Update lcm-related bazel library names

Remove //util:lcm_util forwarding header, long since deprecated.

Rename //lcm:lcm to //lcm:real to clarify that it is only a concrete
implementation of the interface, instead of everything in the package.
Do not rename in-tree uses to match; they can use the package-level
library without adding overly many spurious dependencies.

Rename //systems/lcm:lcm to //systems/lcm:lcm_pubsub to clarify that it
is only the publisher and subscriber systems, instead of everything in
the package.  Rename all in-tree uses to match.

Add drake_cc_package_library for //lcm and //systems/lcm.

automotive/BUILD.bazel

@@ -448,7 +448,7 @@ drake_cc_library(
         "//multibody/parsers",
         "//multibody/rigid_body_plant:drake_visualizer",
         "//systems/analysis",
-        "//systems/lcm",
+        "//systems/lcm:lcm_pubsub_system",
         "//systems/lcm:lcmt_drake_signal_translator",
         "//systems/primitives:constant_value_source",
         "//systems/primitives:multiplexer",

examples/contact_model/BUILD.bazel

@@ -77,7 +77,7 @@ drake_cc_binary(
         "//multibody/rigid_body_plant:drake_visualizer",
         "//multibody/rigid_body_plant:rigid_body_plant_bridge",
         "//systems/analysis",
-        "//systems/lcm",
+        "//systems/lcm:lcm_pubsub_system",
         "//systems/rendering:pose_bundle_to_draw_message",
         "@gflags",
     ],

examples/geometry_world/BUILD.bazel

@@ -38,7 +38,7 @@ drake_cc_binary(
         "//geometry:scene_graph",
         "//systems/analysis:simulator",
         "//systems/framework:diagram",
-        "//systems/lcm",
+        "//systems/lcm:lcm_pubsub_system",
         "//systems/primitives:constant_vector_source",
         "//systems/primitives:signal_logger",
         "//systems/rendering:pose_bundle_to_draw_message",
@@ -68,7 +68,7 @@ drake_cc_binary(
         "//geometry:scene_graph",
         "//systems/analysis:simulator",
         "//systems/framework:diagram",
-        "//systems/lcm",
+        "//systems/lcm:lcm_pubsub_system",
         "//systems/primitives:constant_vector_source",
         "//systems/primitives:signal_logger",
         "//systems/rendering:pose_bundle_to_draw_message",

examples/humanoid_controller/BUILD.bazel

@@ -83,7 +83,7 @@ drake_cc_library(
         "//multibody/parsers",
         "//systems/controllers/qp_inverse_dynamics:qp_inverse_dynamics_system",  # noqa
         "//systems/framework",
-        "//systems/lcm",
+        "//systems/lcm:lcm_pubsub_system",
         "@lcmtypes_bot2_core",
     ],
 )

examples/kinova_jaco_arm/BUILD.bazel

@@ -49,8 +49,8 @@ drake_cc_binary(
         "//lcm",
         "//manipulation/planner:robot_plan_interpolator",
         "//systems/controllers:pid_controller",
-        "//systems/lcm",
         "//systems/lcm:lcm_driven_loop",
+        "//systems/lcm:lcm_pubsub_system",
         "//systems/primitives:adder",
         "//systems/primitives:demultiplexer",
         "//systems/primitives:multiplexer",

examples/kuka_iiwa_arm/dev/pick_and_place/BUILD.bazel

@@ -84,7 +84,7 @@ drake_cc_library(
         "//lcmtypes:schunk",
         "//manipulation/perception:optitrack_pose_extractor",
         "//systems/framework:leaf_system",
-        "//systems/lcm",
+        "//systems/lcm:lcm_pubsub_system",
         "//systems/primitives:pass_through",
         "@gflags",
         "@lcmtypes_bot2_core",
@@ -127,8 +127,8 @@ drake_cc_binary(
         "//lcmtypes:schunk",
         "//manipulation/perception:optitrack_pose_extractor",
         "//systems/framework:leaf_system",
-        "//systems/lcm",
         "//systems/lcm:lcm_driven_loop",
+        "//systems/lcm:lcm_pubsub_system",
         "@gflags",
         "@lcmtypes_bot2_core",
         "@lcmtypes_robotlocomotion",

