Merge pull request #1021 from cyberbotics/sync-master-be9c9ce

Merge master into develop

.github/workflows/libcontroller_updater.yml

@@ -1,8 +1,7 @@
 name: Libcontroller Updater
 
 on:
-  schedule:
-    - cron:  '0 04 * * *'
+  workflow_dispatch:
 
 jobs:
   automatic-libcontroller-sync:

.github/workflows/sync_master_to_develop.yml

@@ -1,8 +1,7 @@
 name: Branch synchronizer
 
 on:
-  schedule:
-    - cron:  '0 04 * * *'
+  workflow_dispatch:
 
 jobs:
   sync-develop-with-master:

.github/workflows/test.yml

@@ -32,7 +32,7 @@ jobs:
           ROS_DISTRO: ${{matrix.ROS_DISTRO}}
       - name: Upload Artifact
         if: ${{ failure() }}
-        uses: actions/upload-artifact@v2
+        uses: actions/upload-artifact@v4
         with:
           name: generic_artifacts_${{matrix.ROS_REPO}}_${{matrix.ROS_DISTRO}}
           path: /artifacts

.github/workflows/test_develop.yml

@@ -31,7 +31,7 @@ jobs:
           ROS_DISTRO: ${{matrix.ROS_DISTRO}}
       - name: Upload Artifact
         if: ${{ failure() }}
-        uses: actions/upload-artifact@v2
+        uses: actions/upload-artifact@v4
         with:
           name: generic_artifacts_develop_${{matrix.ROS_REPO}}_${{matrix.ROS_DISTRO}}
           path: /artifacts

docker/Dockerfile

@@ -10,8 +10,8 @@ ARG ROS_DISTRO=jazzy
 ARG ROS_TESTING=0
 ARG WEBOTS_VERSION=2023b
 
-RUN userdel -r ubuntu && \
-    useradd -d /${DOCKERUSER} -m \
+RUN if [ "${ROS_DISTRO}" != "humble" ]; then userdel -r ubuntu; fi
+RUN useradd -d /${DOCKERUSER} -m \
             -u ${UID} -U \
             -s /usr/bin/bash \
             -c "${DOCKERUSERCOMMENT}" ${DOCKERUSER} && \
@@ -28,10 +28,28 @@ RUN [ "$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}-ros2-control \
-    ros-${ROS_DISTRO}-ros2-controllers \
     ros-${ROS_DISTRO}-xacro \
-    gdb
+    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-${ROS_DISTRO}-control-toolbox \
+    gdb \
+    git
+
+# Comment for compiled ros2_control
+RUN apt-get update && apt-get install -y \
+    ros-${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
 
 COPY ./docker/bashrc /tmp/bashrc
 COPY ./docker/webots.conf /${DOCKERUSER}/.config/Cyberbotics/Webots-R${WEBOTS_VERSION}.conf

docker/bashrc

@@ -1,4 +1,5 @@
 source /opt/ros/${ROS_DISTRO}/setup.bash
+source ~/ros2_libs_ws/install/local_setup.bash
 source ~/ros2_ws/install/local_setup.bash
 alias cb='colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Debug'
 alias teleop='ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -p stamped:=true'

webots_ros2/CHANGELOG.rst

@@ -6,7 +6,7 @@ Changelog for package webots_ros2
 ------------------
 * Created webots_ros2_husarion package.
 
-2023.1.3 (2024-XX-XX)
+2023.1.3 (2024-08-07)
 ------------------
 * Added support for ROS 2 Jazzy.
 * Make webots_ros2_driver scripts executable.

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>2023.1.2</version>
+  <version>2023.1.3</version>
   <description>Interface between Webots and ROS2</description>
 
   <maintainer email="[email protected]">Cyberbotics</maintainer>

webots_ros2/setup.py

@@ -6,7 +6,7 @@
 
 setup(
     name=package_name,
-    version='2023.1.2',
+    version='2023.1.3',
     packages=[package_name],
     data_files=[
         ('share/' + package_name, ['package.xml']),

webots_ros2_control/CHANGELOG.rst

@@ -2,7 +2,7 @@
 Changelog for package webots_ros2_control
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-2023.1.3 (2024-XX-XX)
+2023.1.3 (2024-08-07)
 ------------------
 * Added support for the new `ros2_control` API affecting resource_manager and controller_manager.
 

