Merge branch 'develop' into sync-develop-21d2782e296090815d417996d84f…

…3069adff45b6

.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_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'],

webots_ros2_tiago/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_tiago</name>
-  <version>2023.1.2</version>
+  <version>2023.1.3</version>
   <description>TIAGo robots ROS2 interface for Webots.</description>
 
   <maintainer email="[email protected]">Cyberbotics</maintainer>

webots_ros2_tiago/setup.py

@@ -32,7 +32,7 @@
 
 setup(
     name=package_name,
-    version='2023.1.2',
+    version='2023.1.3',
     packages=[],
     data_files=data_files,
     install_requires=['setuptools', 'launch'],

webots_ros2_turtlebot/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_turtlebot</name>
-  <version>2023.1.2</version>
+  <version>2023.1.3</version>
   <description>TurtleBot3 Burger robot ROS2 interface for Webots.</description>
 
   <maintainer email="[email protected]">Cyberbotics</maintainer>

webots_ros2_turtlebot/setup.py

@@ -23,7 +23,7 @@
 
 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_universal_robot/CHANGELOG.rst

@@ -2,7 +2,7 @@
 Changelog for package webots_ros2_universal_robot
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-2023.1.3 (2024-XX-XX)
+2023.1.3 (2024-08-07)
 ------------------
 * Fixed passing the `robot_description` parameter to ros2_control.
 

webots_ros2_universal_robot/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_universal_robot</name>
-  <version>2023.1.2</version>
+  <version>2023.1.3</version>
   <description>Universal Robot ROS2 interface for Webots.</description>
 
   <maintainer email="[email protected]">Cyberbotics</maintainer>

webots_ros2_universal_robot/resource/ros2_control_abb_config.yaml

@@ -26,4 +26,3 @@ abb/abb_joint_trajectory_controller:
       - position
 
     allow_partial_joints_goal: true
-

webots_ros2_universal_robot/setup.py

@@ -30,7 +30,7 @@
 
 setup(
     name=package_name,
-    version='2023.1.2',
+    version='2023.1.3',
     packages=['webots_ros2_universal_robot'],
     data_files=data_files,
     install_requires=['setuptools', 'launch'],