GitHub - part 4 (Gazebo)

Author: chapulina

actor/tutorial.md

@@ -76,7 +76,7 @@ trajectory goes through four points in the world (`[-1, -1, 1]`, `[-1, 1, 1]`,
 ## World explained
 
 You can see the whole world description
-[here](http://bitbucket.org/osrf/gazebo/raw/actor_2/worlds/animated_box.world).
+[here](http://github.com/osrf/gazebo/raw/actor_2/worlds/animated_box.world).
 Let's go through it by parts.
 
 We start by defining a world with a ground plane and a sun.
@@ -198,7 +198,7 @@ new world file:
     gedit walk.world
 
 And paste the following SDF, it has a sun and an actor using the
-[walk.dae](https://bitbucket.org/osrf/gazebo/src/default/media/models/walk.dae)
+[walk.dae](https://github.com/osrf/gazebo/src/default/media/models/walk.dae)
 as the skin:
 
     <?xml version="1.0" ?>
@@ -411,7 +411,7 @@ Here's what it looks like:
 
 Just like for models, it's possible to write custom plugins for any actor and
 assign the plugin in the SDF description. Let's take a look at the part of
-[cafe.world](https://bitbucket.org/osrf/gazebo/raw/default/worlds/cafe.world)
+[cafe.world](https://github.com/osrf/gazebo/raw/default/worlds/cafe.world)
 which refers to one of the actors in the video:
 
     <actor name="actor1">
@@ -446,9 +446,9 @@ exposed, and the logic to determine the trajectory will be inside the plugin.
 ## Plugin C++ code
 
 The source code for the `ActorPlugin` can be found
-[here](https://bitbucket.org/osrf/gazebo/raw/default/plugins/ActorPlugin.cc).
+[here](https://github.com/osrf/gazebo/raw/default/plugins/ActorPlugin.cc).
 And
-[here](https://bitbucket.org/osrf/gazebo/raw/default/plugins/ActorPlugin.hh)
+[here](https://github.com/osrf/gazebo/raw/default/plugins/ActorPlugin.hh)
 is the header.
 
 The first trick is to listen to world update begin events like this:

aerodynamics/tutorial.md

@@ -192,7 +192,7 @@ keys:
 We are using this plugin in some of the plane elements to generate lift and
 drag. The propeller will generate thrust according to its angular speed. The
 control surfaces will generate different forces according to their specific
-angles and speed.  The [LiftDragPlugin aerodynamic parameters](https://bitbucket.org/osrf/gazebo/src/70d6c88e2486367659420743b25f5592ce4569df/worlds/cessna_demo.world?at=default#cl-105)
+angles and speed.  The [LiftDragPlugin aerodynamic parameters](https://github.com/osrf/gazebo/src/70d6c88e2486367659420743b25f5592ce4569df/worlds/cessna_demo.world?at=default#cl-105)
 were approximated using values from
 [jsbsim for Cessna 172P](https://github.com/tridge/jsbsim/blob/master/aircraft/c172p/c172p.xml).
 

animated_box/tutorial.md

@@ -22,16 +22,16 @@ cd ~/gazebo_animatedbox_tutorial
 
 # Animate box code
 
-Copy [animated_box.cc](https://bitbucket.org/osrf/gazebo/src/gazebo8/examples/stand_alone/animated_box/animated_box.cc), [independent_listener.cc](https://bitbucket.org/osrf/gazebo/src/gazebo8/examples/stand_alone/animated_box/independent_listener.cc), [integrated_main.cc](https://bitbucket.org/osrf/gazebo/src/gazebo8/examples/stand_alone/animated_box/integrated_main.cc), [CMakeLists.txt](https://bitbucket.org/osrf/gazebo/src/gazebo8/examples/stand_alone/animated_box/CMakeLists.txt), and [animated_box.world](https://bitbucket.org/osrf/gazebo/src/gazebo8/examples/stand_alone/animated_box/animated_box.world) into the current directory.
+Copy [animated_box.cc](https://github.com/osrf/gazebo/src/gazebo8/examples/stand_alone/animated_box/animated_box.cc), [independent_listener.cc](https://github.com/osrf/gazebo/src/gazebo8/examples/stand_alone/animated_box/independent_listener.cc), [integrated_main.cc](https://github.com/osrf/gazebo/src/gazebo8/examples/stand_alone/animated_box/integrated_main.cc), [CMakeLists.txt](https://github.com/osrf/gazebo/src/gazebo8/examples/stand_alone/animated_box/CMakeLists.txt), and [animated_box.world](https://github.com/osrf/gazebo/src/gazebo8/examples/stand_alone/animated_box/animated_box.world) into the current directory.
 
