cyberbotics · ad-daniel · Jan 12, 2023 · Oct 28, 2022 · Oct 28, 2022 · Oct 31, 2022
diff --git a/.github/workflows/documentation.yml b/.github/workflows/documentation.yml
diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
@@ -16,7 +16,7 @@ jobs:
       fail-fast: false
       matrix:
         ROS_REPO: [main, testing]
-        ROS_DISTRO: [foxy, galactic, humble, rolling]
+        ROS_DISTRO: [foxy, humble, rolling]
     runs-on: ubuntu-latest
     env:
       AFTER_INIT: ./scripts/ci_after_init.bash ${ROS_DISTRO} ${ROS_REPO}

diff --git a/.github/workflows/test_develop.yml b/.github/workflows/test_develop.yml
@@ -14,7 +14,7 @@ jobs:
       fail-fast: false
       matrix:
         ROS_REPO: [main, testing]
-        ROS_DISTRO: [foxy, galactic, humble, rolling]
+        ROS_DISTRO: [foxy, humble, rolling]
     runs-on: ubuntu-latest
     env:
       AFTER_INIT: ./scripts/ci_after_init.bash ${ROS_DISTRO} ${ROS_REPO}

diff --git a/scripts/ci_after_init.bash b/scripts/ci_after_init.bash
@@ -26,9 +26,8 @@ if [[ $(lsb_release -rs) == "22.04" && ${WEBOTS_RELEASE_VERSION} == "2022a" ]];
   mv /tmp/openssl-1.1/* /usr/local/webots/lib/webots/
 fi
 
-# The following packages are only available in the ROS 2 Foxy/Galactic distributions. Therefore, we cannot include them in the package.xml, but we have to install them manually here.
-
-if [[ "${ROS_DISTRO}" == "foxy" || "${ROS_DISTRO}" == "galactic" ]]; then
+# The following packages are only available in the ROS 2 Foxy distribution. Therefore, we cannot include them in the package.xml, but we have to install them manually here.
+if [[ "${ROS_DISTRO}" == "foxy" ]]; then
     apt install -y ros-${ROS_DISTRO}-turtlebot3-cartographer ros-${ROS_DISTRO}-turtlebot3-navigation2
 fi
 

diff --git a/scripts/sync_controller_lib.sh b/scripts/sync_controller_lib.sh
@@ -44,6 +44,7 @@ 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/java/.gitignore projects/default/libraries/vehicle/java
 cp ${WEBOTS_HOME}/projects/default/libraries/vehicle/Makefile projects/default/libraries/vehicle
 
 rm -rf resources

diff --git a/webots_ros2/CHANGELOG.rst b/webots_ros2/CHANGELOG.rst
@@ -2,16 +2,26 @@
 Changelog for package webots_ros2
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-2023.0.0 (2022-11-29)
+2023.0.2 (2023-XX-XX)
 ------------------
-* Add support for the new Python API of Webots R2023a
+* Drop support for Galactic.
+
+2023.0.1 (2023-01-05)
+------------------
+* Fixed relative assets in WSL.
+* Fixed broken controller connection in Rats life example.
+
+2023.0.0 (2022-11-30)
+------------------
+* Added support for the new Python API of Webots R2023a
 * Convert C++ controller API functions to C
 * Replace libController submodule by commited source files
 * Removed 'webots_ros2_core' package (deprecated).
+* Allow custom motor-encoder pair.
 
 2022.1.4 (2022-11-18)
 ------------------
-* Fix the camera focal length in the CameraInfo topic.
+* Fixed the camera focal length in the CameraInfo topic.
 * Upgraded to urdf2webots 2.0.3
 * Update the calculation of CameraRecognitionObject messages to the RDF convention of R2022b.
 

diff --git a/webots_ros2/package.xml b/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>2022.1.4</version>
+  <version>2023.0.1</version>
   <description>Interface between Webots and ROS2</description>
 
   <maintainer email="[email protected]">Cyberbotics</maintainer>

diff --git a/webots_ros2/setup.py b/webots_ros2/setup.py
@@ -6,7 +6,7 @@
 
 setup(
     name=package_name,
-    version='2022.1.4',
+    version='2023.0.1',
     packages=[package_name],
     data_files=[
         ('share/' + package_name, ['package.xml']),

diff --git a/webots_ros2_control/CHANGELOG.rst b/webots_ros2_control/CHANGELOG.rst
@@ -2,9 +2,10 @@
 Changelog for package webots_ros2_control
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-2023.0.0 (2022-XX-XX)
+2023.0.0 (2022-11-30)
 ------------------
 * Convert C++ controller API functions to C
+* Allow custom motor-encoder pair.
 