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>2023.1.2</version>
+  <version>2023.1.3</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_control/src/Ros2Control.cpp

@@ -152,7 +152,11 @@ namespace webots_ros2_control {
 
     // Controller Manager
     mExecutor = std::make_shared<rclcpp::executors::MultiThreadedExecutor>();
-    mControllerManager.reset(new controller_manager::ControllerManager(std::move(resourceManager), mExecutor));
+
+    rclcpp::NodeOptions options = controller_manager::get_cm_node_options();
+    options.arguments(node->get_node_options().arguments());
+    mControllerManager.reset(new controller_manager::ControllerManager(std::move(resourceManager), mExecutor,
+                                                                       "controller_manager", node->get_namespace(), options));
 
     // Update rate
     const int updateRate = mControllerManager->get_parameter("update_rate").as_int();

webots_ros2_driver/CHANGELOG.rst

@@ -2,7 +2,7 @@
 Changelog for package webots_ros2_driver
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-2023.1.3 (2024-XX-XX)
+2023.1.3 (2024-08-07)
 ------------------
 * Make webots_ros2_driver scripts executable.
 * Fixed the produced URDF to also contain joint limits necessary for ros2_control.

webots_ros2_driver/include/webots_ros2_driver/WebotsNode.hpp

@@ -35,7 +35,7 @@ namespace webots_ros2_driver {
 
   class WebotsNode : public rclcpp::Node {
   public:
-    WebotsNode(std::string name);
+    WebotsNode(std::string name, rclcpp::NodeOptions &options);
     void init();
     int step();
     std::string urdf() const { return mRobotDescription; };

webots_ros2_driver/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>webots_ros2_driver</name>
-  <version>2023.1.2</version>
+  <version>2023.1.3</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/src/Driver.cpp

@@ -40,7 +40,10 @@ int main(int argc, char **argv) {
   for (char notAllowedChar : " -.)(")
     std::replace(robotName.begin(), robotName.end(), notAllowedChar, '_');
 
-  std::shared_ptr<webots_ros2_driver::WebotsNode> node = std::make_shared<webots_ros2_driver::WebotsNode>(robotName);
+  rclcpp::NodeOptions nodeOptions;
+  nodeOptions.arguments(std::vector<std::string>(argv + 1, argv + argc));
+  std::shared_ptr<webots_ros2_driver::WebotsNode> node =
+    std::make_shared<webots_ros2_driver::WebotsNode>(robotName, nodeOptions);
   node->init();
 
   // The parent process must be ros2 run. Declaring from launch file is deprecated. Remove with 2024.0.0.

webots_ros2_driver/src/WebotsNode.cpp

@@ -50,7 +50,9 @@ namespace webots_ros2_driver {
     gShutdownSignalReceived = true;
   }
 
-  WebotsNode::WebotsNode(std::string name) : Node(name), mPluginLoader(gPluginInterfaceName, gPluginInterface) {
+  WebotsNode::WebotsNode(std::string name, rclcpp::NodeOptions &options) :
+    Node(name, options),
+    mPluginLoader(gPluginInterfaceName, gPluginInterface) {
     mRobotDescriptionParam = this->declare_parameter<std::string>("robot_description", "");
     mSetRobotStatePublisher = this->declare_parameter<bool>("set_robot_state_publisher", false);
     if (mRobotDescriptionParam != "") {

webots_ros2_driver/webots/src/controller/c/robot.c

@@ -1081,21 +1081,33 @@ static void wb_robot_cleanup_devices() {
   }
 }
 
-static char *encode_robot_name(const char *robot_name) {
+static char *encode_robot_name(const char *robot_name, int chars_used) {
   if (!robot_name)
     return NULL;
 
   char *encoded_name = percent_encode(robot_name);
   int length = strlen(encoded_name);
   // the robot name is used to connect to the libController and in this process there are indirect
-  // limitations such as QLocalServer only accepting strings up to 106 characters for server names,
-  // for these reasons if the robot name is bigger than an arbitrary length, a hashed version is used instead
-  if (length > 70) {  // note: this threshold should be the same as in WbRobot.cpp
+  // limitations such as QLocalServer only accepting strings up to 91 characters long for server names
+  // on some platforms.
+  // Since the server name also contains the tmp path and that includes the user's username and,
+  // in the case of a Snap, the user's home directory, we need to limit the length of the encoded
+  // robot name based on the tmp path. If it is longer than that, then we compute a hashed version
+  // of the name and use as much of it as we can. If that would be less than 4 chars, we try to use
+  // 4 chars and hope we are on a platform where QLocalServer accepts longer names. 4 chars makes the
+  // chance of a name collision 1/65536.
+  // Note: It is critical that the same logic is used in WbRobot.cpp
+  int max_name_length = 91 - chars_used;
+  if (max_name_length < 4)
+    max_name_length = 4;
+  // Round down to the next multiple of 2 because it makes the code easier.
+  max_name_length = max_name_length / 2 * 2;
+  if (length > max_name_length) {
     char hash[21];
-    char *output = malloc(41);
+    char *output = malloc(max_name_length + 1);
     SHA1(hash, encoded_name, length);
     free(encoded_name);
-    for (size_t i = 0; i < 20; i++)
+    for (size_t i = 0; i < max_name_length / 2 && i < 20; i++)
       sprintf((output + (2 * i)), "%02x", hash[i] & 0xff);
     return output;
   }
@@ -1104,10 +1116,12 @@ static char *encode_robot_name(const char *robot_name) {
 }
 
 static char *compute_socket_filename(char *error_buffer) {
-  char *robot_name = encode_robot_name(wbu_system_getenv("WEBOTS_ROBOT_NAME"));
   const char *WEBOTS_INSTANCE_PATH = wbu_system_webots_instance_path(true);
+  char *robot_name = NULL;
+  const char *WEBOTS_ROBOT_NAME = wbu_system_getenv("WEBOTS_ROBOT_NAME");
   char *socket_filename;
-  if (robot_name && robot_name[0] && WEBOTS_INSTANCE_PATH && WEBOTS_INSTANCE_PATH[0]) {
+  if (WEBOTS_ROBOT_NAME && WEBOTS_ROBOT_NAME[0] && WEBOTS_INSTANCE_PATH && WEBOTS_INSTANCE_PATH[0]) {
+    robot_name = encode_robot_name(WEBOTS_ROBOT_NAME, strlen(WEBOTS_INSTANCE_PATH) + strlen("ipc//intern"));
 #ifndef _WIN32
     const int length = strlen(WEBOTS_INSTANCE_PATH) + strlen(robot_name) + 15;  // "%sintern/%s/socket"
     socket_filename = malloc(length);
@@ -1267,7 +1281,7 @@ static char *compute_socket_filename(char *error_buffer) {
 
   free(robot_name);
   const char *sub_string = strstr(&WEBOTS_CONTROLLER_URL[6], "/");
-  robot_name = encode_robot_name(sub_string ? sub_string + 1 : NULL);
+  robot_name = encode_robot_name(sub_string ? sub_string + 1 : NULL, strlen(ipc_folder) + strlen("//extern"));
   if (robot_name) {
 #ifndef _WIN32
     // socket file name is like: folder + robot_name + "/extern"
@@ -1370,7 +1384,7 @@ static void compute_remote_info(char **host, int *port, char **robot_name) {
   snprintf(*host, host_length, "%s", &WEBOTS_CONTROLLER_URL[6]);
   sscanf(url_suffix, ":%d", port);
   const char *rn = strstr(url_suffix, "/");
-  *robot_name = rn != NULL ? encode_robot_name(rn + 1) : NULL;
+  *robot_name = rn != NULL ? encode_robot_name(rn + 1, 0) : NULL;
 }
 
 int wb_robot_init() {  // API initialization
@@ -1462,11 +1476,11 @@ int wb_robot_init() {  // API initialization
         retry -= 5;
         fprintf(stderr, "%s, pending until loading is done...\n", error_message);
       } else if (socket_filename) {
+        fprintf(stderr,
+                "The specified robot (at %s) is not in the list of robots with <extern> controllers, retrying for another %d "
+                "seconds...\n",
+                socket_filename, 50 - retry);
         free(socket_filename);
-        fprintf(
-          stderr,
-          "The specified robot is not in the list of robots with <extern> controllers, retrying for another %d seconds...\n",
-          50 - retry);
       } else
         fprintf(stderr, "%s, retrying for another %d seconds...\n", error_message, 50 - retry);
     }

webots_ros2_driver/webots/src/controller/c/supervisor.c

@@ -2831,6 +2831,9 @@ const double *wb_supervisor_virtual_reality_headset_get_orientation() {
 }
 
 const char *wb_supervisor_field_get_name(WbFieldRef field) {
+  if (!check_field(field, __FUNCTION__, WB_NO_FIELD, false, NULL, false, false))
+    return "";
+
   return field->name;
 }
 

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>2023.1.2</version>
+  <version>2023.1.3</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='2023.1.2',
+    version='2023.1.3',
     packages=[package_name],
     data_files=data_files,
     install_requires=['setuptools', 'launch'],

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>2023.1.2</version>
+  <version>2023.1.3</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='2023.1.2',
+    version='2023.1.3',
     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>2023.1.2</version>
+  <version>2023.1.3</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='2023.1.2',
+    version='2023.1.3',
     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>2023.1.2</version>
+  <version>2023.1.3</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>2023.1.2</version>
+  <version>2023.1.3</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='2023.1.2',
+    version='2023.1.3',
     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>2023.1.2</version>
+  <version>2023.1.3</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='2023.1.2',
+    version='2023.1.3',
     packages=[package_name],
     data_files=data_files,
     install_requires=['setuptools', 'launch'],