 On OS X, you can replace `wget` with `curl -OL`.
 
 ~~~
-wget http://bitbucket.org/osrf/gazebo/raw/gazebo8/examples/stand_alone/animated_box/animated_box.cc
-wget http://bitbucket.org/osrf/gazebo/raw/gazebo8/examples/stand_alone/animated_box/independent_listener.cc
-wget http://bitbucket.org/osrf/gazebo/raw/gazebo8/examples/stand_alone/animated_box/integrated_main.cc
-wget http://bitbucket.org/osrf/gazebo/raw/gazebo8/examples/stand_alone/animated_box/CMakeLists.txt
-wget http://bitbucket.org/osrf/gazebo/raw/gazebo8/examples/stand_alone/animated_box/animated_box.world
+wget http://github.com/osrf/gazebo/raw/gazebo8/examples/stand_alone/animated_box/animated_box.cc
+wget http://github.com/osrf/gazebo/raw/gazebo8/examples/stand_alone/animated_box/independent_listener.cc
+wget http://github.com/osrf/gazebo/raw/gazebo8/examples/stand_alone/animated_box/integrated_main.cc
+wget http://github.com/osrf/gazebo/raw/gazebo8/examples/stand_alone/animated_box/CMakeLists.txt
+wget http://github.com/osrf/gazebo/raw/gazebo8/examples/stand_alone/animated_box/animated_box.world
 ~~~
 
 Build the plugin

animated_box/tutorial_4.md

@@ -22,14 +22,14 @@ cd ~/gazebo_animatebox_tutorial
 
 # Animate box code
 
-Copy [animated_box.cc](https://bitbucket.org/osrf/gazebo/src/gazebo_4.0/examples/stand_alone/animated_box/animated_box.cc), [independent_listener.cc](https://bitbucket.org/osrf/gazebo/src/gazebo_4.0/examples/stand_alone/animated_box/independent_listener.cc), [integrated_main.cc](https://bitbucket.org/osrf/gazebo/src/gazebo_4.0/examples/stand_alone/animated_box/integrated_main.cc), [CMakeLists.txt](https://bitbucket.org/osrf/gazebo/src/gazebo_4.0/examples/stand_alone/animated_box/CMakeLists.txt), and [animated_box.world](https://bitbucket.org/osrf/gazebo/src/gazebo_4.0/examples/stand_alone/animated_box/animated_box.world) into the current directory.
+Copy [animated_box.cc](https://github.com/osrf/gazebo/src/gazebo_4.0/examples/stand_alone/animated_box/animated_box.cc), [independent_listener.cc](https://github.com/osrf/gazebo/src/gazebo_4.0/examples/stand_alone/animated_box/independent_listener.cc), [integrated_main.cc](https://github.com/osrf/gazebo/src/gazebo_4.0/examples/stand_alone/animated_box/integrated_main.cc), [CMakeLists.txt](https://github.com/osrf/gazebo/src/gazebo_4.0/examples/stand_alone/animated_box/CMakeLists.txt), and [animated_box.world](https://github.com/osrf/gazebo/src/gazebo_4.0/examples/stand_alone/animated_box/animated_box.world) into the current directory.
 
 ~~~
-wget http://bitbucket.org/osrf/gazebo/raw/gazebo_4.0/examples/stand_alone/animated_box/animated_box.cc
-wget http://bitbucket.org/osrf/gazebo/raw/gazebo_4.0/examples/stand_alone/animated_box/independent_listener.cc
-wget http://bitbucket.org/osrf/gazebo/raw/gazebo_4.0/examples/stand_alone/animated_box/integrated_main.cc
-wget http://bitbucket.org/osrf/gazebo/raw/gazebo_4.0/examples/stand_alone/animated_box/CMakeLists.txt
-wget http://bitbucket.org/osrf/gazebo/raw/gazebo_4.0/examples/stand_alone/animated_box/animated_box.world
+wget http://github.com/osrf/gazebo/raw/gazebo_4.0/examples/stand_alone/animated_box/animated_box.cc
+wget http://github.com/osrf/gazebo/raw/gazebo_4.0/examples/stand_alone/animated_box/independent_listener.cc
+wget http://github.com/osrf/gazebo/raw/gazebo_4.0/examples/stand_alone/animated_box/integrated_main.cc
+wget http://github.com/osrf/gazebo/raw/gazebo_4.0/examples/stand_alone/animated_box/CMakeLists.txt
+wget http://github.com/osrf/gazebo/raw/gazebo_4.0/examples/stand_alone/animated_box/animated_box.world
 ~~~
 