examples/multibody/acrobot/BUILD.bazel

@@ -26,7 +26,7 @@ drake_cc_binary(
         "//systems/analysis:semi_explicit_euler_integrator",
         "//systems/analysis:simulator",
         "//systems/framework:diagram",
-        "//systems/lcm",
+        "//systems/lcm:lcm_pubsub_system",
         "//systems/primitives:constant_vector_source",
         "//systems/rendering:pose_bundle_to_draw_message",
         "@gflags",
@@ -48,7 +48,7 @@ drake_cc_binary(
         "//systems/analysis:simulator",
         "//systems/controllers:linear_quadratic_regulator",
         "//systems/framework:diagram",
-        "//systems/lcm",
+        "//systems/lcm:lcm_pubsub_system",
         "//systems/primitives:affine_system",
         "//systems/rendering:pose_bundle_to_draw_message",
         "@gflags",

examples/multibody/bouncing_ball/BUILD.bazel

@@ -44,7 +44,7 @@ drake_cc_binary(
         "//systems/analysis:semi_explicit_euler_integrator",
         "//systems/analysis:simulator",
         "//systems/framework:diagram",
-        "//systems/lcm",
+        "//systems/lcm:lcm_pubsub_system",
         "//systems/rendering:pose_bundle_to_draw_message",
         "@gflags",
     ],

examples/multibody/inclined_plane/BUILD.bazel

@@ -23,7 +23,7 @@ drake_cc_binary(
         "//multibody/benchmarks/inclined_plane:make_inclined_plane_plant",
         "//systems/analysis:simulator",
         "//systems/framework:diagram",
-        "//systems/lcm",
+        "//systems/lcm:lcm_pubsub_system",
         "//systems/rendering:pose_bundle_to_draw_message",
         "@gflags",
     ],

examples/multibody/pendulum/BUILD.bazel

@@ -22,7 +22,7 @@ drake_cc_binary(
         "//systems/analysis:semi_explicit_euler_integrator",
         "//systems/analysis:simulator",
         "//systems/framework:diagram",
-        "//systems/lcm",
+        "//systems/lcm:lcm_pubsub_system",
         "//systems/primitives:constant_vector_source",
         "//systems/rendering:pose_bundle_to_draw_message",
         "@gflags",

examples/rod2d/BUILD.bazel

@@ -32,7 +32,7 @@ drake_cc_binary(
         "//lcmtypes:viewer",
         "//systems/analysis",
         "//systems/framework",
-        "//systems/lcm",
+        "//systems/lcm:lcm_pubsub_system",
         "//systems/rendering:drake_visualizer_client",
         "//systems/rendering:pose_aggregator",
         "//systems/rendering:pose_bundle_to_draw_message",

examples/schunk_wsg/BUILD.bazel

@@ -40,7 +40,7 @@ drake_cc_binary(
         "//multibody/rigid_body_plant:drake_visualizer",
         "//systems/analysis:simulator",
         "//systems/framework",
-        "//systems/lcm",
+        "//systems/lcm:lcm_pubsub_system",
         "@gflags",
     ],
 )

examples/valkyrie/BUILD.bazel

@@ -73,7 +73,7 @@ drake_cc_binary(
         "//multibody/parsers",
         "//systems/framework:diagram",
         "//systems/framework:leaf_system",
-        "//systems/lcm",
+        "//systems/lcm:lcm_pubsub_system",
         "//util",
         "@lcmtypes_bot2_core",
     ],
@@ -110,7 +110,7 @@ drake_cc_library(
         "//multibody/rigid_body_plant:drake_visualizer",
         "//systems/analysis",
         "//systems/framework",
-        "//systems/lcm",
+        "//systems/lcm:lcm_pubsub_system",
         "//systems/lcm:lcmt_drake_signal_translator",
         "//systems/primitives:constant_vector_source",
         "//systems/primitives:pass_through",

