void CameraTracking::Implementation::OnMoveToPoseComplete()
   this->moveToPoseDuration.reset();
 }
 
-/////////////////////////////////////////////////
-bool CameraTracking::Implementation::OnFollowOffset(const msgs::Vector3d &_msg,
-  msgs::Boolean &_res)
-{
-  std::lock_guard<std::mutex> lock(this->mutex);
-  if (!this->selectedFollowTarget.empty())
-  {
-    this->newTrack = true;
-    this->followOffset = msgs::Convert(_msg);
-  }
-
-  _res.set_data(true);
-  return true;
-}
-
 /////////////////////////////////////////////////
 bool CameraTracking::Implementation::OnMoveToPose(const msgs::GUICamera &_msg,
   msgs::Boolean &_res)

src/plugins/camera_tracking/CameraTracking.hh

@@ -27,12 +27,9 @@
 namespace gz::gui::plugins
 {
   /// \brief This plugin provides camera tracking capabilities such as "move to"
-  /// and "follow".
+  /// and "track".
   ///
   /// Services:
-  /// * `/gui/follow`: Set the user camera to follow a given target,
-  ///                   identified by name (deprecated).
-  /// * `/gui/follow/offset`: Set the offset for following (deprecated).
   /// * `/gui/move_to`: Move the user camera to look at a given target,
   ///                   identified by name.
   /// * `/gui/move_to/pose`: Move the user camera to a given pose.

src/plugins/world_control/WorldControl.cc

@@ -245,11 +245,7 @@ void WorldControl::ProcessMsg()
 {
   std::lock_guard<std::recursive_mutex> lock(this->dataPtr->mutex);
 
-  // ignore the message if it's associated with a step
-  const auto &header = this->dataPtr->msg.header();
-  if (this->dataPtr->msg.stepping() ||
-      // (deprecated) Remove this check in Gazebo H
-      ((header.data_size() > 0) && (header.data(0).key() == "step")))
+  if (this->dataPtr->msg.stepping())
   {
     return;
   }

test/integration/camera_tracking.cc

@@ -18,6 +18,7 @@
 #include <gtest/gtest.h>
 
 #include <gz/msgs/boolean.pb.h>
+#include <gz/msgs/cameratrack.pb.h>
 #include <gz/msgs/pose.pb.h>
 #include <gz/msgs/stringmsg.pb.h>
 #include <gz/msgs/vector3d.pb.h>
@@ -180,22 +181,16 @@ TEST(MinimalSceneTest, GZ_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Config))
   trackedVis->SetWorldPose({130, 130, 130, 0, 0, 0});
 
   // Follow
-  result = false;
-  executed = node.Request("/gui/follow", req, timeout, rep, result);
-  EXPECT_TRUE(executed);
-  EXPECT_TRUE(result);
-  EXPECT_TRUE(rep.data());
-
-  msgs::Vector3d reqOffset;
-  reqOffset.set_x(1.0);
-  reqOffset.set_y(1.0);
-  reqOffset.set_z(1.0);
-  result = false;
-  executed = node.Request("/gui/follow/offset", reqOffset, timeout, rep,
-      result);
-  EXPECT_TRUE(executed);
-  EXPECT_TRUE(result);
-  EXPECT_TRUE(rep.data());
+  auto trackPub = node.Advertise<gz::msgs::CameraTrack>("/gui/track");
+  msgs::CameraTrack trackMsg;
+  trackMsg.set_track_mode(msgs::CameraTrack::FOLLOW);
+  trackMsg.mutable_follow_target()->set_name("track_me");
+  trackPub.Publish(trackMsg);
+
+  trackMsg.mutable_follow_offset()->set_x(1);
+  trackMsg.mutable_follow_offset()->set_y(1);
+  trackMsg.mutable_follow_offset()->set_z(1);
+  trackPub.Publish(trackMsg);
 
   // Many update loops to process many events
   maxSleep = 600;