Bump main to sim 10.0.0~pre1 (#2644)

* Bump main to sim 10.0.0~pre1 --------- Signed-off-by: Carlos Agüero <[email protected]> Co-authored-by: Ian Chen <[email protected]>
gazebosim · Oct 16, 2024 · 0892997 · 0892997
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diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 #============================================================================
 # Initialize the project
 #============================================================================
-project(gz-sim9 VERSION 9.0.0)
+project(gz-sim10 VERSION 10.0.0)
 set (GZ_DISTRIBUTION "Ionic")
 
 #============================================================================
@@ -18,7 +18,7 @@ find_package(gz-cmake4 REQUIRED)
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
-gz_configure_project(VERSION_SUFFIX)
+gz_configure_project(VERSION_SUFFIX pre1)
 
 #============================================================================
 # Set project-specific options

diff --git a/Changelog.md b/Changelog.md
@@ -1,3 +1,7 @@
+## Gazebo Sim 10.x
+
+### Gazebo Sim 10.0.0 (20XX-XX-XX)
+
 ## Gazebo Sim 9.x
 
 ### Gazebo Sim 9.0.0 (2024-09-25)

diff --git a/examples/plugin/command_actor/CMakeLists.txt b/examples/plugin/command_actor/CMakeLists.txt
@@ -7,9 +7,9 @@ project(CommandActor)
 find_package(gz-plugin3 REQUIRED COMPONENTS register)
 set(GZ_PLUGIN_VER ${gz-plugin3_VERSION_MAJOR})
 
-find_package(gz-sim9 REQUIRED)
+find_package(gz-sim10 REQUIRED)
 add_library(CommandActor SHARED CommandActor.cc)
 set_property(TARGET CommandActor PROPERTY CXX_STANDARD 17)
 target_link_libraries(CommandActor
   PRIVATE gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER}
-  PRIVATE gz-sim9::gz-sim9)
+  PRIVATE gz-sim10::gz-sim10)
diff --git a/examples/plugin/custom_component/CMakeLists.txt b/examples/plugin/custom_component/CMakeLists.txt
@@ -7,11 +7,11 @@ project(CustomComponentPlugin)
 find_package(gz-plugin3 REQUIRED COMPONENTS register)
 set(GZ_PLUGIN_VER ${gz-plugin3_VERSION_MAJOR})
 
-find_package(gz-sim9 REQUIRED)
+find_package(gz-sim10 REQUIRED)
 add_library(CustomComponentPlugin SHARED
   CustomComponentPlugin.cc
 )
 set_property(TARGET CustomComponentPlugin PROPERTY CXX_STANDARD 17)
 target_link_libraries(CustomComponentPlugin
   PRIVATE gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER}
-  PRIVATE gz-sim9::gz-sim9)
+  PRIVATE gz-sim10::gz-sim10)
diff --git a/examples/plugin/custom_sensor_system/CMakeLists.txt b/examples/plugin/custom_sensor_system/CMakeLists.txt
@@ -7,8 +7,8 @@ project(OdometerSystem)
 gz_find_package(gz-plugin3 REQUIRED COMPONENTS register)
 set(GZ_PLUGIN_VER ${gz-plugin3_VERSION_MAJOR})
 
-gz_find_package(gz-sim9 REQUIRED)
-set(GZ_SIM_VER ${gz-sim9_VERSION_MAJOR})
+gz_find_package(gz-sim10 REQUIRED)
+set(GZ_SIM_VER ${gz-sim10_VERSION_MAJOR})
 
 find_package(gz-sensors9 REQUIRED)
 set(GZ_SENSORS_VER ${gz-sensors9_VERSION_MAJOR})

diff --git a/examples/plugin/gui_system_plugin/CMakeLists.txt b/examples/plugin/gui_system_plugin/CMakeLists.txt
@@ -8,7 +8,7 @@ project(GuiSystemPlugin)
 
 set(CMAKE_AUTOMOC ON)
 
