Removed USD component from SDFormat and move to gz-usd (#1094)

Signed-off-by: ahcorde <ahcorde@gmail.com>
Signed-off-by: Louise Poubel <louise@openrobotics.org>

Co-authored-by: Louise Poubel <louise@openrobotics.org>

Author: ahcorde

.github/ci/before_cmake.sh

@@ -1,5 +1,4 @@
 libignition-cmake2-dev
-libignition-common4-dev
 libignition-math6-dev
 libignition-tools-dev
 libignition-utils1-dev

.github/ci/packages.apt

@@ -16,11 +16,6 @@ jobs:
     runs-on: ubuntu-latest
     name: Ubuntu Focal CI
     steps:
-      - name: Set env
-        run: |
-          echo "PATH=$PATH:/tmp/USD/bin" >> $GITHUB_ENV
-          echo "LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/tmp/USD/lib" >> $GITHUB_ENV
-          echo "CMAKE_PREFIX_PATH=$CMAKE_PREFIX_PATH:/tmp/USD" >> $GITHUB_ENV
       - name: Checkout
         uses: actions/checkout@v2
       - name: Compile and test

.github/workflows/ci.yml

@@ -110,20 +110,9 @@ if (BUILD_SDF)
   ########################################
   # Find ignition utils
   ign_find_package(ignition-utils1 VERSION REQUIRED)
-  ign_find_package(ignition-utils1 COMPONENTS cli REQUIRED_BY usd)
   set(IGN_UTILS_VER ${ignition-utils1_VERSION_MAJOR})
 
-  ########################################
-  # Find ignition common
-  ign_find_package(ignition-common4 COMPONENTS graphics REQUIRED_BY usd)
-  set(IGN_COMMON_VER ${ignition-common4_VERSION_MAJOR})
-
-  ########################################
-  # Find PXR
-  ign_find_package(pxr QUIET REQUIRED_BY usd PKGCONFIG pxr)
-
-  ign_configure_build(HIDE_SYMBOLS_BY_DEFAULT QUIT_IF_BUILD_ERRORS
-    COMPONENTS usd)
+  ign_configure_build(HIDE_SYMBOLS_BY_DEFAULT QUIT_IF_BUILD_ERRORS)
 
   ign_create_packages()
 

CMakeLists.txt

@@ -12,6 +12,13 @@ forward programmatically.
 This document aims to contain similar information to those files
 but with improved human-readability..
 
+## libsdformat 12.5.0 to 12.6.0
+
+### Modifications
+
+1. USD component now is living in https://github.com/gazebosim/gz-usd as an
+   independent package.
+
 ## libsdformat 11.x to 12.0
 
 An error is now emitted instead of a warning for a file containing more than

Migration.md

@@ -6,33 +6,33 @@ This example shows how a world in a SDF file can be converted to [USD](https://g
 
 You will need all of the dependencies for sdformat, along with the following additional dependencies:
 * USD: [installation instructions](https://github.com/PixarAnimationStudios/USD/blob/release/README.md#getting-and-building-the-code)
-* [ignition-common4](https://github.com/ignitionrobotics/ign-common)
-* [ignition-utils1 (including the CLI component)](https://github.com/ignitionrobotics/ign-utils)
+* [gz-usd](https://github.com/gazebosim/gz-usd)
+* [sdformat](https://github.com/gazebosim/sdformat)
 
 ## Setup
 
-Build sdformat. The steps below follow a traditional cmake build, but sdformat
+Build `gz-usd`. The steps below follow a traditional cmake build, but `gz-usd`
 can also be built with [colcon](https://colcon.readthedocs.io/en/released/index.html):
 ```bash
-git clone https://github.com/ignitionrobotics/sdformat.git
-cd sdformat
+git clone https://github.com/gazebosim/gz-usd
+cd gz-usd
 mkdir build
 cd build
 cmake ..
 make
 ```
 
-You should now have an executable named `sdf2usd` in the `sdformat/build/bin` directory.
+You should now have an executable named `sdf2usd` in the `./build/bin` directory.
 This executable can be used to convert a SDF world file to a USD file.
-To see how the executable works, run the following command from the `sdformat/build/bin` directory:
+To see how the executable works, run the following command from the `./build/bin` directory:
 ```bash
 ./sdf2usd -h
 ```
 
-To convert [shapes_world.sdf](https://github.com/ignitionrobotics/sdformat/blob/sdf12/test/sdf/shapes_world.sdf) to its USD representation as a file called `shapes.usd`, run the following commands:
+To convert [shapes_world.sdf](https://github.com/gazebosim/sdformat/blob/sdf12/test/sdf/shapes_world.sdf) to its USD representation as a file called `shapes.usd`, run the following commands:
 
 ```bash
-wget https://raw.githubusercontent.com/ignitionrobotics/sdformat/sdf12/test/sdf/shapes_world.sdf
+wget https://raw.githubusercontent.com/gazebosim/sdformat/sdf12/test/sdf/shapes_world.sdf
 ./sdf2usd shapes_world.sdf shapes.usd
 ```
 
@@ -59,5 +59,5 @@ export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/USD/lib
 ```
 
 Another thing to note if building with colcon is that after sourcing the workspace with sdformat,
-the `sdf2usd` executable can be run without having to go to the `sdformat/build/bin` directory.
+the `sdf2usd` executable can be run without having to go to the `./build/bin` directory.
 So, instead of going to that directory and running `./sdf2usd ...`, you should be able to run `sdf2usd ...` from anywhere.