Migration/2.0


 * 1) Development: migration guide to gazebo 2.0

Gazebo-2.0.0 breaks API/ABI compatibility with previous versions so you probably need to adapt your code to the new API. Here are some hints about how to do so.

Warning: work in progress


 * 1) New deprecated code


 * 1) gazebo/sensors/SensorsIface.hh


 * Deprecated: std::string create_sensor(sdf::ElementPtr _elem, const std::string &_worldName,const std::string &_parentName)

TODO


 * 1) gazebo/sensors/Sensor.hh
 * Deprecated: void SetParent(const std::string &_name)

TODO


 * 1) gazebo/sensors/SensorManager.hh
 * Deprecated: std::string CreateSensor(sdf::ElementPtr _elem, const std::string &_worldName, const std::string &_parentName)

TODO

TODO
 * 1) gazebo/physics/Collision.hh
 * Deprecated: void SetContactsEnabled(bool _enable)

TODO
 * Deprecated: bool GetContactsEnabled const

TODO
 * Deprecated: void AddContact(const Contact &_contact)


 * 1) Code previously deprecated and now removed


 * 1) Headers rename

Problem: some of the gazebo headers were renamed since they were conflicting with some of the auto generated headers name in case insensitive systems (like MacOSX).

Solution: rename using the postfix Iface.hh the following headers:

gazebo/common/Common.hh          gazebo/physics/Physics.hh           gazebo/rendering/Rendering.hh           gazebo/sensors/Sensors.hh           gazebo/transport/Transport.hh           gazebo/gui/Gui.hh

For example Gui.hh becomes GuiIface.hh

Issue: https://bitbucket.org/osrf/gazebo/issue/775

Pull request: https://bitbucket.org/osrf/gazebo/pull-request/638


 * 1) Manifest renaming

Problem: manifest.xml files for different config are not valid anymoore.

Solution: rename using the following rules:


 * Database manifest.xml to database.config
 * Model manifest.xml to model.config

Pull request: https://bitbucket.org/osrf/gazebo/pull-request/242


 * 1) Remove update_rate and and step_time (dt) in physics engine

Problem: dt and update_rate fields are not in the physics message anymore and related functions SetUpdateRate(double _value), GetUpdateRate, SetStepTime(double _value) and GetStepTime were removed.

Solution: change fields by the following:


 * dt is deprecated by max_step_size
 * update_rate is deprecated by real_time_update_rate

and use the corresponding functions.


 * 1) Physics::Joint remove a version of Load method

Problem: the method Load(LinkPtr _parent, LinkPtr _child, const math::Vector3 &_pos) was removed from the class.

Solution: use Load(LinkPtr _parent, LinkPtr _child, const math::Pose &_pose).


 * 1) Event connect/disconnect world renaming

Problem: methods Events::ConnectWorldUpdateStart(T _subscriber) and DisconnectWorldUpdateStart(ConnectionPtr _subscriber) were removed from the class.

Solution: use Events::ConnectWorldUpdateBegin(T_ subscriber) and Events::DisconnectWorldUpdateBegin(ConnectionPtr _subscriber)


 * 1) Removed methods to remove parent/child in physics::Link

Problem: void RemoveChildJoint(JointPtr _joint) and RemoveParentJoint(const std::string &_jointName) were removed from physics::Link class.

TODO


 * 1) Remove methods for get/set filename in physics::MeshShape

Problem: the methods std::string GetFilename and SetFilename(const std::string &_filename) were removed from physics::MeshShape class.

TODO


 * 1) Time::NSleep(Time _time) removal

Problem: the method Time::NSleep(Time _time) was removed from the Time class.

TODO