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Migration.md

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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 Sensors 6.X to 7.X

  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 ignition:type SDF attribute is deprecated and will be removed. Please use gz:type instead.

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

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

  6. CameraSensor: the default anti-aliasing value has changed from 2 to 4.

  • 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 Sensors 6.0.1 to 6.1.0

Modifications

  1. Point Cloud Density flag (is_dense from GpuLidarSensor) is set to false if invalid points (NaN or +/-INF) are found, and true otherwise.

Gazebo Sensors 5.X to 6.X

  1. Sensors aren't loaded as plugins anymore. Instead, downstream libraries must link to the library of the sensor they're interested in, and instantiate new sensors knowing their type. For example:

    • auto camera = std::make_unique<gz::sensors::CameraSensor>();
    • auto camera = sensorFactory.CreateSensor<gz::sensors::CameraSensor>(_sdf);
    • auto camera = manager.CreateSensor<gz::sensors::CameraSensor>(_sdf);

  2. include/sensors/SensorFactory.hh

    • Deprecation SensorPlugin
    • Replacement None; see above.
    • Deprecation SensorTypePlugin
    • Replacement None; see above.
    • Deprecation std::unique_ptr CreateSensor(sdf::ElementPtr);
    • Replacement template std::unique_ptr CreateSensor(sdf::ElementPtr);
    • Deprecation std::unique_ptr CreateSensor(const sdf::Sensor &);
    • Replacement template std::unique_ptr CreateSensor(const sdf::Sensor &);
    • Deprecation void AddPluginPaths(const std::string &)
    • Replacement None; see above.
    • Deprecation IGN_SENSORS_REGISTER_SENSOR
    • Replacement None; see above.

  3. include/sensors/Manager.hh

    • Deprecation SensorId CreateSensor(sdf::ElementPtr);
    • Replacement template<typename SensorType, typename SdfType> SensorType> *CreateSensor(SdfType);
    • Deprecation SensorId CreateSensor(const sdf::Sensor &);
    • Replacement template<typename SensorType, typename SdfType> SensorType *CreateSensor(SdfType);
    • Deprecation void AddPluginPaths(const std::string &)
    • Replacement None; see above.

Gazebo Sensors 3.X to 4.X

  1. include/sensors/Sensor.hh

    • Deprecation virtual bool Update(const gz::common::Time &)
    • Replacement virtual bool Update(const std::chrono::steady_clock::duration &)
    • Deprecation virtual bool Update(const gz::common::Time &, const bool)
    • Replacement virtual bool Update(const std::chrono::steady_clock::duration &, const bool)
    • Deprecation gz::common::Time NextUpdateTime() const
    • Replacement std::chrono::steady_clock::duration NextDataUpdateTime() const

  2. include/sensors/Manager.hh

    • Deprecation void RunOnce(const gz::common::Time &, bool);
    • Replacement void RunOnce(const std::chrono::steady_clock::duration &, bool)

  3. include/sensors/Lidar.hh

    • Deprecation virtual bool PublishLidarScan(const gz::common::Time &)
    • Replacement virtual bool PublishLidarScan(const std::chrono::steady_clock::duration &)

Gazebo Sensors 2.X to 3.X

Additions

  1. The core gz-sensors library no longer depends on gz-rendering. All rendering sensors and noise models are now part of the rendering component

  2. New sensors: thermal camera

Modifications

  1. Depend on ignition-rendering3, ignition-msgs5 and ignition-transport8.

  2. ImageGaussiaNoiseModel class is spearated out from GaussianNoiseModel source and header files. Similarly, noise models for rendering sensors need be created using the new ImageNoiseFactory class instead of NoiseFactory by including ImageNoise.hh.

Gazebo Sensors 1.X to 2.X

Additions

  1. Rendering sensors moved to rendering component.

  2. New sensors: altimeter, IMU, magnetometer, RGBD camera

Modifications

  1. Depend on ignition-msgs4, ignition-rendering2, ignition-transport7.

Deprecations

  1. include/sensors/Noise.hh

    • Deprecation virtual void Load(sdf::ElementPtr _sdf)
    • Replacement virtual void Load(const sdf::Noise &_sdf)

  2. include/sensors/Events.hh

    • Deprecation: public: static gz::common::ConnectionPtr ConnectSceneChangeCallback(std::function<void(const gz::rendering::ScenePtr &)>)
    • Replacement: RenderingEvents::ConnectSceneChangeCallback

  3. include/sensors/Manager.hh

    • Deprecation: public: bool Init(gz::rendering::ScenePtr);

    • Replacement: RenderingSensor::SetScene

    • Deprecation: public: void SetRenderingScene(gz::rendering::ScenePtr

    • Replacement: RenderingSensor::SetScene

    • Deprecation: public: gz::rendering::ScenePtr RenderingScene() const

    • Replacement: RenderingSensor::Scene()

  4. include/sensors/Noise.hh

    • Deprecation: public: virtual void SetCamera(rendering::CameraPtr)
    • Replacement: TODO (to be implemented in ImageGaussianNoiseModel)