lcm/BUILD.bazel

@@ -1,11 +1,27 @@
 # -*- python -*-
 
-load("//tools:drake.bzl", "drake_cc_googletest", "drake_cc_library")
+load(
+    "@drake//tools/skylark:drake_cc.bzl",
+    "drake_cc_googletest",
+    "drake_cc_library",
+    "drake_cc_package_library",
+)
 load("//tools/skylark:drake_py.bzl", "drake_py_test")
 load("//tools/lint:lint.bzl", "add_lint_tests")
 
 package(default_visibility = ["//visibility:public"])
 
+drake_cc_package_library(
+    name = "lcm",
+    deps = [
+        ":interface",
+        ":lcm_log",
+        ":mock",
+        ":real",
+        ":translator_base",
+    ],
+)
+
 drake_cc_library(
     name = "interface",
     hdrs = [
@@ -27,7 +43,7 @@ drake_cc_library(
 )
 
 drake_cc_library(
-    name = "lcm",
+    name = "real",
     srcs = [
         "drake_lcm.cc",
         "lcm_receive_thread.cc",
@@ -96,8 +112,8 @@ drake_cc_googletest(
     # Flaky because LCM self-test can fail (PR #7311)
     flaky = 1,
     deps = [
-        ":lcm",
         ":lcmt_drake_signal_utils",
+        ":real",
     ],
 )
 
@@ -131,8 +147,4 @@ drake_py_test(
     deps = ["@lcm//:lcm-python"],
 )
 
-add_lint_tests(
-    # We need to more seriously refactor and deprecate some names here before
-    # we can start following package_library conventions.
-    enable_library_lint = False,
-)
+add_lint_tests()

multibody/rigid_body_plant/BUILD.bazel

@@ -130,7 +130,7 @@ drake_cc_library(
         "//common/trajectories:piecewise_polynomial",
         "//lcmtypes:viewer",
         "//multibody:rigid_body_tree",
-        "//systems/lcm",
+        "//systems/lcm:lcm_pubsub_system",
         "//systems/primitives:signal_log",
         "//systems/rendering:drake_visualizer_client",
     ],
@@ -143,7 +143,7 @@ drake_cc_library(
     deps = [
         "//lcmtypes:viewer",
         "//multibody:rigid_body_tree",
-        "//systems/lcm",
+        "//systems/lcm:lcm_pubsub_system",
     ],
 )
 

systems/lcm/BUILD.bazel

@@ -1,10 +1,27 @@
 # -*- python -*-
 
-load("//tools:drake.bzl", "drake_cc_googletest", "drake_cc_library")
+load(
+    "@drake//tools/skylark:drake_cc.bzl",
+    "drake_cc_googletest",
+    "drake_cc_library",
+    "drake_cc_package_library",
+)
 load("//tools/lint:lint.bzl", "add_lint_tests")
 
 package(default_visibility = ["//visibility:public"])
 
+drake_cc_package_library(
+    name = "lcm",
+    deps = [
+        ":lcm_driven_loop",
+        ":lcm_log_playback_system",
+        ":lcm_pubsub_system",
+        ":lcmt_drake_signal_translator",
+        ":translator",
+        ":translator_system",
+    ],
+)
+
 drake_cc_library(
     name = "translator",
     srcs = [
@@ -33,7 +50,7 @@ drake_cc_library(
 )
 
