From 82dce9353c9e17f0de23eae23d20796661441389 Mon Sep 17 00:00:00 2001
From: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
Date: Mon, 13 Mar 2023 12:28:20 -0700
Subject: [PATCH] gz models: fix deprecated warnings (#21285)

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
---
 .../simulation/gz/models/rc_cessna/model.sdf  |  6 +----
 .../gz/models/standard_vtol/model.sdf         |  5 ----
 Tools/simulation/gz/models/x500/model.sdf     |  6 +----
 .../gz/models/x500_vision/model.sdf           |  2 +-
 Tools/simulation/gz/worlds/default.sdf        | 26 +++++++++----------
 5 files changed, 16 insertions(+), 29 deletions(-)

diff --git a/Tools/simulation/gz/models/rc_cessna/model.sdf b/Tools/simulation/gz/models/rc_cessna/model.sdf
index a9a0e2f1d4..099ed777ec 100644
--- a/Tools/simulation/gz/models/rc_cessna/model.sdf
+++ b/Tools/simulation/gz/models/rc_cessna/model.sdf
@@ -209,7 +209,6 @@
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
       </axis>
     </joint>
     <link name="left_elevon">
@@ -638,7 +637,6 @@
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
       </axis>
     </joint>
     <joint name="RightWheelJoint" type="revolute">
@@ -655,7 +653,6 @@
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
       </axis>
     </joint>
     <joint name="CenterWheelJoint" type="revolute">
@@ -672,7 +669,6 @@
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
       </axis>
     </joint>
     <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
@@ -807,7 +803,7 @@
       <sub_topic>servo_3</sub_topic>
       <p_gain>10.0</p_gain>
     </plugin>
-    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
+    <plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
       <jointName>rotor_puller_joint</jointName>
       <linkName>rotor_puller</linkName>
       <turningDirection>cw</turningDirection>
diff --git a/Tools/simulation/gz/models/standard_vtol/model.sdf b/Tools/simulation/gz/models/standard_vtol/model.sdf
index 1c8da54308..61f9d14d18 100644
--- a/Tools/simulation/gz/models/standard_vtol/model.sdf
+++ b/Tools/simulation/gz/models/standard_vtol/model.sdf
@@ -208,7 +208,6 @@
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
       </axis>
     </joint>
     <link name='rotor_1'>
@@ -272,7 +271,6 @@
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
       </axis>
     </joint>
     <link name='rotor_2'>
@@ -336,7 +334,6 @@
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
       </axis>
     </joint>
     <link name='rotor_3'>
@@ -400,7 +397,6 @@
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
       </axis>
     </joint>
 
@@ -466,7 +462,6 @@
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
       </axis>
     </joint>
 
