gazebosim · chapulina · Apr 22, 2020 · Apr 17, 2020 · Apr 22, 2020
diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md
diff --git a/Changelog.md b/Changelog.md
diff --git a/Migration.md b/Migration.md
@@ -44,8 +44,8 @@ release will remove the deprecated code.
 updated to report its scoped name.
 
 * Log files generated from Ignition Gazebo 1.X are no longer compatible with
-Gazebo 2+ for playback. [Pull request
-#257](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests/257)
+Gazebo 2+ for playback. [BitBucket pull request
+#257](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/257)
 added an SDF message to the start of log files.
 
 ## Ignition Gazebo 1.0.2 to 1.1.0

diff --git a/README.md b/README.md
@@ -2,8 +2,8 @@
 
 **Maintainer:** louise AT openrobotics DOT org
 
-[![Bitbucket open issues](https://img.shields.io/bitbucket/issues-raw/ignitionrobotics/ign-gazebo.svg)](https://bitbucket.org/ignitionrobotics/ign-gazebo/issues)
-[![Bitbucket open pull requests](https://img.shields.io/bitbucket/pr-raw/ignitionrobotics/ign-gazebo.svg)](https://bitbucket.org/ignitionrobotics/ign-gazebo/pull-requests)
+[![GitHub open issues](https://img.shields.io/github/issues-raw/ignitionrobotics/ign-gazebo.svg)](https://github.com/ignitionrobotics/ign-gazebo/issues)
+[![GitHub open pull requests](https://img.shields.io/github/issues-pr-raw/ignitionrobotics/ign-gazebo.svg)](https://github.com/ignitionrobotics/ign-gazebo/pulls)
 [![Discourse topics](https://img.shields.io/discourse/https/community.gazebosim.org/topics.svg)](https://community.gazebosim.org)
 [![Hex.pm](https://img.shields.io/hexpm/l/plug.svg)](https://www.apache.org/licenses/LICENSE-2.0)
 
@@ -52,24 +52,24 @@ Ignition Gazebo is derived from [Gazebo](http://gazebosim.org) and represents ov
 
 * **Dynamics simulation**: Access multiple high-performance physics engines
 through
-[Ignition Physics](https://bitbucket.org/ignitionrobotics/ign-physics).
+[Ignition Physics](https://github.com/ignitionrobotics/ign-physics).
 
 * **Advanced 3D graphics**: Through
-[Ignition Rendering](https://bitbucket.org/ignitionrobotics/ign-rendering),
+[Ignition Rendering](https://github.com/ignitionrobotics/ign-rendering),
 it's possible to use rendering engines such as OGRE v2 for realistic rendering
 of environments with high-quality lighting, shadows, and textures.
 
 * **Sensors and noise models**: Generate sensor data, optionally with noise,
 from laser range finders, 2D/3D cameras, Kinect style sensors, contact sensors,
 force-torque, IMU, GPS, and more, powered by
-[Ignition Sensors](https://bitbucket.org/ignitionrobotics/ign-sensors)
+[Ignition Sensors](https://github.com/ignitionrobotics/ign-sensors)
 
 * **Plugins**: Develop custom plugins for robot, sensor, and
 environment control.
 
 * **Graphical interface**: Create, instrospect and interact with your simulations
 through plugin-based graphical interfaces powered by
-[Ignition GUI](https://bitbucket.org/ignitionrobotics/ign-gui).
+[Ignition GUI](https://github.com/ignitionrobotics/ign-gui).
 
 * **Simulation models**: Access numerous robots including PR2, Pioneer2 DX,
 iRobot Create, and TurtleBot, and construct environments using other physically
@@ -79,7 +79,7 @@ new model using [SDF](http://sdformat.org).
 
 * **TCP/IP Transport**: Run simulation on remote servers and interface to Ignition
 Gazebo through socket-based message passing using
-[Ignition Transport](https://bitbucket.org/ignitionrobotics/ign-transport).
+[Ignition Transport](https://github.com/ignitionrobotics/ign-transport).
 
 * **Command line tools**: Extensive command line tools for increased simulation
 introspection and control.
@@ -180,7 +180,7 @@ for dependency installation instructions for each supported operating system.
 1. Clone the repository.
 
