clean traces of ignition fortress

Author: nim65s

CMakeLists.txt

@@ -33,10 +33,6 @@ add_library(${PROJECT_NAME}-system SHARED
   src/gz_ros2_control_plugin.cpp
 )
 
-if(NOT DEFINED ENV{GZ_VERSION} OR "$ENV{GZ_VERSION}" STREQUAL "harmonic")
-  target_compile_definitions(${PROJECT_NAME}-system PUBLIC GZ_SIM_8)
-endif()
-
 target_link_libraries(${PROJECT_NAME}-system
   "${GZ_SIM}::${GZ_SIM}"
   "${GZ_PLUGIN}::register"
@@ -63,10 +59,6 @@ ament_target_dependencies(gz_hardware_odri_plugins
   rclcpp
 )
 
-if(NOT DEFINED ENV{GZ_VERSION} OR "$ENV{GZ_VERSION}" STREQUAL "harmonic")
-  target_compile_definitions(gz_hardware_odri_plugins PUBLIC GZ_SIM_8)
-endif()
-
 target_link_libraries(gz_hardware_odri_plugins
   "${GZ_SIM}::${GZ_SIM}"
 )

include/gz_ros2_control/gz_ros2_control_plugin.hpp

@@ -17,13 +17,8 @@
 
 #include <memory>
 
-#ifdef GZ_SIM_8
 #include <gz/sim/System.hh>
 namespace sim = gz::sim;
-#else
-#include <ignition/gazebo/System.hh>
-namespace sim = ignition::gazebo;
-#endif
 
 namespace odri_gz_ros2_control
 {

include/gz_ros2_control/gz_system_interface.hpp

@@ -20,13 +20,8 @@
 #include <string>
 #include <vector>
 
-#ifdef GZ_SIM_8
 #include <gz/sim/System.hh>
 namespace sim = gz::sim;
-#else
-#include <ignition/gazebo/System.hh>
-namespace sim = ignition::gazebo;
-#endif
 
 #include <hardware_interface/system_interface.hpp>
 #include <hardware_interface/types/hardware_interface_type_values.hpp>

src/gz_ros2_control_plugin.cpp

@@ -23,23 +23,13 @@
 #include <utility>
 #include <vector>
 
-#ifdef GZ_SIM_8
 #include <gz/plugin/Register.hh>
 #include <gz/sim/Model.hh>
 #include <gz/sim/components/Joint.hh>
 #include <gz/sim/components/JointType.hh>
 #include <gz/sim/components/Name.hh>
 #include <gz/sim/components/ParentEntity.hh>
 #include <gz/sim/components/World.hh>
-#else
-#include <ignition/gazebo/Model.hh>
-#include <ignition/gazebo/components/Joint.hh>
-#include <ignition/gazebo/components/JointType.hh>
-#include <ignition/gazebo/components/Name.hh>
-#include <ignition/gazebo/components/ParentEntity.hh>
-#include <ignition/gazebo/components/World.hh>
-#include <ignition/plugin/Register.hh>
-#endif
 
 #include <controller_manager/controller_manager.hpp>
 #include <hardware_interface/component_parser.hpp>
@@ -594,7 +584,6 @@ void GazeboOdriSimROS2ControlPlugin::PostUpdate(
 }
 }  // namespace odri_gz_ros2_control
 
-#ifdef GZ_SIM_8
 GZ_ADD_PLUGIN(
   odri_gz_ros2_control::GazeboOdriSimROS2ControlPlugin, gz::sim::System,
   odri_gz_ros2_control::GazeboOdriSimROS2ControlPlugin::ISystemConfigure,
@@ -603,14 +592,3 @@ GZ_ADD_PLUGIN(
 GZ_ADD_PLUGIN_ALIAS(
   odri_gz_ros2_control::GazeboOdriSimROS2ControlPlugin,
   "ign_ros2_control::IgnitionROS2ControlPlugin")
-#else
-IGNITION_ADD_PLUGIN(
-  odri_gz_ros2_control::GazeboOdriSimROS2ControlPlugin,
-  ignition::gazebo::System,
-  odri_gz_ros2_control::GazeboOdriSimROS2ControlPlugin::ISystemConfigure,
-  odri_gz_ros2_control::GazeboOdriSimROS2ControlPlugin::ISystemPreUpdate,
-  odri_gz_ros2_control::GazeboOdriSimROS2ControlPlugin::ISystemPostUpdate)
-IGNITION_ADD_PLUGIN_ALIAS(
-  odri_gz_ros2_control::GazeboOdriSimROS2ControlPlugin,
-  "ign_ros2_control::IgnitionROS2ControlPlugin")
-#endif

src/gz_system.cpp

@@ -21,7 +21,6 @@
 #include <utility>
 #include <vector>
 
-#ifdef GZ_SIM_8
 #include <gz/msgs/imu.pb.h>
 
 #include <gz/sim/components/AngularVelocity.hh>
@@ -41,27 +40,6 @@
 #include <gz/transport/Node.hh>
 #define GZ_TRANSPORT_NAMESPACE gz::transport::
 #define GZ_MSGS_NAMESPACE gz::msgs::
-#else
-#include <ignition/msgs/imu.pb.h>
-
-#include <ignition/gazebo/components/AngularVelocity.hh>
-#include <ignition/gazebo/components/Imu.hh>
-#include <ignition/gazebo/components/JointForce.hh>
-#include <ignition/gazebo/components/JointForceCmd.hh>
-#include <ignition/gazebo/components/JointPosition.hh>
-#include <ignition/gazebo/components/JointPositionReset.hh>
-#include <ignition/gazebo/components/JointVelocity.hh>
-#include <ignition/gazebo/components/JointVelocityCmd.hh>
-#include <ignition/gazebo/components/JointVelocityReset.hh>
-#include <ignition/gazebo/components/LinearAcceleration.hh>
-#include <ignition/gazebo/components/Name.hh>
-#include <ignition/gazebo/components/ParentEntity.hh>
-#include <ignition/gazebo/components/Pose.hh>
-#include <ignition/gazebo/components/Sensor.hh>
-#include <ignition/transport/Node.hh>
-#define GZ_TRANSPORT_NAMESPACE ignition::transport::
-#define GZ_MSGS_NAMESPACE ignition::msgs::
-#endif
 
 #include <hardware_interface/hardware_info.hpp>
 #include <hardware_interface/lexical_casts.hpp>