diff --git a/Tools/simulation/gz/models/x500/model.sdf b/Tools/simulation/gz/models/x500/model.sdf
index 39269e00c9..b544e01d49 100644
--- a/Tools/simulation/gz/models/x500/model.sdf
+++ b/Tools/simulation/gz/models/x500/model.sdf
@@ -302,7 +302,6 @@
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
       </axis>
     </joint>
     <link name="rotor_1">
@@ -375,7 +374,6 @@
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
       </axis>
     </joint>
     <link name="rotor_2">
@@ -448,7 +446,6 @@
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
       </axis>
     </joint>
     <link name="rotor_3">
@@ -521,10 +518,9 @@
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
       </axis>
     </joint>
-   <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
+   <plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
       <jointName>rotor_0_joint</jointName>
       <linkName>rotor_0</linkName>
       <turningDirection>ccw</turningDirection>
diff --git a/Tools/simulation/gz/models/x500_vision/model.sdf b/Tools/simulation/gz/models/x500_vision/model.sdf
index 17c7e4cc88..75f30e440d 100644
--- a/Tools/simulation/gz/models/x500_vision/model.sdf
+++ b/Tools/simulation/gz/models/x500_vision/model.sdf
@@ -2,7 +2,7 @@
 <sdf version='1.9'>
   <model name='x500-vision'>
     <include merge='true'>
-      <uri>https://fuel.gazebosim.org/1.0/RudisLaboratories/models/x500-Base</uri>
+      <uri>x500</uri>
     </include>
       <plugin
         filename="gz-sim-odometry-publisher-system"
diff --git a/Tools/simulation/gz/worlds/default.sdf b/Tools/simulation/gz/worlds/default.sdf
index 31cb3b63ed..4b6f384002 100644
--- a/Tools/simulation/gz/worlds/default.sdf
+++ b/Tools/simulation/gz/worlds/default.sdf
@@ -5,22 +5,22 @@
       <real_time_factor>1.0</real_time_factor>
       <real_time_update_rate>250</real_time_update_rate>
     </physics>
-    <plugin name='ignition::gazebo::systems::Physics' filename='ignition-gazebo-physics-system'/>
-    <plugin name='ignition::gazebo::systems::UserCommands' filename='ignition-gazebo-user-commands-system'/>
-    <plugin name='ignition::gazebo::systems::SceneBroadcaster' filename='ignition-gazebo-scene-broadcaster-system'/>
-    <plugin name='ignition::gazebo::systems::Contact' filename='ignition-gazebo-contact-system'/>
-    <plugin name='ignition::gazebo::systems::Imu' filename='ignition-gazebo-imu-system'/>
-    <plugin name='ignition::gazebo::systems::AirPressure' filename='ignition-gazebo-air-pressure-system'/>
-    <plugin name='ignition::gazebo::systems::Sensors' filename='ignition-gazebo-sensors-system'>
+    <plugin name='gz::sim::systems::Physics' filename='gz-sim-physics-system'/>
+    <plugin name='gz::sim::systems::UserCommands' filename='gz-sim-user-commands-system'/>
+    <plugin name='gz::sim::systems::SceneBroadcaster' filename='gz-sim-scene-broadcaster-system'/>
+    <plugin name='gz::sim::systems::Contact' filename='gz-sim-contact-system'/>
+    <plugin name='gz::sim::systems::Imu' filename='gz-sim-imu-system'/>
+    <plugin name='gz::sim::systems::AirPressure' filename='gz-sim-air-pressure-system'/>
+    <plugin name='gz::sim::systems::Sensors' filename='gz-sim-sensors-system'>
       <render_engine>ogre2</render_engine>
     </plugin>
     <gui fullscreen='false'>
       <plugin name='3D View' filename='GzScene3D'>
-        <ignition-gui>
+        <gz-gui>
           <title>3D View</title>
           <property type='bool' key='showTitleBar'>0</property>
           <property type='string' key='state'>docked</property>
-        </ignition-gui>
+        </gz-gui>
         <engine>ogre2</engine>
         <scene>scene</scene>
         <ambient_light>0.5984631152222222 0.5984631152222222 0.5984631152222222</ambient_light>
@@ -28,7 +28,7 @@
         <camera_pose>-6 0 6 0 0.5 0</camera_pose>
       </plugin>
       <plugin name='World control' filename='WorldControl'>
-        <ignition-gui>
+        <gz-gui>
           <title>World control</title>
           <property type='bool' key='showTitleBar'>0</property>
           <property type='bool' key='resizable'>0</property>
@@ -40,13 +40,13 @@
             <line own='left' target='left'/>
             <line own='bottom' target='bottom'/>
           </anchors>
-        </ignition-gui>
+        </gz-gui>
         <play_pause>1</play_pause>
         <step>1</step>
         <start_paused>1</start_paused>
       </plugin>
       <plugin name='World stats' filename='WorldStats'>
-        <ignition-gui>
+        <gz-gui>
           <title>World stats</title>
           <property type='bool' key='showTitleBar'>0</property>
           <property type='bool' key='resizable'>0</property>
@@ -58,7 +58,7 @@
             <line own='right' target='right'/>
             <line own='bottom' target='bottom'/>
           </anchors>
-        </ignition-gui>
+        </gz-gui>
         <sim_time>1</sim_time>
         <real_time>1</real_time>
         <real_time_factor>1</real_time_factor>