-find_package(gz-sim9 REQUIRED COMPONENTS gui)
+find_package(gz-sim10 REQUIRED COMPONENTS gui)
 
 QT5_ADD_RESOURCES(resources_RCC ${PROJECT_NAME}.qrc)
 
@@ -17,5 +17,5 @@ add_library(${PROJECT_NAME} SHARED
   ${resources_RCC}
 )
 target_link_libraries(${PROJECT_NAME}
-  PRIVATE gz-sim9::gui
+  PRIVATE gz-sim10::gui
 )
diff --git a/examples/plugin/hello_world/CMakeLists.txt b/examples/plugin/hello_world/CMakeLists.txt
@@ -7,8 +7,8 @@ project(Hello_world)
 gz_find_package(gz-plugin3 REQUIRED COMPONENTS register)
 set(GZ_PLUGIN_VER ${gz-plugin3_VERSION_MAJOR})
 
-gz_find_package(gz-sim9 REQUIRED)
-set(GZ_SIM_VER ${gz-sim9_VERSION_MAJOR})
+gz_find_package(gz-sim10 REQUIRED)
+set(GZ_SIM_VER ${gz-sim10_VERSION_MAJOR})
 
 add_library(HelloWorld SHARED HelloWorld.cc)
 set_property(TARGET HelloWorld PROPERTY CXX_STANDARD 17)

diff --git a/examples/plugin/priority_printer_plugin/CMakeLists.txt b/examples/plugin/priority_printer_plugin/CMakeLists.txt
@@ -7,8 +7,8 @@ project(Priority_printer)
 gz_find_package(gz-plugin3 REQUIRED COMPONENTS register)
 set(GZ_PLUGIN_VER ${gz-plugin3_VERSION_MAJOR})
 
-gz_find_package(gz-sim9 REQUIRED)
-set(GZ_SIM_VER ${gz-sim9_VERSION_MAJOR})
+gz_find_package(gz-sim10 REQUIRED)
+set(GZ_SIM_VER ${gz-sim10_VERSION_MAJOR})
 
 add_library(PriorityPrinter SHARED PriorityPrinter.cc)
 set_property(TARGET PriorityPrinter PROPERTY CXX_STANDARD 17)

diff --git a/examples/plugin/rendering_plugins/CMakeLists.txt b/examples/plugin/rendering_plugins/CMakeLists.txt
@@ -32,13 +32,13 @@ target_link_libraries(${GUI_PLUGIN}
 set(SERVER_PLUGIN RenderingServerPlugin)
 
 find_package(gz-plugin3 REQUIRED COMPONENTS register)
-find_package(gz-sim9 REQUIRED)
+find_package(gz-sim10 REQUIRED)
 
 add_library(${SERVER_PLUGIN} SHARED ${SERVER_PLUGIN}.cc)
 set_property(TARGET ${SERVER_PLUGIN} PROPERTY CXX_STANDARD 17)
 target_link_libraries(${SERVER_PLUGIN}
   PRIVATE
     gz-plugin3::gz-plugin3
-    gz-sim9::gz-sim9
+    gz-sim10::gz-sim10
     gz-rendering9::gz-rendering9
 )
diff --git a/examples/plugin/reset_plugin/CMakeLists.txt b/examples/plugin/reset_plugin/CMakeLists.txt
@@ -5,8 +5,8 @@ project(ResetPlugins)
 find_package(gz-plugin3 REQUIRED COMPONENTS register)
 set(GZ_PLUGIN_VER ${gz-plugin3_VERSION_MAJOR})
 