     ```
-    hg clone https://bitbucket.org/ignitionrobotics/ign-gazebo -b default
+    git clone https://github.com/ignitionrobotics/ign-gazebo -b master
     ```
 
 2. Configure and  build.
@@ -234,7 +234,7 @@ ln -s /usr/local/share/ignition/transportlog7.yaml .
 export IGN_CONFIG_PATH=$HOME/.ignition/tools/configs
 ```
 
-This issue is tracked [here](https://bitbucket.org/ignitionrobotics/ign-tools/issues/8/too-strict-looking-for-config-paths).
+This issue is tracked [here](https://github.com/ignitionrobotics/ign-tools/issues/8).
 
 # Documentation
 
@@ -251,7 +251,7 @@ You can also generate the documentation from a clone of this repository by follo
 2. Clone the repository
 
     ```
-    hg clone https://bitbucket.org/ignitionrobotics/ign-gazebo
+    git clone https://github.com/ignitionrobotics/ign-gazebo
     ```
 
 3. Configure and build the documentation.
@@ -288,7 +288,7 @@ Follow these steps to run tests and static code analysis in your clone of this r
     make codecheck
     ```
 
-See the [Writing Tests section of the contributor guide](https://bitbucket.org/ignitionrobotics/ign-gazebo/src/406665896aa40bb42f14cf61d48b3d94f2fc5dd8/CONTRIBUTING.md#markdown-header-writing-tests) for help creating or modifying tests.
+See the [Writing Tests section of the contributor guide](https://github.com/ignitionrobotics/ign-gazebo/blob/master/CONTRIBUTING.md#writing-tests) for help creating or modifying tests.
 
 # Folder Structure
 
@@ -320,17 +320,17 @@ ign-gazebo
 # Contributing
 
 Please see
-[CONTRIBUTING.md](https://bitbucket.org/ignitionrobotics/ign-gazebo/src/406665896aa40bb42f14cf61d48b3d94f2fc5dd8/CONTRIBUTING.md?at=default&fileviewer=file-view-default).
+[CONTRIBUTING.md](https://github.com/ignitionrobotics/ign-gazebo/blob/master/CONTRIBUTING.md).
 
 # Code of Conduct
 
 Please see
-[CODE_OF_CONDUCT.md](https://bitbucket.org/ignitionrobotics/ign-gazebo/src/406665896aa40bb42f14cf61d48b3d94f2fc5dd8/CODE_OF_CONDUCT.md?at=default&fileviewer=file-view-default).
+[CODE_OF_CONDUCT.md](https://github.com/ignitionrobotics/ign-gazebo/blob/master/CODE_OF_CONDUCT.md).
 
 # Versioning
 
 This library uses [Semantic Versioning](https://semver.org/). Additionally, this library is part of the [Ignition Robotics project](https://ignitionrobotics.org) which periodically releases a versioned set of compatible and complimentary libraries. See the [Ignition Robotics website](https://ignitionrobotics.org) for version and release information.
 
 # License
 
-This library is licensed under [Apache 2.0](https://www.apache.org/licenses/LICENSE-2.0). See also the [LICENSE](https://bitbucket.org/ignitionrobotics/ign-gazebo/src/406665896aa40bb42f14cf61d48b3d94f2fc5dd8/LICENSE?at=default&fileviewer=file-view-default) file.
+This library is licensed under [Apache 2.0](https://www.apache.org/licenses/LICENSE-2.0). See also the [LICENSE](https://github.com/ignitionrobotics/ign-gazebo/blob/master/LICENSE) file.
diff --git a/doc/architecture_design.md b/doc/architecture_design.md
@@ -118,7 +118,7 @@ level and performer is only simulated at one runner at a time.
 It would be convenient to be able to specify standalone programs in the SDF
 file so they're loaded at the same time as the simulation. For example,
 Gazebo's
-[JoyPlugin](https://bitbucket.org/osrf/gazebo/src/default/plugins/JoyPlugin.hh?fileviewer=file-view-default)
+[JoyPlugin](https://github.com/osrf/gazebo/blob/master/plugins/JoyPlugin.hh)
 is a `WorldPlugin`, but it doesn't need to access any world API, or to run
 in the physics thread, or even to run in the gzserver process. However,
 it was implemented as a plugin because that makes it easier to specify in

diff --git a/docker/scripts/build_ign.sh b/docker/scripts/build_ign.sh
@@ -1,13 +1,13 @@
 #!/bin/bash
 # Command line parameters:
-# 1 - bitbucket organization name. For example ignitionrobotics or osrf.
+# 1 - github organization name. For example ignitionrobotics or osrf.
 # 2 - the name of the ignition repository. For example ign-math.
 # 3 - the name of the branch. For example ign-math6
 
 set -o errexit
 set -o verbose
 
-hg clone https://bitbucket.org/$1/$2 -b $3
+git clone https://github.com/$1/$2 -b $3
 cd $2 
 mkdir build
 cd build

diff --git a/docker/scripts/install_common_deps.sh b/docker/scripts/install_common_deps.sh
@@ -18,7 +18,6 @@ sudo apt-get install -y \
   curl \
   git \
   g++-8 \
-  mercurial \
   pkg-config \
 
