Renamed ign to gz (backport #67)

[mergify[bot]]

This is an automatic backport of pull request #67 done by Mergify. Cherry-pick of ab810e7a90259c54bbb2708491716484d51aa625 has failed:

On branch mergify/bp/humble/pr-67
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Changes to be committed:
	renamed:    ign_ros2_control/CHANGELOG.rst -> gz_ros2_control/CHANGELOG.rst
	renamed:    ign_ros2_control/CMakeLists.txt -> gz_ros2_control/CMakeLists.txt
	renamed:    ign_ros2_control/LICENSE -> gz_ros2_control/LICENSE
	new file:   gz_ros2_control/gz_hardware_plugins.xml
	new file:   gz_ros2_control/include/gz_ros2_control/gz_ros2_control_plugin.hpp
	renamed:    ign_ros2_control/include/ign_ros2_control/ign_system.hpp -> gz_ros2_control/include/gz_ros2_control/gz_system.hpp
	renamed:    ign_ros2_control/include/ign_ros2_control/ign_system_interface.hpp -> gz_ros2_control/include/gz_ros2_control/gz_system_interface.hpp
	new file:   gz_ros2_control/package.xml
	renamed:    ign_ros2_control_demos/CHANGELOG.rst -> gz_ros2_control_demos/CHANGELOG.rst
	renamed:    ign_ros2_control_demos/CMakeLists.txt -> gz_ros2_control_demos/CMakeLists.txt
	renamed:    ign_ros2_control_demos/config/cartpole_controller_effort.yaml -> gz_ros2_control_demos/config/cartpole_controller_effort.yaml
	renamed:    ign_ros2_control_demos/config/cartpole_controller_position.yaml -> gz_ros2_control_demos/config/cartpole_controller_position.yaml
	renamed:    ign_ros2_control_demos/config/cartpole_controller_velocity.yaml -> gz_ros2_control_demos/config/cartpole_controller_velocity.yaml
	renamed:    ign_ros2_control_demos/config/diff_drive_controller_velocity.yaml -> gz_ros2_control_demos/config/diff_drive_controller_velocity.yaml
	renamed:    ign_ros2_control_demos/config/tricycle_drive_controller.yaml -> gz_ros2_control_demos/config/tricycle_drive_controller.yaml
	renamed:    ign_ros2_control_demos/examples/example_diff_drive.cpp -> gz_ros2_control_demos/examples/example_diff_drive.cpp
	renamed:    ign_ros2_control_demos/examples/example_effort.cpp -> gz_ros2_control_demos/examples/example_effort.cpp
	renamed:    ign_ros2_control_demos/examples/example_position.cpp -> gz_ros2_control_demos/examples/example_position.cpp
	renamed:    ign_ros2_control_demos/examples/example_tricycle_drive.cpp -> gz_ros2_control_demos/examples/example_tricycle_drive.cpp
	renamed:    ign_ros2_control_demos/examples/example_velocity.cpp -> gz_ros2_control_demos/examples/example_velocity.cpp
	renamed:    ign_ros2_control_demos/urdf/test_cart_effort.xacro.urdf -> gz_ros2_control_demos/urdf/test_cart_effort.xacro.urdf
	renamed:    ign_ros2_control_demos/urdf/test_cart_position.xacro.urdf -> gz_ros2_control_demos/urdf/test_cart_position.xacro.urdf
	renamed:    ign_ros2_control_demos/urdf/test_cart_velocity.xacro.urdf -> gz_ros2_control_demos/urdf/test_cart_velocity.xacro.urdf
	renamed:    ign_ros2_control_demos/urdf/test_diff_drive.xacro.urdf -> gz_ros2_control_demos/urdf/test_diff_drive.xacro.urdf
	renamed:    ign_ros2_control_demos/urdf/test_tricycle_drive.xacro.urdf -> gz_ros2_control_demos/urdf/test_tricycle_drive.xacro.urdf
	deleted:    ign_ros2_control/ign_hardware_plugins.xml
	deleted:    ign_ros2_control/include/ign_ros2_control/ign_ros2_control_plugin.hpp
	deleted:    ign_ros2_control/src/ign_ros2_control_plugin.cpp
	deleted:    ign_ros2_control/src/ign_system.cpp
	deleted:    ign_ros2_control_demos/launch/cart_example_effort.launch.py
	deleted:    ign_ros2_control_demos/launch/cart_example_position.launch.py
	deleted:    ign_ros2_control_demos/launch/cart_example_velocity.launch.py
	deleted:    ign_ros2_control_demos/launch/diff_drive_example.launch.py
	deleted:    ign_ros2_control_demos/launch/tricycle_drive_example.launch.py
	deleted:    ign_ros2_control_demos/package.xml
	new file:   img/gz_ros2_control.gif

