[workspace] Flag sdformat, ignition_math, ignition_utils as internal

We are substantially patching these libraries to weave them into Drake.
We should not give the illusion to users that they are available for
reuse downstream.

Also take this opportunity to track the ignition => gz project rename.

multibody/parsing/BUILD.bazel

@@ -86,7 +86,7 @@ drake_cc_library(
         "//geometry:proximity_properties",
         "//math:geometric_transform",
         "//multibody/plant",
-        "@sdformat",
+        "@sdformat_internal//:sdformat",
         "@tinyxml2",
     ],
 )
@@ -99,7 +99,7 @@ drake_cc_library(
     visibility = ["//visibility:private"],
     deps = [
         "//common:diagnostic_policy",
-        "@sdformat",
+        "@sdformat_internal//:sdformat",
     ],
 )
 
@@ -118,7 +118,7 @@ drake_cc_library(
         "//geometry:geometry_roles",
         "//geometry:shape_specification",
         "//multibody/plant:coulomb_friction",
-        "@sdformat",
+        "@sdformat_internal//:sdformat",
     ],
 )
 
@@ -136,7 +136,7 @@ drake_cc_library(
         ":detail_urdf_parser",
         ":scoped_names",
         "//multibody/plant",
-        "@sdformat",
+        "@sdformat_internal//:sdformat",
     ],
 )
 

tools/workspace/BUILD.bazel

@@ -77,8 +77,8 @@ _DRAKE_EXTERNAL_PACKAGE_INSTALLS = ["@%s//:install" % p for p in [
     "fcl",
     "fmt",
     "ghc_filesystem",
-    "ignition_math",
-    "ignition_utils",
+    "gz_math_internal",
+    "gz_utils_internal",
     "lcm",
     "meshcat",
     "meshcat_python",
@@ -87,7 +87,7 @@ _DRAKE_EXTERNAL_PACKAGE_INSTALLS = ["@%s//:install" % p for p in [
     "petsc",
     "pybind11",
     "qhull",
-    "sdformat",
+    "sdformat_internal",
     "spdlog",
     "tinyobjloader",
     "usockets",

tools/workspace/default.bzl

@@ -36,9 +36,11 @@ load("@drake//tools/workspace/glx:repository.bzl", "glx_repository")
 load("@drake//tools/workspace/googlebenchmark:repository.bzl", "googlebenchmark_repository")  # noqa
 load("@drake//tools/workspace/gtest:repository.bzl", "gtest_repository")
 load("@drake//tools/workspace/gurobi:repository.bzl", "gurobi_repository")
+load("@drake//tools/workspace/gz_math_internal:repository.bzl", "gz_math_internal_repository")  # noqa
+load("@drake//tools/workspace/gz_math_internal:repository.bzl", "ignition_math_repository")  # noqa
+load("@drake//tools/workspace/gz_utils_internal:repository.bzl", "gz_utils_internal_repository")  # noqa
+load("@drake//tools/workspace/gz_utils_internal:repository.bzl", "ignition_utils_repository")  # noqa
 load("@drake//tools/workspace/ibex:repository.bzl", "ibex_repository")
-load("@drake//tools/workspace/ignition_math:repository.bzl", "ignition_math_repository")  # noqa
-load("@drake//tools/workspace/ignition_utils:repository.bzl", "ignition_utils_repository")  # noqa
 load("@drake//tools/workspace/intel_realsense_ros:repository.bzl", "intel_realsense_ros_repository")  # noqa
 load("@drake//tools/workspace/ipopt:repository.bzl", "ipopt_repository")
 load("@drake//tools/workspace/json:repository.bzl", "json_repository")
@@ -79,7 +81,8 @@ load("@drake//tools/workspace/ros_xacro:repository.bzl", "ros_xacro_repository")
 load("@drake//tools/workspace/rules_pkg:repository.bzl", "rules_pkg_repository")  # noqa
 load("@drake//tools/workspace/rules_python:repository.bzl", "rules_python_repository")  # noqa
 load("@drake//tools/workspace/scs:repository.bzl", "scs_repository")
-load("@drake//tools/workspace/sdformat:repository.bzl", "sdformat_repository")
+load("@drake//tools/workspace/sdformat_internal:repository.bzl", "sdformat_internal_repository")  # noqa
+load("@drake//tools/workspace/sdformat_internal:repository.bzl", "sdformat_repository")  # noqa
 load("@drake//tools/workspace/snopt:repository.bzl", "snopt_repository")
 load("@drake//tools/workspace/spdlog:repository.bzl", "spdlog_repository")
 load("@drake//tools/workspace/stduuid:repository.bzl", "stduuid_repository")
@@ -178,12 +181,16 @@ def add_default_repositories(excludes = [], mirrors = DEFAULT_MIRRORS):
         gtest_repository(name = "gtest", mirrors = mirrors)
     if "gurobi" not in excludes:
         gurobi_repository(name = "gurobi")
+    if "gz_math_internal" not in excludes:
+        gz_math_internal_repository(name = "gz_math_internal", mirrors = mirrors)  # noqa
+    if "gz_utils_internal" not in excludes:
+        gz_utils_internal_repository(name = "gz_utils_internal", mirrors = mirrors)  # noqa
     if "ibex" not in excludes:
         ibex_repository(name = "ibex", mirrors = mirrors)
     if "ignition_math" not in excludes:
-        ignition_math_repository(name = "ignition_math", mirrors = mirrors)
+        ignition_math_repository(name = "ignition_math")
     if "ignition_utils" not in excludes:
-        ignition_utils_repository(name = "ignition_utils", mirrors = mirrors)
+        ignition_utils_repository(name = "ignition_utils")
     if "intel_realsense_ros" not in excludes:
         intel_realsense_ros_repository(name = "intel_realsense_ros", mirrors = mirrors)  # noqa
     if "ipopt" not in excludes:
@@ -265,7 +272,10 @@ def add_default_repositories(excludes = [], mirrors = DEFAULT_MIRRORS):
     if "scs" not in excludes:
         scs_repository(name = "scs", mirrors = mirrors)
     if "sdformat" not in excludes:
-        sdformat_repository(name = "sdformat", mirrors = mirrors)
+        # Deprecated for removal on 2022-10-01.
+        sdformat_repository(name = "sdformat")
+    if "sdformat_internal" not in excludes:
+        sdformat_internal_repository(name = "sdformat_internal", mirrors = mirrors)  # noqa
     if "snopt" not in excludes:
         snopt_repository(name = "snopt")
     if "spdlog" not in excludes:

tools/workspace/ignition_math/package.BUILD.bazel → tools/workspace/gz_math_internal/package.BUILD.bazel

@@ -159,7 +159,7 @@ public_headers = public_headers_no_gen + [
 # explicitly listed sources plus private headers.  The explicitly listed
 # hdrs= matches upstream's public headers.
 cc_library(
-    name = "ignition_math",
+    name = "gz_math",
     srcs = [
         "src/Angle.cc",
         "src/AxisAlignedBox.cc",

tools/workspace/gz_math_internal/repository.bzl

@@ -0,0 +1,35 @@
+# -*- python -*-
+
+load("//tools/workspace:github.bzl", "github_archive")
+
+def gz_math_internal_repository(
+        name,
+        mirrors = None):
+    # When updating this commit, also remember to adjust the PROJECT_*
+    # constants in ./package.BUILD.bazel to match the new version number.
+    github_archive(
+        name = name,
+        repository = "gazebosim/gz-math",
+        commit = "ignition-math6_6.10.0",
+        sha256 = "94e853e1dfba97ebec4b6152691a89af1e94660b02f4ecdf04356b763c2848bd",  # noqa
+        build_file = "@drake//tools/workspace/gz_math_internal:package.BUILD.bazel",  # noqa
+        mirrors = mirrors,
+    )
+
+# The non-internal repository rule is deprecated.
+
+def _deprecated(repository_ctx):
+    repository_ctx.file(
+        "BUILD.bazel",
+        content = """
+cc_library(
+    name = "ignition_math",
+    deps = ["@gz_math_internal//:gz_math"],
+    deprecation = "DRAKE DEPRECATED: The @ignition_math external is deprecated and will be removed on or after 2022-10-01.",  # noqa
+    visibility = ["//visibility:public"],
+)
+""",
+        executable = False,
+    )
+
+ignition_math_repository = repository_rule(implementation = _deprecated)

tools/workspace/ignition_utils/package.BUILD.bazel → tools/workspace/gz_utils_internal/package.BUILD.bazel

@@ -87,7 +87,7 @@ public_headers = public_headers_no_gen + [
 ]
 
 cc_library(
-    name = "ignition_utils",
+    name = "gz_utils",
     srcs = private_headers,
     hdrs = public_headers,
     includes = ["include"],