 sudo apt-get install -y \

diff --git a/docker/scripts/upload_json_benchmark.sh b/docker/scripts/upload_json_benchmark.sh
@@ -1,6 +1,6 @@
 #!/bin/bash
 # Command line parameters:
-# 1 - bitbucket organization name. For example ignitionrobotics or osrf.
+# 1 - github organization name. For example ignitionrobotics or osrf.
 # 2 - the name of the ignition repository. For example ign-math.
 # 3 - the name of the branch. For example ign-math6
 

diff --git a/examples/standalone/joy_to_twist/README.md b/examples/standalone/joy_to_twist/README.md
@@ -1,9 +1,9 @@
 # Joy to Twist
 
 Standalone program that subscribes to
-[ignition::msgs::Joy](https://bitbucket.org/ignitionrobotics/ign-msgs/src/default/proto/ignition/msgs/joy.proto)
+[ignition::msgs::Joy](https://github.com/ignitionrobotics/ign-msgs/blob/master/proto/ignition/msgs/joy.proto)
 messages and converts publishes
-[ignition::msgs::Twist](https://bitbucket.org/ignitionrobotics/ign-msgs/src/default/proto/ignition/msgs/twist.proto)
+[ignition::msgs::Twist](https://github.com/ignitionrobotics/ign-msgs/blob/master/proto/ignition/msgs/twist.proto)
 messages according to user-defined configuration.
 
 ## Build

diff --git a/examples/standalone/joystick/README.md b/examples/standalone/joystick/README.md
@@ -1,7 +1,7 @@
 # Joystick
 
 Standalone program that publishes
-[ignition::msgs::Joy](https://bitbucket.org/ignitionrobotics/ign-msgs/src/default/proto/ignition/msgs/joy.proto)
+[ignition::msgs::Joy](https://github.com/ignitionrobotics/ign-msgs/blob/master/proto/ignition/msgs/joy.proto)
 messages from a joystick device using Ignition Transport.
 
 The mapping of joystick buttons to fields in the message is the same as [this](http://wiki.ros.org/joy).

diff --git a/src/ign_TEST.cc b/src/ign_TEST.cc
@@ -26,7 +26,7 @@
 static const std::string kBinPath(PROJECT_BINARY_PATH);
 
 // Command line not working on OSX, see
-// https://bitbucket.org/ignitionrobotics/ign-gazebo/issues/25/
+// https://github.com/ignitionrobotics/ign-gazebo/issues/25/
 #ifndef __APPLE__
 static const std::string kIgnCommand(
   "IGN_GAZEBO_SYSTEM_PLUGIN_PATH=" + kBinPath + "/lib LD_LIBRARY_PATH=" +

diff --git a/src/network/NetworkManagerPrimary.cc b/src/network/NetworkManagerPrimary.cc
@@ -207,7 +207,7 @@ bool NetworkManagerPrimary::SecondariesCanStep() const
   // TODO(anyone) Ideally we'd check the number of connections against the
   // number of expected secondaries, but there's no interface for that
   // on ign-transport yet:
-  // https://bitbucket.org/ignitionrobotics/ign-transport/issues/39
+  // https://github.com/ignitionrobotics/ign-transport/issues/39
   return this->simStepPub.HasConnections();
 }
 

diff --git a/src/systems/physics/Physics.cc b/src/systems/physics/Physics.cc
@@ -360,7 +360,7 @@ void PhysicsPrivate::CreatePhysicsEntities(const EntityComponentManager &_ecm)
 
         // Check if parent world exists
         // TODO(louise): Support nested models, see
-        // https://bitbucket.org/ignitionrobotics/ign-physics/issues/10
+        // https://github.com/ignitionrobotics/ign-physics/issues/10
         if (this->entityWorldMap.find(_parent->Data())
             == this->entityWorldMap.end())
         {

diff --git a/test/integration/examples_build.cc b/test/integration/examples_build.cc
@@ -24,7 +24,7 @@
 #include "ignition/gazebo/test_config.hh"
 
 // File copied from
-// https://bitbucket.org/ignitionrobotics/ign-gui/raw/default/test/integration/ExamplesBuild_TEST.cc
+// https://github.com/ignitionrobotics/ign-gui/raw/master/test/integration/ExamplesBuild_TEST.cc
 
 using namespace ignition;
 

diff --git a/test/integration/network_handshake.cc b/test/integration/network_handshake.cc
@@ -146,7 +146,7 @@ TEST_F(NetworkHandshake, Updates)
   configPrimary.SetUseLevels(true);
   // Can only test one secondary running physics, because running 2 physics in
   // the same process causes a segfault, see
-  // https://bitbucket.org/ignitionrobotics/ign-gazebo/issues/18
+  // https://github.com/ignitionrobotics/ign-gazebo/issues/18
   configPrimary.SetNetworkSecondaries(1);
   configPrimary.SetSdfFile(std::string(PROJECT_SOURCE_PATH) +
       "/test/worlds/performers.sdf");

diff --git a/test/integration/touch_plugin.cc b/test/integration/touch_plugin.cc
@@ -103,7 +103,7 @@ TEST_F(TouchPluginTest, OneLink)
     std::this_thread::sleep_for(std::chrono::milliseconds(30));
   }
 // Known to fail on OSX, see