 Build the plugin

animated_box/tutorial_6.md

@@ -22,16 +22,16 @@ cd ~/gazebo_animatedbox_tutorial
 
 # Animate box code
 
-Copy [animated_box.cc](https://bitbucket.org/osrf/gazebo/src/gazebo6/examples/stand_alone/animated_box/animated_box.cc), [independent_listener.cc](https://bitbucket.org/osrf/gazebo/src/gazebo6/examples/stand_alone/animated_box/independent_listener.cc), [integrated_main.cc](https://bitbucket.org/osrf/gazebo/src/gazebo6/examples/stand_alone/animated_box/integrated_main.cc), [CMakeLists.txt](https://bitbucket.org/osrf/gazebo/src/gazebo6/examples/stand_alone/animated_box/CMakeLists.txt), and [animated_box.world](https://bitbucket.org/osrf/gazebo/src/gazebo6/examples/stand_alone/animated_box/animated_box.world) into the current directory.
+Copy [animated_box.cc](https://github.com/osrf/gazebo/src/gazebo6/examples/stand_alone/animated_box/animated_box.cc), [independent_listener.cc](https://github.com/osrf/gazebo/src/gazebo6/examples/stand_alone/animated_box/independent_listener.cc), [integrated_main.cc](https://github.com/osrf/gazebo/src/gazebo6/examples/stand_alone/animated_box/integrated_main.cc), [CMakeLists.txt](https://github.com/osrf/gazebo/src/gazebo6/examples/stand_alone/animated_box/CMakeLists.txt), and [animated_box.world](https://github.com/osrf/gazebo/src/gazebo6/examples/stand_alone/animated_box/animated_box.world) into the current directory.
 
 On OS X, you can replace `wget` with `curl -OL`.
 
 ~~~
-wget http://bitbucket.org/osrf/gazebo/raw/gazebo6/examples/stand_alone/animated_box/animated_box.cc
-wget http://bitbucket.org/osrf/gazebo/raw/gazebo6/examples/stand_alone/animated_box/independent_listener.cc
-wget http://bitbucket.org/osrf/gazebo/raw/gazebo6/examples/stand_alone/animated_box/integrated_main.cc
-wget http://bitbucket.org/osrf/gazebo/raw/gazebo6/examples/stand_alone/animated_box/CMakeLists.txt
-wget http://bitbucket.org/osrf/gazebo/raw/gazebo6/examples/stand_alone/animated_box/animated_box.world
+wget http://github.com/osrf/gazebo/raw/gazebo6/examples/stand_alone/animated_box/animated_box.cc
+wget http://github.com/osrf/gazebo/raw/gazebo6/examples/stand_alone/animated_box/independent_listener.cc
+wget http://github.com/osrf/gazebo/raw/gazebo6/examples/stand_alone/animated_box/integrated_main.cc
+wget http://github.com/osrf/gazebo/raw/gazebo6/examples/stand_alone/animated_box/CMakeLists.txt
+wget http://github.com/osrf/gazebo/raw/gazebo6/examples/stand_alone/animated_box/animated_box.world
 ~~~
 
 Build the plugin

clone_simulation/tutorial.md

@@ -100,11 +100,11 @@ mkdir ~/clone_simulation
 cd ~/clone_simulation
 ~~~
 
-Download the files [`CMakeLists.txt`](http://bitbucket.org/osrf/gazebo/src/default/examples/stand_alone/clone_simulation/CMakeLists.txt) and [`cloner.cc`](http://bitbucket.org/osrf/gazebo/src/default/examples/stand_alone/clone_simulation/cloner.cc) into the previous folder.
+Download the files [`CMakeLists.txt`](http://github.com/osrf/gazebo/src/default/examples/stand_alone/clone_simulation/CMakeLists.txt) and [`cloner.cc`](http://github.com/osrf/gazebo/src/default/examples/stand_alone/clone_simulation/cloner.cc) into the previous folder.
 
