From 838274d27ccbd3f69ea06f51da1aeebeb25cd981 Mon Sep 17 00:00:00 2001
From: Rhys Mainwaring <rhys.mainwaring@me.com>
Date: Tue, 3 Jan 2023 20:54:49 +0000
Subject: [PATCH] Gazebo: Add model for Omnicopter

- Migrate ignition to gz.

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
---
 Gazebo/models/omnicopter/model.sdf  | 78 ++++++++++++++---------------
 Gazebo/worlds/omnicopter_runway.sdf | 20 ++++----
 2 files changed, 49 insertions(+), 49 deletions(-)

diff --git a/Gazebo/models/omnicopter/model.sdf b/Gazebo/models/omnicopter/model.sdf
index 8da0b91c..ac4abc30 100644
--- a/Gazebo/models/omnicopter/model.sdf
+++ b/Gazebo/models/omnicopter/model.sdf
@@ -886,37 +886,37 @@
     </joint>
 
     <!-- plugins -->
-    <plugin filename="libignition-gazebo-joint-state-publisher-system.so"
-      name="ignition::gazebo::systems::JointStatePublisher">
+    <plugin filename="gz-sim-joint-state-publisher-system"
+      name="gz::sim::systems::JointStatePublisher">
     </plugin>
-    <plugin filename="libignition-gazebo-apply-joint-force-system.so"
-      name="ignition::gazebo::systems::ApplyJointForce">
+    <plugin filename="gz-sim-apply-joint-force-system"
+      name="gz::sim::systems::ApplyJointForce">
       <joint_name>motor_1_joint</joint_name>
     </plugin>
-    <plugin filename="libignition-gazebo-apply-joint-force-system.so"
-      name="ignition::gazebo::systems::ApplyJointForce">
+    <plugin filename="gz-sim-apply-joint-force-system"
+      name="gz::sim::systems::ApplyJointForce">
       <joint_name>motor_2_joint</joint_name>
     </plugin>
-    <plugin filename="libignition-gazebo-apply-joint-force-system.so"
-      name="ignition::gazebo::systems::ApplyJointForce">
+    <plugin filename="gz-sim-apply-joint-force-system"
+      name="gz::sim::systems::ApplyJointForce">
       <joint_name>motor_3_joint</joint_name>
     </plugin>
-    <plugin filename="libignition-gazebo-apply-joint-force-system.so"
-      name="ignition::gazebo::systems::ApplyJointForce">
+    <plugin filename="gz-sim-apply-joint-force-system"
+      name="gz::sim::systems::ApplyJointForce">
       <joint_name>motor_4_joint</joint_name>
     </plugin>
-    <plugin filename="libignition-gazebo-apply-joint-force-system.so"
-      name="ignition::gazebo::systems::ApplyJointForce">
+    <plugin filename="gz-sim-apply-joint-force-system"
+      name="gz::sim::systems::ApplyJointForce">
       <joint_name>motor_5_joint</joint_name>
     </plugin>
-    <plugin filename="libignition-gazebo-apply-joint-force-system.so"
-      name="ignition::gazebo::systems::ApplyJointForce">
+    <plugin filename="gz-sim-apply-joint-force-system"
+      name="gz::sim::systems::ApplyJointForce">
       <joint_name>motor_6_joint</joint_name>
     </plugin>
 
     <!-- prop motor_1 (cw) lift-drag -->
-    <plugin filename="libignition-gazebo-lift-drag-system.so"
-        name="ignition::gazebo::systems::LiftDrag">
+    <plugin filename="gz-sim-lift-drag-system"
+        name="gz::sim::systems::LiftDrag">
       <a0>0.3</a0>
       <alpha_stall>1.4</alpha_stall>
       <cla>4.2500</cla>
@@ -932,8 +932,8 @@
       <upward>0 0 1</upward>
       <link_name>motor_1_link</link_name>
     </plugin>
-    <plugin filename="libignition-gazebo-lift-drag-system.so"
-        name="ignition::gazebo::systems::LiftDrag">
+    <plugin filename="gz-sim-lift-drag-system"
+        name="gz::sim::systems::LiftDrag">
       <a0>0.3</a0>
       <alpha_stall>1.4</alpha_stall>
       <cla>4.2500</cla>
@@ -951,8 +951,8 @@
     </plugin>
 
     <!-- prop motor_2 (cw) lift-drag -->
-    <plugin filename="libignition-gazebo-lift-drag-system.so"
-        name="ignition::gazebo::systems::LiftDrag">
+    <plugin filename="gz-sim-lift-drag-system"
+        name="gz::sim::systems::LiftDrag">
       <a0>0.3</a0>
       <alpha_stall>1.4</alpha_stall>
       <cla>4.2500</cla>
@@ -968,8 +968,8 @@
       <upward>0 0 1</upward>
       <link_name>motor_2_link</link_name>
     </plugin>
-    <plugin filename="libignition-gazebo-lift-drag-system.so"
-        name="ignition::gazebo::systems::LiftDrag">
+    <plugin filename="gz-sim-lift-drag-system"
+        name="gz::sim::systems::LiftDrag">
       <a0>0.3</a0>
       <alpha_stall>1.4</alpha_stall>
       <cla>4.2500</cla>
@@ -987,8 +987,8 @@
     </plugin>
 