tools/workspace/gz_utils_internal/repository.bzl

@@ -0,0 +1,35 @@
+# -*- python -*-
+
+load("//tools/workspace:github.bzl", "github_archive")
+
+def gz_utils_internal_repository(
+        name,
+        mirrors = None):
+    github_archive(
+        name = name,
+        repository = "gazebosim/gz-utils",
+        # When updating this commit, also remember to adjust the PROJECT_*
+        # constants in ./package.BUILD.bazel to match the new version number.
+        commit = "ignition-utils1_1.0.0",
+        sha256 = "55d3285692392f9493a35b680f275ec116584baedeef90de57d2b03dfd952d9d",  # noqa
+        build_file = "@drake//tools/workspace/gz_utils_internal:package.BUILD.bazel",  # noqa
+        mirrors = mirrors,
+    )
+
+# The non-internal repository rule is deprecated.
+
+def _deprecated(repository_ctx):
+    repository_ctx.file(
+        "BUILD.bazel",
+        content = """
+cc_library(
+    name = "ignition_utils",
+    deps = ["@gz_utils_internal//:gz_utils"],
+    deprecation = "DRAKE DEPRECATED: The @ignition_utils external is deprecated and will be removed on or after 2022-10-01.",  # noqa
+    visibility = ["//visibility:public"],
+)
+""",
+        executable = False,
+    )
+
+ignition_utils_repository = repository_rule(implementation = _deprecated)

tools/workspace/sdformat/BUILD.bazel → tools/workspace/sdformat_internal/BUILD.bazel

@@ -6,7 +6,7 @@ load("//tools/lint:lint.bzl", "add_lint_tests")
 
 exports_files(
     ["embed_sdf.py"],
-    visibility = ["@sdformat//:__pkg__"],
+    visibility = ["@sdformat_internal//:__pkg__"],
 )
 
 drake_cc_binary(
@@ -15,7 +15,7 @@ drake_cc_binary(
     deps = [
         "//common:essential",
         "@gflags",
-        "@sdformat//:ign_sdf_cmdline",
+        "@sdformat_internal//:ign_sdf_cmdline",
     ],
 )
 

tools/workspace/sdformat/package.BUILD.bazel → tools/workspace/sdformat_internal/package.BUILD.bazel

@@ -134,7 +134,7 @@ genrule(
 
 py_binary(
     name = "embed_sdf",
-    srcs = ["@drake//tools/workspace/sdformat:embed_sdf.py"],
+    srcs = ["@drake//tools/workspace/sdformat_internal:embed_sdf.py"],
     python_version = "PY3",
     srcs_version = "PY3",
 )
@@ -241,8 +241,8 @@ cc_library(
     includes = ["include"],
     linkstatic = 1,
     deps = [
-        "@ignition_math",
-        "@ignition_utils",
+        "@gz_math_internal//:gz_math",
+        "@gz_utils_internal//:gz_utils",
         "@tinyxml2",
         # N.B. It's very unusual to add a dependency from a third-party library
         # onto Drake, but in this case it's the simplest way to be able to send

tools/workspace/sdformat_internal/repository.bzl

@@ -0,0 +1,39 @@
+# -*- python -*-
+
+load("//tools/workspace:github.bzl", "github_archive")
+
+def sdformat_internal_repository(
+        name,
+        mirrors = None):
+    github_archive(
+        name = name,
+        repository = "gazebosim/sdformat",
+        commit = "sdformat12_12.5.0",
+        build_file = "@drake//tools/workspace/sdformat_internal:package.BUILD.bazel",  # noqa
+        sha256 = "3896772db68b7ca7b18bbf1945a72206885b03d3f0caf29491be5b53b79a7124",  # noqa
+        patches = [
+            "@drake//tools/workspace/sdformat_internal:patches/console.patch",
+            "@drake//tools/workspace/sdformat_internal:patches/deprecation_unit_testing.patch",  # noqa
+            "@drake//tools/workspace/sdformat_internal:patches/no_global_config.patch",  # noqa
+            "@drake//tools/workspace/sdformat_internal:patches/no_urdf.patch",
+        ],
+        mirrors = mirrors,
+    )
+
+# The non-internal repository rule is deprecated.
+
+def _deprecated(repository_ctx):
+    repository_ctx.file(
+        "BUILD.bazel",
+        content = """
+cc_library(
+    name = "sdformat",
+    deps = ["@sdformat_internal//:sdformat"],
+    deprecation = "DRAKE DEPRECATED: The @sdformat external is deprecated and will be removed on or after 2022-10-01.",  # noqa
+    visibility = ["//visibility:public"],
+)
+""",
+        executable = False,
+    )
+
+sdformat_repository = repository_rule(implementation = _deprecated)

tools/workspace/sdformat/test/ign_sdf_test.py → tools/workspace/sdformat_internal/test/ign_sdf_test.py

@@ -57,7 +57,7 @@
 class TestIgnSdf(unittest.TestCase):
     def setUp(self):
         self.maxDiff = None
-        self.bin = "tools/workspace/sdformat/ign_sdf"
+        self.bin = "tools/workspace/sdformat_internal/ign_sdf"
         self.input_file = os.path.join(
             os.environ["TEST_TMPDIR"], "example.sdf"
         )