 1.2.3 (2022-05-30)
 ------------------

diff --git a/webots_ros2_control/CMakeLists.txt b/webots_ros2_control/CMakeLists.txt
@@ -4,8 +4,6 @@ project(webots_ros2_control)
 # Check which ROS distribution is used, ros2control depends of that
 if($ENV{ROS_DISTRO} MATCHES "foxy")
   add_compile_definitions(FOXY)
-elseif($ENV{ROS_DISTRO} MATCHES "galactic")
-  add_compile_definitions(GALACTIC)
 elseif($ENV{ROS_DISTRO} MATCHES "humble")
   add_compile_definitions(HUMBLE)
 elseif($ENV{ROS_DISTRO} MATCHES "rolling")
@@ -35,6 +33,9 @@ find_package(rclcpp REQUIRED)
 find_package(rclcpp_lifecycle REQUIRED)
 find_package(webots_ros2_driver REQUIRED)
 
+add_compile_definitions(HARDWARE_INTERFACE_VERSION_MAJOR=${hardware_interface_VERSION_MAJOR})
+add_compile_definitions(HARDWARE_INTERFACE_VERSION_MINOR=${hardware_interface_VERSION_MINOR})
+
 if (MSVC OR MSYS OR MINGW OR WIN32)
   set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
 endif()

diff --git a/webots_ros2_control/include/webots_ros2_control/Ros2ControlSystem.hpp b/webots_ros2_control/include/webots_ros2_control/Ros2ControlSystem.hpp
@@ -70,7 +70,7 @@ namespace webots_ros2_control
 
     std::vector<hardware_interface::StateInterface> export_state_interfaces() override;
     std::vector<hardware_interface::CommandInterface> export_command_interfaces() override;
-#if FOXY || GALACTIC
+#if FOXY
     hardware_interface::return_type read() override;
     hardware_interface::return_type write() override;
 #else  // HUMBLE, ROLLING

diff --git a/webots_ros2_control/package.xml b/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>2022.1.4</version>
+  <version>2023.0.1</version>
   <description>ros2_control plugin for Webots</description>
   <maintainer email="[email protected]">Cyberbotics</maintainer>
   <url type="website">http://wiki.ros.org/webots_ros2</url>

diff --git a/webots_ros2_control/src/Ros2Control.cpp b/webots_ros2_control/src/Ros2Control.cpp
@@ -42,7 +42,7 @@ namespace webots_ros2_control
     const rclcpp::Duration dt = rclcpp::Duration::from_seconds(mControlPeriodMs / 1000.0);
     if (periodMs >= mControlPeriodMs)
     {
-#if FOXY || GALACTIC
+#if FOXY
       mControllerManager->read();
 #else
       mControllerManager->read(mNode->get_clock()->now(), dt);
@@ -55,7 +55,7 @@ namespace webots_ros2_control
       mLastControlUpdateMs = nowMs;
 #endif
 
-#if FOXY || GALACTIC
+#if FOXY
     mControllerManager->write();
 #else // HUMBLE, ROLLING
     mControllerManager->write(mNode->get_clock()->now(), dt);
@@ -95,9 +95,17 @@ namespace webots_ros2_control
     }
     for (unsigned int i = 0; i < controlHardware.size(); i++)
     {
+
+// Necessary hotfix for renamed variables present in "hardware_interface" package for versions above 3.5 (#590)
+#if HARDWARE_INTERFACE_VERSION_MAJOR >= 3 && HARDWARE_INTERFACE_VERSION_MINOR >= 5
+      const std::string pluginName = controlHardware[i].hardware_plugin_name;
+      auto webotsSystem = std::unique_ptr<webots_ros2_control::Ros2ControlSystemInterface>(
+          mHardwareLoader->createUnmanagedInstance(pluginName));
+#else
       const std::string hardwareType = controlHardware[i].hardware_class_type;
       auto webotsSystem = std::unique_ptr<webots_ros2_control::Ros2ControlSystemInterface>(
           mHardwareLoader->createUnmanagedInstance(hardwareType));
+#endif
       webotsSystem->init(mNode, controlHardware[i]);
 #if FOXY
       resourceManager->import_component(std::move(webotsSystem));