-// https://bitbucket.org/ignitionrobotics/ign-gazebo/issues/22
+// https://github.com/ignitionrobotics/ign-gazebo/issues/22
 #if !defined (__APPLE__)
   EXPECT_TRUE(whiteTouched);
 #endif
@@ -183,7 +183,7 @@ TEST_F(TouchPluginTest, StartDisabled)
     std::this_thread::sleep_for(std::chrono::milliseconds(30));
   }
 // Known to fail on OSX, see
-// https://bitbucket.org/ignitionrobotics/ign-gazebo/issues/22
+// https://github.com/ignitionrobotics/ign-gazebo/issues/22
 #if !defined (__APPLE__)
   EXPECT_TRUE(blueTouched);
 #endif

diff --git a/tutorials/distributed_simulation.md b/tutorials/distributed_simulation.md
@@ -125,7 +125,7 @@ keeps all performers loaded, but performs no physics simulation.
 Stepping happens in 2 stages: the primary update and the secondaries update,
 according to the diagram below:
 
-<img src="https://bytebucket.org/ignitionrobotics/ign-gazebo/raw/default/tutorials/files/distributed_step.png"/>
+<img src="https://raw.githubusercontent.com/ignitionrobotics/ign-gazebo/master/tutorials/files/distributed_step.png"/>
 
 1. The primary publishes a `SimulationStep` message on the `/step` topic,
 containing:
@@ -158,4 +158,3 @@ topics that are used for non-distributed simulation, which should all be
 provided by the primary. Therefore, play/pause and GUI functionality all
 interact with the simulation primary instance, which in turn propagates the
 commands to the secondaries.
-
diff --git a/tutorials/levels.md b/tutorials/levels.md
@@ -78,7 +78,7 @@ being added and removed.
 Take a look at the 2D example below. This example focuses on a single performer,
 but the same logic can be extended to multiple performers.
 
-<img src="https://bytebucket.org/ignitionrobotics/ign-gazebo/raw/9e88ca13a2b3b51a1b39abeb2b5b8db23f2e74e3/doc/architecture_design/01.png"/>
+<img src="https://raw.githubusercontent.com/ignitionrobotics/ign-gazebo/d62080da95edbb172c47eac883ec4b707b59bb38/doc/architecture_design/01.png"/>
 
 * The **green area** represents the area of the world which this simulation
   is expected to take place in.
@@ -116,23 +116,23 @@ Let's take a look at how levels are loaded / unloaded as the performer moves:
     * `M1` and `M3`, because they belong to the level.
     * `M6`, because it is global.
 
-    <img src="https://bytebucket.org/ignitionrobotics/ign-gazebo/raw/9e88ca13a2b3b51a1b39abeb2b5b8db23f2e74e3/doc/architecture_design/02.png"/>
+    <img src="https://raw.githubusercontent.com/ignitionrobotics/ign-gazebo/d62080da95edbb172c47eac883ec4b707b59bb38/doc/architecture_design/02.png"/>
 
 2. The performer moves south towards `L3` and enters its buffer zone, triggering
     a load of that level's models, `M4` and `M5`. Note that at this moment, both
     `L1` and `L3` are loaded.
 
-    <img src="https://bytebucket.org/ignitionrobotics/ign-gazebo/raw/9e88ca13a2b3b51a1b39abeb2b5b8db23f2e74e3/doc/architecture_design/03.png"/>
+    <img src="https://raw.githubusercontent.com/ignitionrobotics/ign-gazebo/d62080da95edbb172c47eac883ec4b707b59bb38/doc/architecture_design/03.png"/>
 
 3. The performer moves further south, exiting `L1` and entering `L3`. However,
   `L1` is still loaded, since `R1` is still within its buffer zone.
 
-    <img src="https://bytebucket.org/ignitionrobotics/ign-gazebo/raw/9e88ca13a2b3b51a1b39abeb2b5b8db23f2e74e3/doc/architecture_design/04.png"/>
+    <img src="https://raw.githubusercontent.com/ignitionrobotics/ign-gazebo/d62080da95edbb172c47eac883ec4b707b59bb38/doc/architecture_design/04.png"/>
 
 4. Eventually `R1` moves beyond `L1`'s buffer, triggering an unload of `L1`. The
   main effect is unloading `M1`.
 
-    <img src="https://bytebucket.org/ignitionrobotics/ign-gazebo/raw/9e88ca13a2b3b51a1b39abeb2b5b8db23f2e74e3/doc/architecture_design/05.png"/>
+    <img src="https://raw.githubusercontent.com/ignitionrobotics/ign-gazebo/d62080da95edbb172c47eac883ec4b707b59bb38/doc/architecture_design/05.png"/>
 
 ## SDF elements
 
@@ -247,7 +247,7 @@ ign service -s /world/levels/level/set_performer --reqtype ignition.msgs.StringM
 The following is a world file that could be an instance of the world shown in
 the figure
 
-<img src="https://bytebucket.org/ignitionrobotics/ign-gazebo/raw/9e88ca13a2b3b51a1b39abeb2b5b8db23f2e74e3/doc/architecture_design/06.png"/>
+<img src="https://raw.githubusercontent.com/ignitionrobotics/ign-gazebo/d62080da95edbb172c47eac883ec4b707b59bb38/doc/architecture_design/06.png"/>
 