-find_package(gz-sim9 REQUIRED)
-set(GZ_SIM_VER ${gz-sim9_VERSION_MAJOR})
+find_package(gz-sim10 REQUIRED)
+set(GZ_SIM_VER ${gz-sim10_VERSION_MAJOR})
 
 add_library(JointPositionRandomizer SHARED JointPositionRandomizer.cc)
 target_link_libraries(JointPositionRandomizer

diff --git a/examples/plugin/system_plugin/CMakeLists.txt b/examples/plugin/system_plugin/CMakeLists.txt
@@ -7,9 +7,9 @@ project(SampleSystem)
 find_package(gz-plugin3 REQUIRED COMPONENTS register)
 set(GZ_PLUGIN_VER ${gz-plugin3_VERSION_MAJOR})
 
-find_package(gz-sim9 REQUIRED)
+find_package(gz-sim10 REQUIRED)
 add_library(SampleSystem SHARED SampleSystem.cc SampleSystem2.cc)
 set_property(TARGET SampleSystem PROPERTY CXX_STANDARD 17)
 target_link_libraries(SampleSystem
   PRIVATE gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER}
-  PRIVATE gz-sim9::gz-sim9)
+  PRIVATE gz-sim10::gz-sim10)
diff --git a/examples/scripts/python_api/systems/test_system.py b/examples/scripts/python_api/systems/test_system.py
@@ -13,7 +13,7 @@
 # limitations under the License.
 
 from gz.math8 import Vector3d
-from gz.sim9 import Model, Link
+from gz.sim10 import Model, Link
 import random
 
 

diff --git a/examples/scripts/python_api/testFixture.py b/examples/scripts/python_api/testFixture.py
@@ -25,7 +25,7 @@
 import os
 
 from gz.common6 import set_verbosity
-from gz.sim9 import TestFixture, World, world_entity
+from gz.sim10 import TestFixture, World, world_entity
 from gz.math8 import Vector3d
 
 set_verbosity(4)

diff --git a/examples/standalone/acoustic_comms_demo/CMakeLists.txt b/examples/standalone/acoustic_comms_demo/CMakeLists.txt
@@ -5,8 +5,8 @@ project(gz-sim-acoustic-comms-demo)
 find_package(gz-transport14 QUIET REQUIRED OPTIONAL_COMPONENTS log)
 set(GZ_TRANSPORT_VER ${gz-transport14_VERSION_MAJOR})
 
-find_package(gz-sim9 REQUIRED)
-set(GZ_SIM_VER ${gz-sim9_VERSION_MAJOR})
+find_package(gz-sim10 REQUIRED)
+set(GZ_SIM_VER ${gz-sim10_VERSION_MAJOR})
 
 add_executable(acoustic_comms_demo acoustic_comms_demo.cc)
 target_link_libraries(acoustic_comms_demo

diff --git a/examples/standalone/custom_server/CMakeLists.txt b/examples/standalone/custom_server/CMakeLists.txt
@@ -3,8 +3,8 @@ cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 project(gz-sim-custom-server)
 
 if(${CMAKE_SYSTEM_NAME} STREQUAL "Linux")
-  find_package(gz-sim9 REQUIRED)
-  set(GZ_SIM_VER ${gz-sim9_VERSION_MAJOR})
+  find_package(gz-sim10 REQUIRED)
+  set(GZ_SIM_VER ${gz-sim10_VERSION_MAJOR})
 
   add_executable(custom_server custom_server.cc)
   target_link_libraries(custom_server

diff --git a/examples/standalone/each_performance/CMakeLists.txt b/examples/standalone/each_performance/CMakeLists.txt
@@ -2,8 +2,8 @@ cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 
 project(gz-sim-each-performance)
 
-find_package(gz-sim9 QUIET REQUIRED)
+find_package(gz-sim10 QUIET REQUIRED)
 
 add_executable(each each.cc)
 target_link_libraries(each
-  gz-sim9::core)
+  gz-sim10::core)
diff --git a/examples/standalone/external_ecm/CMakeLists.txt b/examples/standalone/external_ecm/CMakeLists.txt
@@ -2,8 +2,8 @@ cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 
 project(gz-sim-external-ecm)
 