diff --git a/webots_ros2_control/src/Ros2ControlSystem.cpp b/webots_ros2_control/src/Ros2ControlSystem.cpp
@@ -40,7 +40,12 @@ namespace webots_ros2_control
       WbDeviceTag device = wb_robot_get_device(joint.name.c_str());
       WbNodeType type = wb_device_get_node_type(device);
       joint.motor = (type == WB_NODE_LINEAR_MOTOR || type == WB_NODE_ROTATIONAL_MOTOR) ? device : wb_position_sensor_get_motor(device);
+      device = (component.parameters.count("sensor") == 0) ?
+        wb_robot_get_device(joint.name.c_str()) :
+        wb_robot_get_device(component.parameters.at("sensor").c_str());
+      type = wb_device_get_node_type(device);
       joint.sensor = (type == WB_NODE_POSITION_SENSOR) ? device : wb_motor_get_position_sensor(device);
+
       if (joint.sensor)
         wb_position_sensor_enable(joint.sensor, wb_robot_get_basic_time_step());
       if (!joint.sensor && !joint.motor)
@@ -153,7 +158,7 @@ namespace webots_ros2_control
   }
 #endif
 
-#if FOXY || GALACTIC
+#if FOXY
   hardware_interface::return_type Ros2ControlSystem::read()
 #else  // HUMBLE, ROLLING
   hardware_interface::return_type Ros2ControlSystem::read(const rclcpp::Time &/*time*/, const rclcpp::Duration &/*period*/)
@@ -180,7 +185,7 @@ namespace webots_ros2_control
     return hardware_interface::return_type::OK;
   }
 
-#if FOXY || GALACTIC
+#if FOXY
   hardware_interface::return_type Ros2ControlSystem::write()
 #else  // HUMBLE, ROLLING
   hardware_interface::return_type Ros2ControlSystem::write(const rclcpp::Time &/*time*/, const rclcpp::Duration &/*period*/)

diff --git a/webots_ros2_driver/CHANGELOG.rst b/webots_ros2_driver/CHANGELOG.rst
@@ -2,7 +2,11 @@
 Changelog for package webots_ros2_driver
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-2023.0.0 (2022-11-29)
+2023.0.1 (2023-01-05)
+------------------
+* Fix relative assets in WSL.
+
+2023.0.0 (2022-11-30)
 ------------------
 * Add support for the new Python API of Webots R2023a
 * Convert C++ controller API functions to C

diff --git a/webots_ros2_driver/CMakeLists.txt b/webots_ros2_driver/CMakeLists.txt
@@ -6,18 +6,13 @@ if($ENV{ROS_DISTRO} MATCHES "foxy")
   add_compile_definitions(FOXY)
 endif()
 
-if($ENV{ROS_DISTRO} MATCHES "galactic")
-  add_compile_definitions(GALACTIC)
-endif()
-
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_BUILD_WITH_INSTALL_RPATH ON)
 
 # Check which ROS distribution is used, vision_msgs depends of that
 if($ENV{ROS_DISTRO} MATCHES "foxy")
   add_compile_definitions(FOXY)
-elseif($ENV{ROS_DISTRO} MATCHES "galactic")
-  add_compile_definitions(GALACTIC)
 elseif($ENV{ROS_DISTRO} MATCHES "humble")
   add_compile_definitions(HUMBLE)
 elseif($ENV{ROS_DISTRO} MATCHES "rolling")
@@ -39,7 +34,7 @@ find_package(webots_ros2_msgs REQUIRED)
 find_package(tinyxml2_vendor REQUIRED)
 find_package(TinyXML2 REQUIRED)
 
-if($ENV{ROS_DISTRO} MATCHES "foxy" OR $ENV{ROS_DISTRO} MATCHES "galactic")
+if($ENV{ROS_DISTRO} MATCHES "foxy")
   find_package(PythonLibs 3.8 EXACT REQUIRED)
 else()
   find_package(PythonLibs 3.10 EXACT REQUIRED)
@@ -85,6 +80,8 @@ ament_python_install_package(vehicle
 ament_python_install_package(${PROJECT_NAME}
   PACKAGE_DIR ${PROJECT_NAME})
 
