Fix CI (develop branch)

docker/Dockerfile

@@ -19,7 +19,7 @@ RUN useradd -d /${DOCKERUSER} -m \
     usermod -a -G video ${DOCKERUSER} && \
     usermod -a -G dialout ${DOCKERUSER}
 
-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" && \
+RUN echo $WEBOTS_VERSION | grep -q "nightly" && export WEBOTS_URL="https://github.com/cyberbotics/webots/releases/download/${WEBOTS_VERSION}_amd64.deb" || export WEBOTS_URL="https://github.com/cyberbotics/webots/releases/download/R${WEBOTS_VERSION}/webots_${WEBOTS_VERSION}_amd64.deb" && \
     apt update && apt install -y wget && \
     wget ${WEBOTS_URL} -O /tmp/webots.deb && \
     apt install -y /tmp/webots.deb && \
@@ -35,6 +35,7 @@ RUN apt-get update && apt-get install -y \
     ros-${ROS_DISTRO}-robot-localization \
     ros-${ROS_DISTRO}-laser-filters \
     ros-${ROS_DISTRO}-tf-transformations \
+    ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
     gdb \
     git
 

docker/README.md

@@ -25,3 +25,6 @@ After that, you can just attach to the container with:
 ```bash
 make exec
 ```
+
+> [!NOTE]
+> In case you get an error something like `qt.qpa.xcb: could not connect to display :0` then please run `xhost local:root` on the host.

docker/bashrc

@@ -7,3 +7,4 @@ alias teleop='ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -p
 # For debugging
 export WEBOTS_HOME=/usr/local/webots
 export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:/cyberbotics/ros2_ws/src/webots_ros2/webots_ros2_driver/webots/lib/controller
+export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

scripts/ci_after_init.bash

@@ -41,9 +41,7 @@ fi
 
 # TODO: Revert once the https://github.com/ros-planning/navigation2/issues/3033 issue is fixed.
 # Fast-DDS is not working properly with the Nav2 package on Humble and Iron. Using Cyclone DDS instead.
-if [[ "${ROS_DISTRO}" != "rolling" ]]; then
-    apt install -y ros-${ROS_DISTRO}-rmw-cyclonedds-cpp
-fi
+apt install -y ros-${ROS_DISTRO}-rmw-cyclonedds-cpp
 
 # 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

scripts/ci_before_init_embed.bash

@@ -15,6 +15,4 @@ fi
 
 # TODO: Revert once the https://github.com/ros-planning/navigation2/issues/3033 issue is fixed.
 # Fast-DDS is not working properly with the Nav2 package on Humble. Using Cyclone DDS instead.
-if [[ "${ROS_DISTRO}" != "rolling" ]]; then
-    export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
-fi
+export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

webots_ros2_control/src/Ros2Control.cpp

@@ -94,7 +94,12 @@ namespace webots_ros2_control {
       const rclcpp::Duration dt = rclcpp::Duration::from_seconds(mControlPeriodMs / 1000.0);
       mControllerManager->read(mNode->get_clock()->now(), dt);
 
-      mControllerManager->update(mNode->get_clock()->now(), dt);
+      try {
+        mControllerManager->update(mNode->get_clock()->now(), dt);
+      } catch (const std::exception &ex) {
+        RCLCPP_WARN_STREAM(mNode->get_logger(), "Controller manager update failed: " << ex.what());
+      }
+
       mLastControlUpdateMs = nowMs;
 
       mControllerManager->write(mNode->get_clock()->now(), dt);