-find_package(gz-sim9 REQUIRED)
+find_package(gz-sim10 REQUIRED)
 
 add_executable(external_ecm external_ecm.cc)
 target_link_libraries(external_ecm
-  gz-sim9::core)
+  gz-sim10::core)
diff --git a/examples/standalone/gtest_setup/CMakeLists.txt b/examples/standalone/gtest_setup/CMakeLists.txt
@@ -3,8 +3,8 @@ cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 project(GTestSetup)
 
 # Find Gazebo
-find_package(gz-sim9 REQUIRED)
-set(GZ_SIM_VER ${gz-sim9_VERSION_MAJOR})
+find_package(gz-sim10 REQUIRED)
+set(GZ_SIM_VER ${gz-sim10_VERSION_MAJOR})
 
 # Fetch and configure GTest
 include(FetchContent)

diff --git a/examples/standalone/light_control/CMakeLists.txt b/examples/standalone/light_control/CMakeLists.txt
@@ -5,8 +5,8 @@ project(gz-sim-light-control)
 find_package(gz-transport14 QUIET REQUIRED OPTIONAL_COMPONENTS log)
 set(GZ_TRANSPORT_VER ${gz-transport14_VERSION_MAJOR})
 
-find_package(gz-sim9 REQUIRED)
-set(GZ_SIM_VER ${gz-sim9_VERSION_MAJOR})
+find_package(gz-sim10 REQUIRED)
+set(GZ_SIM_VER ${gz-sim10_VERSION_MAJOR})
 
 add_executable(light_control light_control.cc)
 target_link_libraries(light_control

diff --git a/examples/standalone/lrauv_control/CMakeLists.txt b/examples/standalone/lrauv_control/CMakeLists.txt
@@ -5,8 +5,8 @@ project(gz-sim-lrauv-control)
 find_package(gz-transport14 QUIET REQUIRED OPTIONAL_COMPONENTS log)
 set(GZ_TRANSPORT_VER ${gz-transport14_VERSION_MAJOR})
 
-find_package(gz-sim9 REQUIRED)
-set(GZ_SIM_VER ${gz-sim9_VERSION_MAJOR})
+find_package(gz-sim10 REQUIRED)
+set(GZ_SIM_VER ${gz-sim10_VERSION_MAJOR})
 
 add_executable(lrauv_control lrauv_control.cc)
 target_link_libraries(lrauv_control

diff --git a/examples/standalone/multi_lrauv_race/CMakeLists.txt b/examples/standalone/multi_lrauv_race/CMakeLists.txt
@@ -5,8 +5,8 @@ project(gz-sim-multi-lrauv-race)
 find_package(gz-transport14 QUIET REQUIRED OPTIONAL_COMPONENTS log)
 set(GZ_TRANSPORT_VER ${gz-transport14_VERSION_MAJOR})
 
-find_package(gz-sim9 REQUIRED)
-set(GZ_SIM_VER ${gz-sim9_VERSION_MAJOR})
+find_package(gz-sim10 REQUIRED)
+set(GZ_SIM_VER ${gz-sim10_VERSION_MAJOR})
 
 add_executable(multi_lrauv_race multi_lrauv_race.cc)
 target_link_libraries(multi_lrauv_race

diff --git a/package.xml b/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
-  <name>gz-sim9</name>
-  <version>9.0.0</version>
+  <name>gz-sim10</name>
+  <version>10.0.0</version>
   <description>Gazebo Sim : A Robotic Simulator</description>
   <maintainer email="[email protected]">Michael Carroll</maintainer>
   <license>Apache License 2.0</license>