+# Driver
+set(CMAKE_INSTALL_RPATH "$ORIGIN/../controller")
 add_executable(driver
   src/Driver.cpp
   src/WebotsNode.cpp
@@ -100,8 +97,6 @@ add_executable(driver
   src/utils/Math.cpp
   src/utils/Utils.cpp
 )
-
-# Driver
 ament_target_dependencies(driver
   rosgraph_msgs
   rclcpp
@@ -131,6 +126,7 @@ install(TARGETS driver
 )
 
 # Dynamic IMU
+set(CMAKE_INSTALL_RPATH "$ORIGIN/controller")
 add_library(
   ${PROJECT_NAME}_imu
   SHARED
@@ -179,18 +175,6 @@ install(
   PATTERN "*CppDriver*"
 )
 
-# Create symlinks of libController
-macro(lib_symlink filename)
-  install(CODE "execute_process(COMMAND ln -sf ${CMAKE_INSTALL_PREFIX}/lib/controller/${filename} ${CMAKE_INSTALL_PREFIX}/lib/${filename})")
-endmacro(lib_symlink)
-
-lib_symlink(libController.so)
-lib_symlink(libcar.so)
-lib_symlink(libCppCar.so)
-lib_symlink(libCppController.so)
-lib_symlink(libCppDriver.so)
-lib_symlink(libdriver.so)
-
 # Prevent pluginlib from using boost
 target_compile_definitions(driver PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
 target_compile_definitions(${PROJECT_NAME}_imu PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
@@ -208,6 +192,15 @@ install(
 )
 
 # Ament export
+set(WEBOTS_LIB_PATH
+  controller/${CMAKE_SHARED_LIBRARY_PREFIX}Controller${CMAKE_SHARED_LIBRARY_SUFFIX}
+  controller/${CMAKE_SHARED_LIBRARY_PREFIX}CppController${CMAKE_SHARED_LIBRARY_SUFFIX}
+  controller/${CMAKE_SHARED_LIBRARY_PREFIX}driver${CMAKE_SHARED_LIBRARY_SUFFIX}
+  controller/${CMAKE_SHARED_LIBRARY_PREFIX}CppDriver${CMAKE_SHARED_LIBRARY_SUFFIX}
+  controller/${CMAKE_SHARED_LIBRARY_PREFIX}car${CMAKE_SHARED_LIBRARY_SUFFIX}
+  controller/${CMAKE_SHARED_LIBRARY_PREFIX}CppCar${CMAKE_SHARED_LIBRARY_SUFFIX}
+)
+
 ament_export_include_directories(
   include
   include/webots/c
@@ -227,6 +220,6 @@ ament_export_dependencies(
 )
 ament_export_libraries(
   ${PROJECT_NAME}_imu
-  ${WEBOTS_LIB}
+  ${WEBOTS_LIB_PATH}
 )
 ament_package()
diff --git a/webots_ros2_driver/include/webots_ros2_driver/plugins/static/Ros2Camera.hpp b/webots_ros2_driver/include/webots_ros2_driver/plugins/static/Ros2Camera.hpp
@@ -22,7 +22,12 @@
 #include <geometry_msgs/msg/quaternion.hpp>
 #include <geometry_msgs/msg/point.hpp>
 #include <geometry_msgs/msg/transform_stamped.hpp>
+#if defined (HUMBLE) || defined (ROLLING)
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
+#else
+// Deprecated in Humble and Rolling
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#endif
 #include <sensor_msgs/image_encodings.hpp>
 #include <sensor_msgs/msg/camera_info.hpp>
 #include <sensor_msgs/msg/image.hpp>

diff --git a/webots_ros2_driver/package.xml b/webots_ros2_driver/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>webots_ros2_driver</name>
-  <version>2022.1.4</version>
+  <version>2023.0.1</version>
   <description>Implementation of the Webots - ROS 2 interface</description>
   <maintainer email="[email protected]">Cyberbotics</maintainer>
   <license>Apache License 2.0</license>