Update tutorial links

tutorials/adding_visuals.md

@@ -61,8 +61,8 @@ mkdir -p ~/gazebo_maritime/models/my_turtle/materials/textures
 Next, download the COLLADA mesh and its texture.
 
 ```bash
-wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/tutorials/files/adding_visuals/turtle.dae -O ~/gazebo_maritime/models/my_turtle/meshes/turtle.dae
-wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/tutorials/files/adding_visuals/Turtle_BaseColor.png -O ~/gazebo_maritime/models/my_turtle/materials/textures/Turtle_BaseColor.png
+wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim10/tutorials/files/adding_visuals/turtle.dae -O ~/gazebo_maritime/models/my_turtle/meshes/turtle.dae
+wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim10/tutorials/files/adding_visuals/Turtle_BaseColor.png -O ~/gazebo_maritime/models/my_turtle/materials/textures/Turtle_BaseColor.png
 ```
 
 Now, let's edit our `model.sdf` to use the new mesh as our visual.

tutorials/component_pose.md

@@ -4,12 +4,12 @@ We will show how to use the gz::sim::components::Pose component in a system.
 
 An example usage of the component can be found in the
 gz::sim::systems::OdometryPublisher system
-([source code](https://github.com/gazebosim/gz-sim/tree/gz-sim8/src/systems/odometry_publisher)),
+([source code](https://github.com/gazebosim/gz-sim/tree/gz-sim10/src/systems/odometry_publisher)),
 which reads the pose component of a model through the Model entity, uses the
 pose for some calculations, and then publishes the result as a message.
 
 More usage can be found in the
-[integration test](https://github.com/gazebosim/gz-sim/blob/gz-sim8/test/integration/odometry_publisher.cc)
+[integration test](https://github.com/gazebosim/gz-sim/blob/gz-sim10/test/integration/odometry_publisher.cc)
 for the system, with test worlds `odometry*.sdf`
 [here](https://github.com/gazebosim/gz-sim/tree/gz-sim10/test/worlds).
 

tutorials/global_illumination.md

@@ -55,7 +55,7 @@ GI can be enabled for the GUI through a GUI plugin. Both VCT and CI VCT are supp
 #### Example usage for VCT
 
 1) Open the [global_illumination.sdf](
-https://github.com/gazebosim/gz-sim/tree/gz-sim8/examples/worlds/global_illumination.sdf) world with
+https://github.com/gazebosim/gz-sim/tree/gz-sim10/examples/worlds/global_illumination.sdf) world with
 
 ```bash
 gz sim global_illumination.sdf
@@ -76,7 +76,7 @@ gz sim global_illumination.sdf
 #### Example usage for CI VCT
 
 1) Open the [global_illumination.sdf](
-https://github.com/gazebosim/gz-sim/tree/gz-sim8/examples/worlds/global_illumination.sdf) world using Vulkan with
+https://github.com/gazebosim/gz-sim/tree/gz-sim10/examples/worlds/global_illumination.sdf) world using Vulkan with
 
 ```bash
 gz sim global_illumination.sdf --render-engine-api-backend vulkan
@@ -93,7 +93,7 @@ GI can be enabled for sensors through the `<global_illumination>` element in the
 #### Example usage with VCT
 
 We will demonstrate how to enable VCT for the sensor with the SDF file below. (The finished SDF file can be viewed [here](
-https://github.com/gazebosim/gz-sim/tree/gz-sim8/examples/worlds/global_illumination.sdf).)
+https://github.com/gazebosim/gz-sim/tree/gz-sim10/examples/worlds/global_illumination.sdf).)
 
 1) Save the below in an SDF file named `gi_demo.sdf`:
 

tutorials/joint_controller.md

@@ -40,7 +40,7 @@ mkdir gz_tutorial
 cd gz_turtorial
 ```
 
-2) In this tutorial we will be using the following SDF file (this is just a slight modification of the original `joint_controller.sdf` [example](https://github.com/gazebosim/gz-sim/blob/gz-sim7/examples/worlds/joint_controller.sdf)).
+2) In this tutorial we will be using the following SDF file (this is just a slight modification of the original `joint_controller.sdf` [example](https://github.com/gazebosim/gz-sim/blob/gz-sim10/examples/worlds/joint_controller.sdf)).
 
 After changing the directory, name the SDF file as `example.sdf`
 
@@ -380,7 +380,7 @@ Message type: [`JointTrajectory`](https://github.com/gazebosim/gz-msgs/blob/gz-m
 
 ### Example usage:
 
-Let’s set up a new model for this example. A two-linked manipulator arm which has a total of two joints to control ([`joint_trajectory_controller.sdf`](https://github.com/gazebosim/gz-sim/blob/gz-sim7/examples/worlds/joint_trajectory_controller.sdf) is the original example). Name it as `example2.sdf`.
+Let’s set up a new model for this example. A two-linked manipulator arm which has a total of two joints to control ([`joint_trajectory_controller.sdf`](https://github.com/gazebosim/gz-sim/blob/gz-sim10/examples/worlds/joint_trajectory_controller.sdf) is the original example). Name it as `example2.sdf`.
 
 - SDF file:
 

tutorials/surface_vehicles.md

@@ -28,7 +28,7 @@ To compile all the custom libraries in the right order `colcon` is recommended.
 The `colcon` tool is available on all platforms using `pip3`.
 