Unmerged paths:
  (use "git add/rm <file>..." as appropriate to mark resolution)
	both modified:   .github/workflows/ci.yaml
	both modified:   Dockerfile/Dockerfile
	both modified:   README.md
	both modified:   gz_ros2_control/src/gz_ros2_control_plugin.cpp
	both modified:   gz_ros2_control/src/gz_system.cpp
	deleted by us:   gz_ros2_control_demos/config/gripper_controller.yaml
	deleted by us:   gz_ros2_control_demos/examples/example_gripper.cpp
	both modified:   gz_ros2_control_demos/launch/cart_example_effort.launch.py
	both modified:   gz_ros2_control_demos/launch/cart_example_position.launch.py
	both modified:   gz_ros2_control_demos/launch/cart_example_velocity.launch.py
	both modified:   gz_ros2_control_demos/launch/diff_drive_example.launch.py
	deleted by us:   gz_ros2_control_demos/launch/gripper_mimic_joint_example.launch.py
	both modified:   gz_ros2_control_demos/launch/tricycle_drive_example.launch.py
	both modified:   gz_ros2_control_demos/package.xml
	deleted by us:   gz_ros2_control_demos/urdf/test_gripper_mimic_joint.xacro.urdf
	deleted by them: ign_ros2_control/package.xml

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/github/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

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[destogl]

@ahcorde @bmagyar I know that we released for humble, but he changes are backwards compatible. Expect someone is directly extending internal classes, which I don't think is the case yet. We had only one recent release to humble.

I would love to merge this because it would reduce a huge load or maintenance for the next year or two.

[bmagyar]

I agree it'd be better to backport the renaming but .. can we have a proxy package still with a plugin also called the same so we don't break existing setups?

[richardw347]

Just wanted to bump this, it would be great to get a gz release for humble to help us tame the naming fun we're in the middle of!

[MartinPeris]

Just expressing interest in this being backported. Regarding @bmagyar suggestion on having a proxy package to not break existing setups... I might be wrong, but as long as the old ros-humble-ign-ros2-control package is not removed from the debian repository existing setups should be fine (although in my opinion existing setups should migrate to the new naming convention).

[christophfroehlich]

<<<<<<< HEAD There are 19 of these

@moriarty I think the real question is how we should deal with the renaming, e.g. release two packages, or just don't update the ign* any more?

[moriarty]

<<<<<<< HEAD There are 19 of these

@moriarty I think the real question is how we should deal with the renaming, e.g. release two packages, or just don't update the ign* any more?

I would avoid releasing 2.

Personally I'd drop the ign, it might break somethings downstream but it won't break anything in production it will break some CI jobs, and the error msg will be quick to search and come across this thread or some other post.

But the better thing do to would be to look how upstream ros_gz handle this, IIRC they released a shim package that pointed at the new renamed version but emitted a warning?

[christophfroehlich]

But the better thing do to would be to look how upstream ros_gz handle this, IIRC they released a shim package that pointed at the new renamed version but emitted a warning?

You are right: https://github.com/gazebosim/ros_gz/pull/281/files

That would be a relatively easy change here, @moriarty do you have time to work on this? (and open a new PR)