 drake_cc_library(
-    name = "lcm",
+    name = "lcm_pubsub_system",
     srcs = [
         "lcm_publisher_system.cc",
         "lcm_subscriber_system.cc",
@@ -60,7 +77,7 @@ drake_cc_library(
         "lcm_log_playback_system.h",
     ],
     deps = [
-        ":lcm",
+        ":lcm_pubsub_system",
         "//lcm:lcm_log",
         "//systems/framework",
     ],
@@ -75,7 +92,7 @@ drake_cc_library(
         "lcm_driven_loop.h",
     ],
     deps = [
-        ":lcm",
+        ":lcm_pubsub_system",
         "//lcm",
         "//systems/analysis",
     ],
@@ -115,7 +132,7 @@ drake_cc_googletest(
 drake_cc_googletest(
     name = "lcm_publisher_system_test",
     deps = [
-        ":lcm",
+        ":lcm_pubsub_system",
         ":lcmt_drake_signal_translator",
         "//lcm:lcmt_drake_signal_utils",
         "//lcm:mock",
@@ -135,7 +152,7 @@ drake_cc_googletest(
 drake_cc_googletest(
     name = "lcm_subscriber_system_test",
     deps = [
-        ":lcm",
+        ":lcm_pubsub_system",
         ":lcmt_drake_signal_translator",
         "//lcm:lcmt_drake_signal_utils",
         "//lcm:mock",
@@ -156,7 +173,7 @@ drake_cc_googletest(
 drake_cc_googletest(
     name = "serializer_test",
     deps = [
-        ":lcm",
+        ":lcm_pubsub_system",
         ":lcmt_drake_signal_translator",
         "//lcm:lcmt_drake_signal_utils",
         "//lcm:mock",
@@ -171,8 +188,4 @@ drake_cc_googletest(
     ],
 )
 
-add_lint_tests(
-    # We need to more seriously refactor and deprecate some names here before
-    # we can start following package_library conventions.
-    enable_library_lint = False,
-)
+add_lint_tests()

systems/sensors/BUILD.bazel

@@ -256,7 +256,7 @@ drake_cc_binary(
         "//multibody/rigid_body_plant",
         "//multibody/rigid_body_plant:drake_visualizer",
         "//systems/analysis:simulator",
-        "//systems/lcm",
+        "//systems/lcm:lcm_pubsub_system",
         "//systems/rendering:pose_stamped_t_pose_vector_translator",
         "@gflags",
     ],

tools/install/libdrake/build_components.bzl

@@ -115,6 +115,7 @@ LIBDRAKE_COMPONENTS = [
     "//lcm:lcm",
     "//lcm:lcm_log",
     "//lcm:mock",
+    "//lcm:real",
     "//lcm:translator_base",
     "//manipulation/perception:optitrack_pose_extractor",
     "//manipulation/perception:perception",
@@ -332,6 +333,7 @@ LIBDRAKE_COMPONENTS = [
     "//systems/lcm:lcm",
     "//systems/lcm:lcm_driven_loop",
     "//systems/lcm:lcm_log_playback_system",
+    "//systems/lcm:lcm_pubsub_system",
     "//systems/lcm:lcmt_drake_signal_translator",
     "//systems/lcm:translator",
     "//systems/lcm:translator_system",
@@ -394,6 +396,5 @@ LIBDRAKE_COMPONENTS = [
     "//systems/trajectory_optimization:multiple_shooting",
     "//systems/trajectory_optimization:position_constraint_force_evaluator",
     "//systems/trajectory_optimization:trajectory_optimization",
-    "//util:lcm_util",
     "//util:util",
 ]

util/BUILD.bazel

@@ -34,20 +34,6 @@ drake_cc_library(
     ],
 )
 
-# TODO(jwnimmer-tri) Remove this forwarding header sometime after 2018-05-01.
-drake_cc_library(
-    name = "lcm_util",
-    hdrs = ["lcmUtil.h"],
-    tags = [
-        # Don't add this library into the ":util" package library, since its a
-        # deprecated forwarding convenience and should not be used in batch.
-        "exclude_from_package",
-    ],
-    deps = [
-        "//manipulation/util:bot_core_lcm_encode_decode",
-    ],
-)
-
 # === test/ ===
 
 drake_cc_googletest(