 ```bash
-wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/tutorials/files/surface_vehicles/gz_maritime_ws.zip -O ~/gz_maritime_ws.zip
+wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim10/tutorials/files/surface_vehicles/gz_maritime_ws.zip -O ~/gz_maritime_ws.zip
 unzip ~/gz_maritime_ws.zip
 ```
 

tutorials/theory_buoyancy.md

@@ -10,7 +10,7 @@ essential piece needed in most of the maritime simulations.
 This plugin is attached to the world to provide certain buoyancy to the
 vehicles. The buoyancy force opposes gravity exerted on the robot. The
 parameters of the plugin are configured via SDF in the world file. Check the
-[Buoyancy.hh](https://github.com/gazebosim/gz-sim/blob/gz-sim8/src/systems/buoyancy/Buoyancy.hh)
+[Buoyancy.hh](https://github.com/gazebosim/gz-sim/blob/gz-sim10/src/systems/buoyancy/Buoyancy.hh)
 Gazebo header file for a complete description of all the accepted parameters.
 
 The buoyancy plugin uses the `<collision>` elements of each SDF model to compute

tutorials/theory_hydrodynamics.md

@@ -88,7 +88,7 @@ in the positive `X` direction.
 
 ```bash
 mkdir -p ~/gazebo_maritime/worlds
-wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/tutorials/files/theory_hydrodynamics/buoyant_cylinder.sdf -O ~/gazebo_maritime/worlds/buoyant_cylinder.sdf
+wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim10/tutorials/files/theory_hydrodynamics/buoyant_cylinder.sdf -O ~/gazebo_maritime/worlds/buoyant_cylinder.sdf
 gz sim -r ~/gazebo_maritime/worlds/buoyant_cylinder.sdf
 ```
 

tutorials/underwater_vehicles.md

@@ -38,15 +38,15 @@ mkdir -p ~/gazebo_maritime/models/my_lrauv/meshes
 Download all the files from here and copy them within that directory:
 
 ```bash
-wget -r https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/tutorials/files/underwater_vehicles/my_lrauv/model.config -O ~/gazebo_maritime/models/my_lrauv/model.config
-wget -r https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/tutorials/files/underwater_vehicles/my_lrauv/model.sdf -O ~/gazebo_maritime/models/my_lrauv/model.sdf
-wget -r https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/tutorials/files/underwater_vehicles/my_lrauv/materials/textures/Tethys_Albedo.png -O ~/gazebo_maritime/models/my_lrauv/materials/textures/Tethys_Albedo.png
-wget -r https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/tutorials/files/underwater_vehicles/my_lrauv/materials/textures/Tethys_Metalness.png -O ~/gazebo_maritime/models/my_lrauv/materials/textures/Tethys_Metalness.png
-wget -r https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/tutorials/files/underwater_vehicles/my_lrauv/materials/textures/Tethys_Normal.png -O ~/gazebo_maritime/models/my_lrauv/materials/textures/Tethys_Normal.png
-wget -r https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/tutorials/files/underwater_vehicles/my_lrauv/materials/textures/Tethys_Roughness.png -O ~/gazebo_maritime/models/my_lrauv/materials/textures/Tethys_Roughness.png
-wget -r https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/tutorials/files/underwater_vehicles/my_lrauv/meshes/base.dae -O ~/gazebo_maritime/models/my_lrauv/meshes/base.dae
-wget -r https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/tutorials/files/underwater_vehicles/my_lrauv/meshes/propeller.dae -O ~/gazebo_maritime/models/my_lrauv/meshes/propeller.dae
-wget -r https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/tutorials/files/underwater_vehicles/my_lrauv/meshes/tethys.dae -O ~/gazebo_maritime/models/my_lrauv/meshes/tethys.dae
+wget -r https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim10/tutorials/files/underwater_vehicles/my_lrauv/model.config -O ~/gazebo_maritime/models/my_lrauv/model.config
+wget -r https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim10/tutorials/files/underwater_vehicles/my_lrauv/model.sdf -O ~/gazebo_maritime/models/my_lrauv/model.sdf
+wget -r https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim10/tutorials/files/underwater_vehicles/my_lrauv/materials/textures/Tethys_Albedo.png -O ~/gazebo_maritime/models/my_lrauv/materials/textures/Tethys_Albedo.png
+wget -r https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim10/tutorials/files/underwater_vehicles/my_lrauv/materials/textures/Tethys_Metalness.png -O ~/gazebo_maritime/models/my_lrauv/materials/textures/Tethys_Metalness.png
+wget -r https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim10/tutorials/files/underwater_vehicles/my_lrauv/materials/textures/Tethys_Normal.png -O ~/gazebo_maritime/models/my_lrauv/materials/textures/Tethys_Normal.png
+wget -r https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim10/tutorials/files/underwater_vehicles/my_lrauv/materials/textures/Tethys_Roughness.png -O ~/gazebo_maritime/models/my_lrauv/materials/textures/Tethys_Roughness.png
+wget -r https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim10/tutorials/files/underwater_vehicles/my_lrauv/meshes/base.dae -O ~/gazebo_maritime/models/my_lrauv/meshes/base.dae
+wget -r https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim10/tutorials/files/underwater_vehicles/my_lrauv/meshes/propeller.dae -O ~/gazebo_maritime/models/my_lrauv/meshes/propeller.dae
+wget -r https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim10/tutorials/files/underwater_vehicles/my_lrauv/meshes/tethys.dae -O ~/gazebo_maritime/models/my_lrauv/meshes/tethys.dae
 ```
 
 Open with your favorite editor `~/gazebo_maritime/models/my_lrauv/model.sdf`.
@@ -111,7 +111,7 @@ Let's now download the following world that includes the buoyancy plugin:
 