 ~~~
-wget http://bitbucket.org/osrf/gazebo/raw/default/examples/stand_alone/clone_simulation/CMakeLists.txt
-wget http://bitbucket.org/osrf/gazebo/raw/default/examples/stand_alone/clone_simulation/cloner.cc
+wget http://github.com/osrf/gazebo/raw/default/examples/stand_alone/clone_simulation/CMakeLists.txt
+wget http://github.com/osrf/gazebo/raw/default/examples/stand_alone/clone_simulation/cloner.cc
 ~~~
 
 Compile the example:
@@ -167,23 +167,23 @@ spheres moving away.
 
 Let's take a look at the source code for our example:
 
-<include src='http://bitbucket.org/osrf/gazebo/raw/default/examples/stand_alone/clone_simulation/cloner.cc' />
+<include src='http://github.com/osrf/gazebo/raw/default/examples/stand_alone/clone_simulation/cloner.cc' />
 
 ## The code explained
 
-<include from='/int main/' to='/RunServer\);/' src='http://bitbucket.org/osrf/gazebo/raw/default/examples/stand_alone/clone_simulation/cloner.cc' />
+<include from='/int main/' to='/RunServer\);/' src='http://github.com/osrf/gazebo/raw/default/examples/stand_alone/clone_simulation/cloner.cc' />
 
 This fragment of the code spawns a new thread and executes a new server.
 
-<include from='/  gazebo::transport::NodePtr/' to='/simulation\\n\"(.*)$\n  getchar\(\);/' src='http://bitbucket.org/osrf/gazebo/raw/default/examples/stand_alone/clone_simulation/cloner.cc' />
+<include from='/  gazebo::transport::NodePtr/' to='/simulation\\n\"(.*)$\n  getchar\(\);/' src='http://github.com/osrf/gazebo/raw/default/examples/stand_alone/clone_simulation/cloner.cc' />
 
 The simulation cloning is performed via the transport system. First, we have to
 initialize a transport node that will allow us to use the transport. We need a
 topic publisher to send a new message with our cloning request. The topic is
 `/gazebo/server/control`. In addition, we need a subscriber on the topic `/gazebo/world/modify` for receiving the result of our
 clone request.
 
-<include from='/  gazebo::msgs::ServerControl/' to='/servers."(.*)$\n  getchar\(\);/' src='http://bitbucket.org/osrf/gazebo/raw/default/examples/stand_alone/clone_simulation/cloner.cc' />
+<include from='/  gazebo::msgs::ServerControl/' to='/servers."(.*)$\n  getchar\(\);/' src='http://github.com/osrf/gazebo/raw/default/examples/stand_alone/clone_simulation/cloner.cc' />
 
 This is the part of the code where we prepare our `ServerControl` message for
 our cloning request. The field `save_world_name` specifies the name of the world that
@@ -194,14 +194,14 @@ be the port that we will use to connect our future gzclient to display the new
 simulation. Finally, the message is sent by calling the `Publish()` method with
 our custom message.
 
-<include from='/void OnWorldModify/' to='/  }\n}/' src='http://bitbucket.org/osrf/gazebo/raw/default/examples/stand_alone/clone_simulation/cloner.cc' />
+<include from='/void OnWorldModify/' to='/  }\n}/' src='http://github.com/osrf/gazebo/raw/default/examples/stand_alone/clone_simulation/cloner.cc' />
 
 When the server processes our clone request, it sends us a response contained
 in a `WorldModify` message. This is the callback that we registered during the
 subscription and it will be triggered when the response from the server is
 received. The field `cloned` will be true when a new server has been cloned.
 Also, the field `cloned_uri` will show us the *URI* of the new server.
 
-<include from='/^(.*)Make sure/' to='/gazebo::shutdown\(\);/' src='http://bitbucket.org/osrf/gazebo/raw/default/examples/stand_alone/clone_simulation/cloner.cc' />
+<include from='/^(.*)Make sure/' to='/gazebo::shutdown\(\);/' src='http://github.com/osrf/gazebo/raw/default/examples/stand_alone/clone_simulation/cloner.cc' />
 
 These commands will terminate all the servers running in our system.

color_model/tutorial_7.md

@@ -79,7 +79,7 @@ Those tags are:
 * [<diffuse>](http://sdformat.org/spec?ver=1.6&elem=material#material_diffuse)
 * [<specular>](http://sdformat.org/spec?ver=1.6&elem=material#material_specular)
     * **Note:** Specular intensity via SDF is currently not functioning in gazebo.
-      See [issue #2120](https://bitbucket.org/osrf/gazebo/issues/2120/specular-material-not-working).
+      See [issue #2120](https://github.com/osrf/gazebo/issues/2120).