diff --git a/python/test/gz_test_deps/sim.py b/python/test/gz_test_deps/sim.py
@@ -1 +1 @@
-from gz.sim9 import *
+from gz.sim10 import *
diff --git a/tutorials/adding_system_plugins.md b/tutorials/adding_system_plugins.md
@@ -46,7 +46,7 @@ your turtle does not sink anymore.
 
 ```bash
 mkdir -p ~/gazebo_maritime/worlds
-wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim9/tutorials/files/adding_system_plugins/buoyant_turtle.sdf -O ~/gazebo_maritime/worlds/buoyant_turtle.sdf
+wget https://raw.githubusercontent.com/gazebosim/gz-sim/main/tutorials/files/adding_system_plugins/buoyant_turtle.sdf -O ~/gazebo_maritime/worlds/buoyant_turtle.sdf
 export GZ_SIM_RESOURCE_PATH=:$HOME/gazebo_maritime/models
 gz sim -r ~/gazebo_maritime/worlds/buoyant_turtle.sdf
 ```

diff --git a/tutorials/create_system_plugins.md b/tutorials/create_system_plugins.md
@@ -10,7 +10,7 @@ following entity types:
 * Actor
 
 To create a system plugin for use in the simulation environment, follow the
-steps below. The fully working example is available [here](https://github.com/gazebosim/gz-sim/tree/gz-sim9/examples/plugin/system_plugin).
+steps below. The fully working example is available [here](https://github.com/gazebosim/gz-sim/tree/main/examples/plugin/system_plugin).
 
 ## Decide on interfaces to implement
 
@@ -93,7 +93,7 @@ add_library(SampleSystem SHARED SampleSystem.cc SampleSystem2.cc)
 set_property(TARGET SampleSystem PROPERTY CXX_STANDARD 17)
 target_link_libraries(SampleSystem
   PRIVATE gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER}
-  PRIVATE gz-sim9::gz-sim9)
+  PRIVATE gz-sim10::gz-sim10)
 ```
 
 ## Loading your plugin

diff --git a/tutorials/lander.md b/tutorials/lander.md
@@ -37,7 +37,7 @@ mkdir -p ~/gazebo_maritime/models/my_lander && cd ~/gazebo_maritime/models/my_la
 Download the `model.config` file and copy it within that directory:
 
 ```bash
-wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim9/tutorials/files/lander/model.config -O ~/gazebo_maritime/models/my_lander/model.config
+wget https://raw.githubusercontent.com/gazebosim/gz-sim/main/tutorials/files/lander/model.config -O ~/gazebo_maritime/models/my_lander/model.config
 ```
 
 In its simple version, the lander does not have any moving pieces, so the SDF
@@ -95,7 +95,7 @@ Let's now add nicer-looking visuals to our lander. Download the following
 
 ```bash
 mkdir ~/gazebo_maritime/models/my_lander/meshes
-wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim9/tutorials/files/lander/inkfish-lander.dae -O ~/gazebo_maritime/models/my_lander/meshes/inkfish-lander.dae
+wget https://raw.githubusercontent.com/gazebosim/gz-sim/main/tutorials/files/lander/inkfish-lander.dae -O ~/gazebo_maritime/models/my_lander/meshes/inkfish-lander.dae
 ```
 
 Replace the `chassis_visual` element in your `model.sdf` with the following
@@ -153,7 +153,7 @@ Let's start with the world. Download the following world:
 