 ```bash
 mkdir -p ~/gazebo_maritime/worlds
-wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/tutorials/files/underwater_vehicles/buoyant_lrauv.sdf -O ~/gazebo_maritime/worlds/buoyant_lrauv.sdf
+wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim10/tutorials/files/underwater_vehicles/buoyant_lrauv.sdf -O ~/gazebo_maritime/worlds/buoyant_lrauv.sdf
 export GZ_SIM_RESOURCE_PATH=:$HOME/gazebo_maritime/models
 ```
 

tutorials/using_components.md

@@ -14,11 +14,11 @@ Here, we will explain how a system can use components to modify the world.
 You can view the list of \ref gz::sim::components in the API.
 
 Programmatic usage of components can be found in
-[built-in systems](https://github.com/gazebosim/gz-sim/tree/gz-sim8/src/systems)
-and [integration tests](https://github.com/gazebosim/gz-sim/blob/gz-sim8/test/integration)
+[built-in systems](https://github.com/gazebosim/gz-sim/tree/gz-sim10/src/systems)
+and [integration tests](https://github.com/gazebosim/gz-sim/blob/gz-sim10/test/integration)
 in the source code.
 Most of the built-in systems have a corresponding example SDF world.
-You can find all the example worlds [here](https://github.com/gazebosim/gz-sim/tree/gz-sim8/examples/worlds).
+You can find all the example worlds [here](https://github.com/gazebosim/gz-sim/tree/gz-sim10/examples/worlds).
 
 ## Prerequisites
 
@@ -35,15 +35,15 @@ understanding:
 Quick access to resources mentioned in this tutorial:
 - List of \ref gz::sim::components in the API
 - List of \ref gz::sim::systems in the API
-- Source code of [built-in systems](https://github.com/gazebosim/gz-sim/tree/gz-sim8/src/systems)
-- Source code of [example worlds](https://github.com/gazebosim/gz-sim/tree/gz-sim8/examples/worlds)
-- Source code of [integration tests](https://github.com/gazebosim/gz-sim/blob/gz-sim8/test/integration)
+- Source code of [built-in systems](https://github.com/gazebosim/gz-sim/tree/gz-sim10/src/systems)
+- Source code of [example worlds](https://github.com/gazebosim/gz-sim/tree/gz-sim10/examples/worlds)
+- Source code of [integration tests](https://github.com/gazebosim/gz-sim/blob/gz-sim10/test/integration)
 
 ## Entity Component Manager (ECM)
 
 The gateway to interact with entities is through the
 \ref gz::sim::EntityComponentManager
-([source code](https://github.com/gazebosim/gz-sim/blob/gz-sim8/include/gz/sim/EntityComponentManager.hh)),
+([source code](https://github.com/gazebosim/gz-sim/blob/gz-sim10/include/gz/sim/EntityComponentManager.hh)),
 ECM for short.
 The ECM gives us access to all the entities, each of which gives us access
 to its associated components.