 * [<emissive>](http://sdformat.org/spec?ver=1.6&elem=material#material_emissive)
 
 #### Ogre Material Script
@@ -104,7 +104,7 @@ In gazebo 8+ it will be displayed with gray diffuse and ambient components, but
 Wavefront obj color values are taken from the object's material: `Ka`, `Kd`, `Ks`, and `Ns`.
 See [this Wikipedia article](https://en.wikipedia.org/wiki/Wavefront_.obj_file) for more info about OBJ files.
 
-**Note:** OBJ materials may not [display correctly in versions earlier than gazebo 8](https://bitbucket.org/osrf/gazebo/issues/2455/wavefront-obj-wrong-normals-and-material).
+**Note:** OBJ materials may not [display correctly in versions earlier than gazebo 8](https://github.com/osrf/gazebo/issues/2455/).
 
 ## About Textures
 Textures map an image onto a shape.

components/tutorial.md

@@ -7,7 +7,7 @@ The world description file contains all the elements in a simulation, including
 The Gazebo server (`gzserver`) reads this file to generate and populate a world.
 
 A number of example worlds are shipped with Gazebo. These worlds are installed in `<install_path>/share/gazebo-<version>/worlds`;
-you can also see them in the [source code](https://bitbucket.org/osrf/gazebo/src/default/worlds/).
+you can also see them in the [source code](https://github.com/osrf/gazebo/src/default/worlds/).
 
 # Model Files
 
@@ -54,7 +54,7 @@ If you want to modify Gazebo's behavior, e.g., by extending the path it searches
 Parts of Gazebo transitioned to use the [Ignition Transport](https://ignitionrobotics.org/libs/transport)
 library for inter-process communication instead of the built-in
 Gazebo Transport library. Some features such as
-[markers](https://bitbucket.org/osrf/gazebo/src/gazebo8/examples/stand_alone/marker/)
+[markers](https://github.com/osrf/gazebo/src/gazebo8/examples/stand_alone/marker/)
 and the plotting utility are using Ignition Transport and may be affected by
 the following environment variables:
 

contain_plugin/tutorial_7.md

@@ -66,17 +66,17 @@ When a ball rolls under a lamp post, the light will turn on.
 
 [[file:example_world.png|800px]]
 
-Download the [example world](https://bitbucket.org/osrf/gazebo/raw/gazebo7/examples/plugins/trigger_light/contain_example.world), [plugin source code](https://bitbucket.org/osrf/gazebo/raw/gazebo7/examples/plugins/trigger_light/TurnOnLightPlugin.cpp), and [CMake file](https://bitbucket.org/osrf/gazebo/raw/gazebo7/examples/plugins/trigger_light/CMakeLists.txt).
+Download the [example world](https://github.com/osrf/gazebo/raw/gazebo7/examples/plugins/trigger_light/contain_example.world), [plugin source code](https://github.com/osrf/gazebo/raw/gazebo7/examples/plugins/trigger_light/TurnOnLightPlugin.cpp), and [CMake file](https://github.com/osrf/gazebo/raw/gazebo7/examples/plugins/trigger_light/CMakeLists.txt).
 Build and run the plugin using [this tutorial](/tutorials?tut=plugins_hello_world&cat=write_plugin) as an example.
 Make sure to run `source <install_path>/share/gazebo/setup.sh` before extending `GAZEBO_PLUGIN_PATH`.
 `<install_path>` is `/usr` if you installed using `apt`.
 
 A ContainPlugin instance is configured to watch when a sphere enters a box below the lamp post.
 When the sphere rolls into or out of the box ContainPlugin will publish a message on the `contain` topic.
-<include lang='xml' from="/<plugin name='ContainPlugin'/" to="/    <\/pluign>/" src='https://bitbucket.org/osrf/gazebo/raw/gazebo7/examples/plugins/trigger_light/contain_example.world'/>
+<include lang='xml' from="/<plugin name='ContainPlugin'/" to="/    <\/pluign>/" src='https://github.com/osrf/gazebo/raw/gazebo7/examples/plugins/trigger_light/contain_example.world'/>
 
 This custom plugin receives messages from ContainPlugin, and turns the light on or off.
-<include lang='c++' from="/#include/" to="/}  // namespace gazebo/" src='https://bitbucket.org/osrf/gazebo/raw/gazebo7/examples/plugins/trigger_light/TurnOnLightPlugin.cpp'/>
+<include lang='c++' from="/#include/" to="/}  // namespace gazebo/" src='https://github.com/osrf/gazebo/raw/gazebo7/examples/plugins/trigger_light/TurnOnLightPlugin.cpp'/>
 
 After building and running the world you should see the ball trigger the light to turn on.
 Hit `CTRL + R` to restart the world if you missed it.