 ```bash
 mkdir -p ~/gazebo_maritime/worlds
-wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim9/tutorials/files/lander/buoyant_lander.sdf -O ~/gazebo_maritime/worlds/buoyant_lander.sdf
+wget https://raw.githubusercontent.com/gazebosim/gz-sim/main/tutorials/files/lander/buoyant_lander.sdf -O ~/gazebo_maritime/worlds/buoyant_lander.sdf
 export GZ_SIM_RESOURCE_PATH=:$HOME/gazebo_maritime/models
 ```
 

diff --git a/tutorials/migrating_ardupilot_plugin.md b/tutorials/migrating_ardupilot_plugin.md
@@ -729,7 +729,7 @@ In the new code we explicitly reference each Gazebo package that we use:
 # NEW
 find_package(sdformat15 REQUIRED)
 find_package(gz-common6-all REQUIRED)
-find_package(gz-sim9-all REQUIRED)
+find_package(gz-sim10-all REQUIRED)
 find_package(gz-math8-all REQUIRED)
 find_package(gz-msgs11-all REQUIRED)
 find_package(gz-physics8-all REQUIRED)

diff --git a/tutorials/migration_sdf.md b/tutorials/migration_sdf.md
@@ -250,7 +250,7 @@ side-by-side on the same file. Instead, keep separate files and inject the plugi
 needed.
 
 There isn't a built-in mechanism on SDFormat to inject plugins into files yet,
-but users can make use of templating tools like [ERB](https://github.com/gazebosim/gz-sim/blob/gz-sim9/tutorials/erb_template.md)
+but users can make use of templating tools like [ERB](https://github.com/gazebosim/gz-sim/blob/main/tutorials/erb_template.md)
 and [xacro](http://wiki.ros.org/xacro) to generate SDF files with the correct plugins.
 
 ### Default plugins
@@ -260,8 +260,8 @@ For example, by default, Gazebo will load all the system plugins defined on
 the `~/.gz/sim/<#>/server.config` file and all GUI plugins defined on the
 `~/.gz/sim/<#>/gui.config` file. But the user can always remove plugins from
 those files, or choose different ones by adding `<plugin>` tags to the SDF file.
-(For more details, see the [Server configuration tutorial](https://github.com/gazebosim/gz-sim/blob/gz-sim9/tutorials/server_config.md)
-and the [GUI configuration tutorial](https://github.com/gazebosim/gz-sim/blob/gz-sim9/tutorials/gui_config.md)).
+(For more details, see the [Server configuration tutorial](https://github.com/gazebosim/gz-sim/blob/main/tutorials/server_config.md)
+and the [GUI configuration tutorial](https://github.com/gazebosim/gz-sim/blob/main/tutorials/gui_config.md)).
 
 This is important to keep in mind when migrating your SDF files, because files
 that worked on Gazebo classic may need more plugins on Gazebo.

diff --git a/tutorials/particle_tutorial.md b/tutorials/particle_tutorial.md
@@ -98,7 +98,7 @@ The particles are not only a visual effect in simulation, they also have an effe
 * `thermal_camera`: The particles are not visible in the thermal camera image.
 
 
-The [particle_emitter_scatter_effects.sdf](https://github.com/gazebosim/gz-sim/blob/gz-sim9/tutorials/files/particle_emitter/particle_emitter_scatter_effects.sdf)
+The [particle_emitter_scatter_effects.sdf](https://github.com/gazebosim/gz-sim/blob/main/tutorials/files/particle_emitter/particle_emitter_scatter_effects.sdf)
 demo world shows six different sensors looking at the fog generator with a rescue randy model inside the fog.
 
 Download the example world file and launch it to see what it looks like.

diff --git a/tutorials/python_interfaces.md b/tutorials/python_interfaces.md
@@ -97,7 +97,7 @@ Example python system:
 <!-- \include examples/scripts/python_api/systems/test_system.py -->
 ```python
 from gz.math8 import Vector3d
-from gz.sim9 import Model, Link
+from gz.sim10 import Model, Link
 import random
 
 

diff --git a/tutorials/shadow_texture_size.md b/tutorials/shadow_texture_size.md
@@ -20,7 +20,7 @@ Currently, light type is restricted to only directional light. As a scene should
 
 ### Example usage for the GUI
 
-Let's change the shadow texture size for directional light with the SDF file below. (The finished SDF file can be viewed [here](https://github.com/gazebosim/gz-sim/tree/gz-sim9/examples/worlds/shadow_texture_size.sdf).)
+Let's change the shadow texture size for directional light with the SDF file below. (The finished SDF file can be viewed [here](https://github.com/gazebosim/gz-sim/tree/main/examples/worlds/shadow_texture_size.sdf).)
 
 1) Save the below in an SDF file named `shadow_texture_size.sdf`: