Drop support for galactic (#594)

* Drop support for galactic * Add changelog entry
cyberbotics · Jan 11, 2023 · 8787e22 · 8787e22
1 parent 0bbc8ac
commit 8787e22
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Showing 14 changed files with 22 additions and 27 deletions.
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/webots_ros2/CHANGELOG.rst b/webots_ros2/CHANGELOG.rst
@@ -2,6 +2,10 @@
 Changelog for package webots_ros2
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2023.0.2 (2023-XX-XX)
+------------------
+* Drop support for Galactic.
+
 2023.0.1 (2023-01-05)
 ------------------
 * Fixed relative assets in WSL.

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")

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/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);

diff --git a/webots_ros2_control/src/Ros2ControlSystem.cpp b/webots_ros2_control/src/Ros2ControlSystem.cpp
@@ -40,8 +40,8 @@ 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()) : 
+      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);
@@ -158,7 +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*/)
@@ -185,7 +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/CMakeLists.txt b/webots_ros2_driver/CMakeLists.txt
@@ -6,19 +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")
@@ -40,7 +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)

diff --git a/webots_ros2_driver/src/Driver.cpp b/webots_ros2_driver/src/Driver.cpp
@@ -29,7 +29,7 @@ int main(int argc, char **argv) {
   webots_ros2_driver::WebotsNode::handleSignals();
 
   rclcpp::InitOptions options{};
-#if FOXY || GALACTIC
+#if FOXY
   options.shutdown_on_sigint = false;
 #else
   options.shutdown_on_signal = false;

diff --git a/webots_ros2_driver/src/plugins/static/Ros2Camera.cpp b/webots_ros2_driver/src/plugins/static/Ros2Camera.cpp
@@ -158,7 +158,7 @@ namespace webots_ros2_driver
       vision_msgs::msg::ObjectHypothesisWithPose hypothesis;
       hypothesis.pose.pose = pose.pose;
       detection.results.push_back(hypothesis);
-      #if FOXY || GALACTIC
+      #if FOXY
       detection.bbox.center.x = objects[i].position_on_image[0];
       detection.bbox.center.y = objects[i].position_on_image[1];
       #else
@@ -174,7 +174,7 @@ namespace webots_ros2_driver
       recognitionWebotsObject.id = objects[i].id;
       recognitionWebotsObject.model = std::string(objects[i].model);
       recognitionWebotsObject.pose = pose;
-      #if FOXY || GALACTIC
+      #if FOXY
       recognitionWebotsObject.bbox.center.x = objects[i].position_on_image[0];
       recognitionWebotsObject.bbox.center.y = objects[i].position_on_image[1];
       #else

diff --git a/webots_ros2_tests/test/test_system_tiago.py b/webots_ros2_tests/test/test_system_tiago.py
@@ -36,7 +36,7 @@
 def generate_test_description():
     initialize_webots_test()
     # If ROS_DISTRO is rolling or humble, skip the test as some required packages are missing (cf. ci_after_init.bash)
-    if 'ROS_DISTRO' in os.environ and os.environ['ROS_DISTRO'] != 'foxy' and os.environ['ROS_DISTRO'] != 'galactic':
+    if 'ROS_DISTRO' in os.environ and os.environ['ROS_DISTRO'] != 'foxy':
         pytest.skip('ROS_DISTRO is rolling or humble, skipping this test')
 
     tiago_webots = IncludeLaunchDescription(

diff --git a/webots_ros2_tests/test/test_system_turtlebot_tutorial_navigation.py b/webots_ros2_tests/test/test_system_turtlebot_tutorial_navigation.py
@@ -43,7 +43,7 @@ def generate_test_description():
         pytest.skip('RViz might crash in CI, skipping this test')
 
     # If ROS_DISTRO is rolling or humble, skip the test as some required packages are missing (cf. ci_after_init.bash)
-    if 'ROS_DISTRO' in os.environ and os.environ['ROS_DISTRO'] != 'foxy' and os.environ['ROS_DISTRO'] != 'galactic':
+    if 'ROS_DISTRO' in os.environ and os.environ['ROS_DISTRO'] != 'foxy':
         pytest.skip('ROS_DISTRO is rolling or humble, skipping this test')
 
     # Webots

diff --git a/webots_ros2_tests/test/test_system_turtlebot_tutorial_slam.py b/webots_ros2_tests/test/test_system_turtlebot_tutorial_slam.py
@@ -37,7 +37,7 @@ def generate_test_description():
         pytest.skip('RViz might crash in CI, skipping this test')
 
     # If ROS_DISTRO is rolling or humble, skip the test as some required packages are missing (cf. ci_after_init.bash)
-    if 'ROS_DISTRO' in os.environ and os.environ['ROS_DISTRO'] != 'foxy' and os.environ['ROS_DISTRO'] != 'galactic':
+    if 'ROS_DISTRO' in os.environ and os.environ['ROS_DISTRO'] != 'foxy':
         pytest.skip('ROS_DISTRO is rolling or humble, skipping this test')
 
     # Webots