Merge develop into master for 2023 version

.github/workflows/libcontroller_updater.yml

@@ -1,18 +1,16 @@
-name: Libcontroller Submodule Updater
+name: Libcontroller Updater
 
 on:
   schedule:
     - cron:  '0 04 * * *'
 
 jobs:
-  automatic-submodule-sync:
+  automatic-libcontroller-sync:
     strategy:
       matrix:
         include:
-          - submodule_target_branch: R2022b-revision-1
-            webots_ros2_branch: master
-          - submodule_target_branch: R2023a
-            webots_ros2_branch: develop
+          - webots_ros2_branch: master
+          - webots_ros2_branch: develop
     runs-on: ubuntu-latest
     steps:
       - name: Checkout branch
@@ -21,12 +19,8 @@ jobs:
           submodules: "true"
           fetch-depth: 0
           ref: ${{ matrix.webots_ros2_branch }}
-      - name: Update Submodule And Define Unique Branch Name
-        run: |
-          cd webots_ros2_driver/webots
-          git checkout ${{ matrix.submodule_target_branch }} && git pull origin ${{ matrix.submodule_target_branch }}
-          echo "BRANCH_NAME=sync-${{ matrix.webots_ros2_branch }}-$(git rev-parse --short HEAD)" >> $GITHUB_ENV
-          cd ../..
+      - name: Copy Webots libController files
+        run: scripts/sync_controller_lib.sh ${{ matrix.webots_ros2_branch }}
       - name: Create commit if necessary
         id: create-commit
         run: |
@@ -50,6 +44,6 @@ jobs:
           github_token: ${{ secrets.GITHUB_TOKEN }}
           source_branch: ${{ env.BRANCH_NAME }}
           destination_branch: ${{ matrix.webots_ros2_branch }}
-          pr_title: Sync libcontroller ${{ matrix.submodule_target_branch }}
-          pr_body: Synchronizes libcontroller to the latest commit of branch ${{ matrix.submodule_target_branch }}.
+          pr_title: Sync libcontroller ${{ matrix.webots_ros2_branch }}
+          pr_body: Synchronizes libcontroller to the latest commit of branch ${{ matrix.webots_ros2_branch }}.
           pr_reviewer: Maintainers

.gitmodules

@@ -1,6 +1,3 @@
 [submodule "webots_ros2_importer/webots_ros2_importer/urdf2webots"]
 	path = webots_ros2_importer/webots_ros2_importer/urdf2webots
 	url = https://github.com/cyberbotics/urdf2webots.git
-[submodule "webots_ros2_driver/webots"]
-	path = webots_ros2_driver/webots
-	url = https://github.com/cyberbotics/webots-libcontroller.git

README.md

@@ -8,7 +8,7 @@
 `webots_ros2` is a package that provides the necessary interfaces to simulate a robot in the [Webots](https://cyberbotics.com/) open-source 3D robots simulator.
 It integrates with ROS2 using ROS2 messages, services and actions.
 
-![Webots](docs/cover.png)
+![Webots](images/cover.png)
 
 Please visit the [documentation](https://github.com/cyberbotics/webots_ros2/wiki) that contains the following sections:
 - [Getting Started](https://github.com/cyberbotics/webots_ros2/wiki/Getting-Started)
@@ -25,13 +25,13 @@ Please visit the [documentation](https://github.com/cyberbotics/webots_ros2/wiki
        alt="rosin_logo" height="60" >
 </a></br>
 
-Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components.  
+Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components.
 More information: <a href="http://rosin-project.eu">rosin-project.eu</a>
 
 <img src="http://rosin-project.eu/wp-content/uploads/rosin_eu_flag.jpg"
-     alt="eu_flag" height="45" align="left" >  
+     alt="eu_flag" height="45" align="left" >
 
-This project has received funding from the European Union’s Horizon 2020  
+This project has received funding from the European Union’s Horizon 2020
 research and innovation programme under grant agreement no. 732287.
 
 <br>
@@ -41,11 +41,11 @@ research and innovation programme under grant agreement no. 732287.
        alt="opendr_logo" height="60" >
 </a></br>
 
-Supported by OpenDR - Open Deep Learning Toolkit for Robotics.  
+Supported by OpenDR - Open Deep Learning Toolkit for Robotics.
 More information: <a href="https://opendr.eu/">opendr.eu</a>
 
 <img src="https://opendr.csd.auth.gr/wp-content/uploads/2019/12/Flag_of_Europe-300x200.png"
-     alt="eu_flag" height="45" align="left" >  
+     alt="eu_flag" height="45" align="left" >
 
-This project has received funding from the European Union’s Horizon 2020  
+This project has received funding from the European Union’s Horizon 2020
 research and innovation programme under grant agreement no. 871449.

scripts/sync_controller_lib.sh

@@ -0,0 +1,59 @@
+#!/bin/bash -
+
+BRANCH=$1
+
+# ROS2_HOME has to be specified
+if [ -z "${ROS2_HOME}" ]; then
+    ROS2_HOME=$(pwd)/webots_ros2_driver/webots
+fi
+
+# Get the webots repo
+rm -rf /tmp/webots || true
+if [ ! -z "${GITHUB_ACTOR}" ]; then
+    git config --global user.name ${GITHUB_ACTOR}
+    git config --global user.email ${GITHUB_ACTOR}@github.com
+fi
+git clone --recurse-submodules -b ${BRANCH} https://github.com/cyberbotics/webots.git /tmp/webots
+if [ ! -d /tmp/webots ]; then
+    echo 'The repository is not properly cloned'
+    exit 1
+fi
+cd /tmp/webots
+WEBOTS_HOME=/tmp/webots
+LAST_COMMIT=$(git log -1 --pretty=format:"%H")
+echo "BRANCH_NAME=sync-${BRANCH}-${LAST_COMMIT}" >> $GITHUB_ENV
+
+# Copy headers and source code
+cd ${ROS2_HOME}
+rm -rf include
+mkdir -p include/controller
+mkdir -p include/plugins
+cp -r ${WEBOTS_HOME}/include/controller/* include/controller
+cp -r ${WEBOTS_HOME}/include/plugins/* include/plugins
+cp ${WEBOTS_HOME}/include/controller/c/webots/plugins/robot_window/{robot_window.h,robot_wwi.h} include
+
+rm -rf lib
+mkdir -p lib/controller/python
+cp ${WEBOTS_HOME}/lib/controller/.gitignore lib/controller
+cp -r ${WEBOTS_HOME}/lib/controller/python/* lib/controller/python
+
+rm -rf projects
+mkdir -p projects/default/libraries/vehicle/c
+mkdir -p projects/default/libraries/vehicle/cpp
+mkdir -p projects/default/libraries/vehicle/java
+cp -r ${WEBOTS_HOME}/projects/default/libraries/vehicle/c/* projects/default/libraries/vehicle/c
+cp -r ${WEBOTS_HOME}/projects/default/libraries/vehicle/cpp/* projects/default/libraries/vehicle/cpp
+cp -r ${WEBOTS_HOME}/projects/default/libraries/vehicle/java/* projects/default/libraries/vehicle/java
+cp ${WEBOTS_HOME}/projects/default/libraries/vehicle/Makefile projects/default/libraries/vehicle
+
+rm -rf resources
+mkdir -p resources/projects/libraries/generic_robot_window
+cp -r ${WEBOTS_HOME}/resources/projects/libraries/generic_robot_window/* resources/projects/libraries/generic_robot_window
+cp ${WEBOTS_HOME}/resources/Makefile.include resources
+cp ${WEBOTS_HOME}/resources/Makefile.os.include resources
+
+rm -rf src
+mkdir -p src/controller
+mkdir -p src/stb
+cp -r ${WEBOTS_HOME}/src/controller/* src/controller
+cp -r ${WEBOTS_HOME}/src/stb/* src/stb