     <!-- prop motor_3 (ccw) lift-drag -->
-    <plugin filename="libignition-gazebo-lift-drag-system.so"
-        name="ignition::gazebo::systems::LiftDrag">
+    <plugin filename="gz-sim-lift-drag-system"
+        name="gz::sim::systems::LiftDrag">
       <a0>0.3</a0>
       <alpha_stall>1.4</alpha_stall>
       <cla>4.2500</cla>
@@ -1004,8 +1004,8 @@
       <upward>0 0 1</upward>
       <link_name>motor_3_link</link_name>
     </plugin>
-    <plugin filename="libignition-gazebo-lift-drag-system.so"
-        name="ignition::gazebo::systems::LiftDrag">
+    <plugin filename="gz-sim-lift-drag-system"
+        name="gz::sim::systems::LiftDrag">
       <a0>0.3</a0>
       <alpha_stall>1.4</alpha_stall>
       <cla>4.2500</cla>
@@ -1023,8 +1023,8 @@
     </plugin>
 
     <!-- prop motor_4 (ccw) lift-drag -->
-    <plugin filename="libignition-gazebo-lift-drag-system.so"
-        name="ignition::gazebo::systems::LiftDrag">
+    <plugin filename="gz-sim-lift-drag-system"
+        name="gz::sim::systems::LiftDrag">
       <a0>0.3</a0>
       <alpha_stall>1.4</alpha_stall>
       <cla>4.2500</cla>
@@ -1040,8 +1040,8 @@
       <upward>0 0 1</upward>
       <link_name>motor_4_link</link_name>
     </plugin>
-    <plugin filename="libignition-gazebo-lift-drag-system.so"
-        name="ignition::gazebo::systems::LiftDrag">
+    <plugin filename="gz-sim-lift-drag-system"
+        name="gz::sim::systems::LiftDrag">
       <a0>0.3</a0>
       <alpha_stall>1.4</alpha_stall>
       <cla>4.2500</cla>
@@ -1059,8 +1059,8 @@
     </plugin>
 
     <!-- prop motor_5 (cw) lift-drag -->
-    <plugin filename="libignition-gazebo-lift-drag-system.so"
-        name="ignition::gazebo::systems::LiftDrag">
+    <plugin filename="gz-sim-lift-drag-system"
+        name="gz::sim::systems::LiftDrag">
       <a0>0.3</a0>
       <alpha_stall>1.4</alpha_stall>
       <cla>4.2500</cla>
@@ -1076,8 +1076,8 @@
       <upward>0 0 1</upward>
       <link_name>motor_5_link</link_name>
     </plugin>
-    <plugin filename="libignition-gazebo-lift-drag-system.so"
-        name="ignition::gazebo::systems::LiftDrag">
+    <plugin filename="gz-sim-lift-drag-system"
+        name="gz::sim::systems::LiftDrag">
       <a0>0.3</a0>
       <alpha_stall>1.4</alpha_stall>
       <cla>4.2500</cla>
@@ -1095,8 +1095,8 @@
     </plugin>
 
     <!-- prop motor_6 (ccw) lift-drag -->
-    <plugin filename="libignition-gazebo-lift-drag-system.so"
-        name="ignition::gazebo::systems::LiftDrag">
+    <plugin filename="gz-sim-lift-drag-system"
+        name="gz::sim::systems::LiftDrag">
       <a0>0.3</a0>
       <alpha_stall>1.4</alpha_stall>
       <cla>4.2500</cla>
@@ -1112,8 +1112,8 @@
       <upward>0 0 1</upward>
       <link_name>motor_6_link</link_name>
     </plugin>
-    <plugin filename="libignition-gazebo-lift-drag-system.so"
-        name="ignition::gazebo::systems::LiftDrag">
+    <plugin filename="gz-sim-lift-drag-system"
+        name="gz::sim::systems::LiftDrag">
       <a0>0.3</a0>
       <alpha_stall>1.4</alpha_stall>
       <cla>4.2500</cla>
@@ -1130,7 +1130,7 @@
       <link_name>motor_6_link</link_name>
     </plugin>
 
-    <plugin name="ArduPilotPlugin" filename="libArduPilotPlugin.so">
+    <plugin name="ArduPilotPlugin" filename="ArduPilotPlugin">
       <!-- Port settings -->
       <fdm_addr>127.0.0.1</fdm_addr>
       <fdm_port_in>9002</fdm_port_in>
diff --git a/Gazebo/worlds/omnicopter_runway.sdf b/Gazebo/worlds/omnicopter_runway.sdf
index 82f3856d..7d820607 100755
--- a/Gazebo/worlds/omnicopter_runway.sdf
+++ b/Gazebo/worlds/omnicopter_runway.sdf
@@ -1,20 +1,20 @@
 <?xml version="1.0" ?>
 <sdf version="1.7">
   <world name="omnicopter_runway">
-    <plugin filename="libignition-gazebo-physics-system.so"
-      name="ignition::gazebo::systems::Physics">
+    <plugin filename="gz-sim-physics-system"
+      name="gz::sim::systems::Physics">
     </plugin>
-    <plugin filename="libignition-gazebo-user-commands-system.so"
-      name="ignition::gazebo::systems::UserCommands">
+    <plugin filename="gz-sim-user-commands-system"
+      name="gz::sim::systems::UserCommands">
     </plugin>
-    <plugin filename="libignition-gazebo-scene-broadcaster-system.so"
-      name="ignition::gazebo::systems::SceneBroadcaster">
+    <plugin filename="gz-sim-scene-broadcaster-system"
+      name="gz::sim::systems::SceneBroadcaster">
     </plugin>
-    <plugin filename="libignition-gazebo-imu-system.so"
-      name="ignition::gazebo::systems::Imu">
+    <plugin filename="gz-sim-imu-system"
+      name="gz::sim::systems::Imu">
     </plugin>
-    <plugin filename="ignition-gazebo-forcetorque-system"
-      name="ignition::gazebo::systems::ForceTorque" />
+    <plugin filename="gz-sim-forcetorque-system"
+      name="gz::sim::systems::ForceTorque" />
 
     <scene>
       <ambient>1.0 1.0 1.0</ambient>