 ```xml
 <?xml version="1.0" ?>

diff --git a/tutorials/mesh_to_fuel.md b/tutorials/mesh_to_fuel.md
@@ -126,17 +126,17 @@ Click the `Add folders` button, or drag and drop the `Electrical Box` folder you
 All the files in your model description will be listed there.
 Press `Upload`, and the "Fuel Model Info" page for your model will open.
 
-![Electrical Box Test](https://bitbucket.org/ignitionrobotics/ign-gazebo/raw/875e08edfbe89847c7a9b7f819e7c2d339f6cb14/tutorials/files/mesh_to_fuel/model_info2.png)
+![Electrical Box Test](https://raw.githubusercontent.com/ignitionrobotics/ign-gazebo/master/tutorials/files/mesh_to_fuel/model_info2.png)
 
 You can always delete a model by clicking the "Edit model" button and then selecting "Delete model" at the bottom of the page
 
-![Delete model](https://bitbucket.org/ignitionrobotics/ign-gazebo/raw/875e08edfbe89847c7a9b7f819e7c2d339f6cb14/tutorials/files/mesh_to_fuel/delete2.png)
+![Delete model](https://raw.githubusercontent.com/ignitionrobotics/ign-gazebo/master/tutorials/files/mesh_to_fuel/delete2.png)
 
 ## Include the Model in a World
 
 With your mesh successfully uploaded to Fuel, you can now easily include it in a world SDF file.
 
-Copy [this example world code](https://bitbucket.org/ignitionrobotics/ign-gazebo/raw/default/examples/worlds/import_mesh.sdf) into a text editor and save it as `import_mesh.sdf`.
+Copy [this example world code](https://github.com/ignitionrobotics/ign-gazebo/raw/master/examples/worlds/import_mesh.sdf) into a text editor and save it as `import_mesh.sdf`.
 This is a simple world SDF file, which you can learn more about on the [SDF website](http://sdformat.org/).
 
 Scroll all the way to the bottom of the file until you see the `include` tag section following the `<!-- mesh -->` comment line.
@@ -182,4 +182,4 @@ To launch the world and see your mesh, run Ignition from inside the directory wh
 ign gazebo import_mesh.sdf
 ```
 
-![Launch sample world with mesh](https://bitbucket.org/ignitionrobotics/ign-gazebo/raw/875e08edfbe89847c7a9b7f819e7c2d339f6cb14/tutorials/files/mesh_to_fuel/launch_world2.png)
+![Launch sample world with mesh](https://raw.githubusercontent.com/ignitionrobotics/ign-gazebo/master/tutorials/files/mesh_to_fuel/launch_world2.png)
-Original file line number
+Diff line change
@@ Expand Up / @@ -18,7 +18,6 @@ sudo apt-get install -y \ @@
       curl \
       git \
       g++-8 \
-      mercurial \
       pkg-config \
     sudo apt-get install -y \
@@ Expand Down @@