Fix Webots R2025a compability (#1022)

* Prepare for Webots R2025a

* version

* fix rosbot

* fix container

* mesa

* fix

* revert

* add deps

* fix crazyflie deps

* version increase

docker/Dockerfile

@@ -8,7 +8,7 @@ ARG DOCKERUSER=
 ARG DOCKERUSERCOMMENT=
 ARG ROS_DISTRO=jazzy
 ARG ROS_TESTING=0
-ARG WEBOTS_VERSION=2023b
+ARG WEBOTS_VERSION=2025a
 
 RUN if [ "${ROS_DISTRO}" != "humble" ]; then userdel -r ubuntu; fi
 RUN useradd -d /${DOCKERUSER} -m \
@@ -19,8 +19,9 @@ RUN useradd -d /${DOCKERUSER} -m \
     usermod -a -G video ${DOCKERUSER} && \
     usermod -a -G dialout ${DOCKERUSER}
 
-RUN apt update && apt install -y wget && \
-    wget https://github.com/cyberbotics/webots/releases/download/R${WEBOTS_VERSION}/webots_${WEBOTS_VERSION}_amd64.deb -O /tmp/webots.deb && \
+RUN echo $WEBOTS_VERSION | grep -q "nigthly" && export WEBOTS_URL="https://github.com/cyberbotics/webots/releases/download/R${WEBOTS_VERSION}/webots_${WEBOTS_VERSION}_amd64.deb" || export WEBOTS_URL="https://github.com/cyberbotics/webots/releases/download/${WEBOTS_VERSION}_amd64.deb" && \
+    apt update && apt install -y wget && \
+    wget ${WEBOTS_URL} -O /tmp/webots.deb && \
     apt install -y /tmp/webots.deb && \
     rm /tmp/webots.deb
 
@@ -29,27 +30,18 @@ RUN [ "$ROS_TESTING" -eq "1" ] && echo "deb [ signed-by=/usr/share/keyrings/ros2
 RUN apt-get update && apt-get install -y \
     ros-${ROS_DISTRO}-vision-msgs \
     ros-${ROS_DISTRO}-xacro \
-    ros-${ROS_DISTRO}-backward-ros \
-    ros-${ROS_DISTRO}-control-msgs \
-    ros-${ROS_DISTRO}-ackermann-msgs \
-    ros-${ROS_DISTRO}-realtime-tools \
-    ros-${ROS_DISTRO}-kinematics-interface \
-    ros-${ROS_DISTRO}-kinematics-interface-kdl \
-    ros-${ROS_DISTRO}-control-toolbox \
+    ros-${ROS_DISTRO}-ros2-control \
+    ros-${ROS_DISTRO}-ros2-controllers \
+    ros-${ROS_DISTRO}-robot-localization \
+    ros-${ROS_DISTRO}-laser-filters \
+    ros-${ROS_DISTRO}-tf-transformations \
     gdb \
     git
 
-# Comment for compiled ros2_control
-RUN apt-get update && apt-get install -y \
-    ros-${ROS_DISTRO}-ros2-control \
-    ros-${ROS_DISTRO}-ros2-controllers
-
-# Uncomment for compiled ros2_control
-# RUN git clone --branch=${ROS_DISTRO} https://github.com/ros-controls/ros2_control.git /${DOCKERUSER}/ros2_libs_ws/src/ros2_control && \
-#     git clone --branch=${ROS_DISTRO} https://github.com/ros-controls/ros2_controllers.git /${DOCKERUSER}/ros2_libs_ws/src/ros2_controllers && \
-#     . /opt/ros/humble/setup.sh && \
-#     cd /${DOCKERUSER}/ros2_libs_ws && \
-#     colcon build --symlink-install
+# HOTFIX: https://github.com/ros-controls/ros2_control/pull/1960
+RUN [ "${ROS_DISTRO}" = "humble" ] && wget -O /tmp/hotfix.deb http://snapshots.ros.org/humble/2024-08-28/ubuntu/pool/main/r/ros-humble-hardware-interface/ros-humble-hardware-interface_2.43.0-1jammy.20240823.145349_amd64.deb && \
+    apt install -y --allow-downgrades /tmp/hotfix.deb && \
+    rm -f /tmp/hotfix.deb || true
 
 COPY ./docker/bashrc /tmp/bashrc
 COPY ./docker/webots.conf /${DOCKERUSER}/.config/Cyberbotics/Webots-R${WEBOTS_VERSION}.conf

docker/Makefile

@@ -6,13 +6,13 @@ BASENAME:=webots_ros2
 DOCKERUSERCOMMENT:="Cyberbotics"
 ROS_DISTRO?=jazzy
 ROS_TESTING?=0
-WEBOTS_VERSION?=2023b
+WEBOTS_VERSION?=2025a
 
 build:
 	echo "ROS_TESTING=${ROS_TESTING}"
 	docker build ${ROOT_DIR} \
 		-f ${ROOT_DIR}/docker/Dockerfile \
-		-t ${BASENAME}-image ${DOCKER_ARGS} \
+		-t ${BASENAME} ${DOCKER_ARGS} \
 		--build-arg UID=${UID} \
 		--build-arg DOCKERUSER=${DOCKERUSER} \
 		--build-arg DOCKERUSERCOMMENT=${DOCKERUSERCOMMENT} \
@@ -21,12 +21,12 @@ build:
 		--build-arg ROS_DISTRO=${ROS_DISTRO}
 
 run:
-	@docker container rm -f ${BASENAME}-container
+	@docker container rm -f ${BASENAME}
 	docker run \
 		--net=host \
 		--ipc=host \
 		--cap-add SYS_ADMIN \
-		--name ${BASENAME}-container \
+		--name ${BASENAME} \
 		--privileged \
 		--restart unless-stopped \
 		-e NVIDIA_DRIVER_CAPABILITIES=all ${NVIDIA_GPU} \
@@ -37,8 +37,8 @@ run:
 		-v ${ROOT_DIR}:/${DOCKERUSER}/ros2_ws/src/${BASENAME} \
 		-v /dev:/dev:rw \
 		--entrypoint bash \
-		-d -it ${BASENAME}-image
+		-d -it ${BASENAME}
 
 
 exec:
-	docker exec -it ${BASENAME}-container bash
+	docker exec -it ${BASENAME} bash

docker/README.md

@@ -13,7 +13,12 @@ curl -sSL https://get.docker.com | sh && sudo usermod -aG docker $USER
 
 You need to build & run the container only the first time:
 ```bash
-ROS_DISTRO=jazzy ROS_TESTING=1 WEBOTS_VERSION=2023b make build run exec
+ROS_DISTRO=jazzy ROS_TESTING=0 WEBOTS_VERSION=2025a make build run exec
+```
+
+if you want to test a nightly build:
+```bash
+ROS_DISTRO=jazzy ROS_TESTING=0 WEBOTS_VERSION=nightly_25_12_2024/webots_2025a make build run exec
 ```
 
 After that, you can just attach to the container with:

scripts/ci_after_init.bash

@@ -46,12 +46,11 @@ if [[ "${ROS_DISTRO}" != "rolling" ]]; then
 fi
 
 # Setup Qt plugins for RViz (can be used once RViz does not randomly crash anymore in GitHub CI).
-#export QT_PLUGIN_PATH=/usr/lib/x86_64-linux-gnu/qt5/plugins
+# export QT_PLUGIN_PATH=/usr/lib/x86_64-linux-gnu/qt5/plugins
 
-
-# Fixes:
-#   MESA: error: ZINK: failed to choose pdev
-#   2024-07-27T19:23:20.1063344Z [webots-4] glx: failed to create drisw screen
-if [[ "${ROS_DISTRO}" == "rolling" ]]; then
-    apt-get install -y libqt5quickcontrols2-5 qtquickcontrols2-5-dev
+# HOTFIX: https://github.com/ros-controls/ros2_control/pull/1960
+if [[ "${ROS_DISTRO}" == "humble" ]]; then
+    wget -O /tmp/hotfix.deb http://snapshots.ros.org/humble/2024-08-28/ubuntu/pool/main/r/ros-humble-hardware-interface/ros-humble-hardware-interface_2.43.0-1jammy.20240823.145349_amd64.deb && \
+        apt install -y --allow-downgrades /tmp/hotfix.deb && \
+        rm -f /tmp/hotfix.deb
 fi

scripts/ci_before_init_embed.bash

@@ -2,8 +2,8 @@
 
 ROS_DISTRO=$1
 
-export TEST_WITH_WEBOTS_NIGTHLY=0
-export WEBOTS_RELEASE_VERSION=2024a
+export TEST_WITH_WEBOTS_NIGTHLY=1
+export WEBOTS_RELEASE_VERSION=2025a
 export WEBOTS_OFFSCREEN=1
 export CI=1
 export DEBIAN_FRONTEND=noninteractive

webots_ros2/CHANGELOG.rst

@@ -2,9 +2,10 @@
 Changelog for package webots_ros2
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-2024.0.0 (2024-XX-XX)
+2025.0.0 (2025-XX-XX)
 ------------------
 * Created webots_ros2_husarion package.
+* Created webots_ros2_crazyflie package.
 
 2023.1.3 (2024-08-07)
 ------------------

webots_ros2/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>webots_ros2</name>
-  <version>2023.1.3</version>
+  <version>2025.0.0</version>
   <description>Interface between Webots and ROS2</description>
 
   <maintainer email="[email protected]">Cyberbotics</maintainer>
@@ -24,6 +24,8 @@
   <exec_depend>webots_ros2_tiago</exec_depend>
   <exec_depend>webots_ros2_turtlebot</exec_depend>
   <exec_depend>webots_ros2_universal_robot</exec_depend>
+  <exec_depend>webots_ros2_crazyflie</exec_depend>
+  <exec_depend>webots_ros2_husarion</exec_depend>
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>python3-pytest</test_depend>

webots_ros2/setup.py

@@ -6,7 +6,7 @@
 
 setup(
     name=package_name,
-    version='2023.1.3',
+    version='2025.0.0',
     packages=[package_name],
     data_files=[
         ('share/' + package_name, ['package.xml']),

webots_ros2_control/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>webots_ros2_control</name>
-  <version>2023.1.3</version>
+  <version>2025.0.0</version>
   <description>ros2_control plugin for Webots</description>
   <maintainer email="[email protected]">Cyberbotics</maintainer>
   <url type="website">http://wiki.ros.org/webots_ros2</url>

webots_ros2_crazyflie/package.xml

@@ -2,14 +2,15 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>webots_ros2_crazyflie</name>
-  <version>2023.1.1</version>
+  <version>2025.0.0</version>
   <description>ROS2 package for Crazyflie webots simulator</description>
   <maintainer email="[email protected]">Kimberly McGuire (Bitcraze AB)</maintainer>
   <license>MIT</license>
 
   <exec_depend>rclpy</exec_depend>
   <exec_depend>builtin_interfaces</exec_depend>
   <exec_depend>webots_ros2_driver</exec_depend>
+  <exec_depend>tf_transformations</exec_depend>
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>

webots_ros2_crazyflie/setup.py

@@ -14,7 +14,7 @@
 
 setup(
     name=package_name,
-    version='2023.1.1',
+    version='2025.0.0',
     packages=find_packages(exclude=['test']),
     data_files=data_files,
     install_requires=['setuptools', 'launch'],

webots_ros2_driver/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>webots_ros2_driver</name>
-  <version>2023.1.3</version>
+  <version>2025.0.0</version>
   <description>Implementation of the Webots - ROS 2 interface</description>
   <maintainer email="[email protected]">Cyberbotics</maintainer>
   <license>Apache License 2.0</license>

webots_ros2_driver/webots_ros2_driver/utils.py

@@ -27,7 +27,7 @@
 
 
 # The minimal version should be the last stable release of Webots (both on master and develop branches)
-MINIMUM_VERSION_STR = 'R2023b'
+MINIMUM_VERSION_STR = 'R2025a'
 
 
 @functools.total_ordering

webots_ros2_epuck/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>webots_ros2_epuck</name>
-  <version>2023.1.3</version>
+  <version>2025.0.0</version>
   <description>E-puck2 driver for Webots simulated robot</description>
 
   <maintainer email="[email protected]">Cyberbotics</maintainer>

webots_ros2_epuck/setup.py

@@ -43,7 +43,7 @@
 
 setup(
     name=package_name,
-    version='2023.1.3',
+    version='2025.0.0',
     packages=[package_name],
     data_files=data_files,
     install_requires=['setuptools', 'launch'],

webots_ros2_husarion/launch/rosbot_launch.py

@@ -72,6 +72,7 @@ def get_ros2_nodes(*args):
         ],
         remappings=[
             ('rosbot_base_controller/cmd_vel_unstamped', '/cmd_vel'),
+            ('rosbot_base_controller/cmd_vel', '/cmd_vel'),
             ('rosbot/laser', '/scan'),
             ('rosbot/rl_range', '/range/rl'),
             ('rosbot/rr_range', '/range/rr'),

webots_ros2_husarion/launch/rosbot_xl_launch.py

@@ -70,6 +70,7 @@ def get_ros2_nodes(*args):
         ],
         remappings=[
             ('rosbot_xl_base_controller/cmd_vel_unstamped', '/cmd_vel'),
+            ('rosbot_xl_base_controller/cmd_vel', '/cmd_vel'),
             ('rosbot_xl/laser', '/scan')
         ]
     )

webots_ros2_husarion/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>webots_ros2_husarion</name>
-  <version>2023.0.4</version>
+  <version>2025.0.0</version>
   <description>Husarion ROSbot 2R and XL robots ROS2 interface for Webots.</description>
 
   <author email="[email protected]">Jakub Delicat</author>

webots_ros2_husarion/setup.py

@@ -18,7 +18,7 @@
 
 setup(
     name=package_name,
-    version='2023.0.4',
+    version='2025.0.0',
     packages=[package_name],
     data_files=data_files,
     install_requires=['setuptools'],

webots_ros2_importer/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>webots_ros2_importer</name>
-  <version>2023.1.3</version>
+  <version>2025.0.0</version>
   <description>This package allows to convert URDF and XACRO files into Webots PROTO files.</description>
 
   <maintainer email="[email protected]">Cyberbotics</maintainer>

webots_ros2_importer/setup.py

@@ -10,7 +10,7 @@
 
 setup(
     name=package_name,
-    version='2023.1.3',
+    version='2025.0.0',
     packages=[package_name, package_name + '.urdf2webots.urdf2webots'],
     data_files=data_files,
     install_requires=[

webots_ros2_mavic/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>webots_ros2_mavic</name>
-  <version>2023.1.3</version>
+  <version>2025.0.0</version>
   <description>Mavic 2 Pro robot ROS2 interface for Webots.</description>
 
   <maintainer email="[email protected]">Cyberbotics</maintainer>

webots_ros2_mavic/setup.py

@@ -18,7 +18,7 @@
 
 setup(
     name=package_name,
-    version='2023.1.3',
+    version='2025.0.0',
     packages=[package_name],
     data_files=data_files,
     install_requires=['setuptools', 'launch'],

webots_ros2_msgs/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>webots_ros2_msgs</name>
-  <version>2023.1.3</version>
+  <version>2025.0.0</version>
   <description>Services and Messages of the webots_ros2 packages.</description>
 
   <maintainer email="[email protected]">Cyberbotics</maintainer>

webots_ros2_tesla/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>webots_ros2_tesla</name>
-  <version>2023.1.3</version>
+  <version>2025.0.0</version>
   <description>Tesla ROS2 interface for Webots.</description>
 
   <maintainer email="[email protected]">Cyberbotics</maintainer>

webots_ros2_tesla/setup.py

@@ -18,7 +18,7 @@
 
 setup(
     name=package_name,
-    version='2023.1.3',
+    version='2025.0.0',
     packages=[package_name],
     data_files=data_files,
     install_requires=['setuptools', 'launch'],

webots_ros2_tests/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>webots_ros2_tests</name>
-  <version>2023.1.3</version>
+  <version>2025.0.0</version>
   <description>System tests for `webots_ros2` packages.</description>
 
   <maintainer email="[email protected]">Cyberbotics</maintainer>

webots_ros2_tests/setup.py

@@ -11,7 +11,7 @@
 
 setup(
     name=package_name,
-    version='2023.1.3',
+    version='2025.0.0',
     packages=[package_name],
     data_files=data_files,
     install_requires=['setuptools', 'launch'],