Merge develop into master

docker/Dockerfile

@@ -8,7 +8,7 @@ ARG DOCKERUSER=
 ARG DOCKERUSERCOMMENT=
 ARG ROS_DISTRO=jazzy
 ARG ROS_TESTING=0
-ARG WEBOTS_VERSION=2023b
+ARG WEBOTS_VERSION=2025a
 
 RUN if [ "${ROS_DISTRO}" != "humble" ]; then userdel -r ubuntu; fi
 RUN useradd -d /${DOCKERUSER} -m \
@@ -19,8 +19,9 @@ RUN useradd -d /${DOCKERUSER} -m \
     usermod -a -G video ${DOCKERUSER} && \
     usermod -a -G dialout ${DOCKERUSER}
 
-RUN apt update && apt install -y wget && \
-    wget https://github.com/cyberbotics/webots/releases/download/R${WEBOTS_VERSION}/webots_${WEBOTS_VERSION}_amd64.deb -O /tmp/webots.deb && \
+RUN echo $WEBOTS_VERSION | grep -q "nightly" && export WEBOTS_URL="https://github.com/cyberbotics/webots/releases/download/${WEBOTS_VERSION}_amd64.deb" || export WEBOTS_URL="https://github.com/cyberbotics/webots/releases/download/R${WEBOTS_VERSION}/webots_${WEBOTS_VERSION}_amd64.deb" && \
+    apt update && apt install -y wget && \
+    wget ${WEBOTS_URL} -O /tmp/webots.deb && \
     apt install -y /tmp/webots.deb && \
     rm /tmp/webots.deb
 
@@ -29,27 +30,19 @@ 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-${ROS_DISTRO}-xacro \
-    ros-${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 \
+    ros-${ROS_DISTRO}-ros2-control \
+    ros-${ROS_DISTRO}-ros2-controllers \
+    ros-${ROS_DISTRO}-robot-localization \
+    ros-${ROS_DISTRO}-laser-filters \
+    ros-${ROS_DISTRO}-tf-transformations \
+    ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
     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 /${DOCKERUSER}/ros2_libs_ws && \
-#     colcon build --symlink-install
+# HOTFIX: https://github.com/ros-controls/ros2_control/pull/1960
+RUN [ "${ROS_DISTRO}" = "humble" ] && wget -O /tmp/hotfix.deb http://snapshots.ros.org/humble/2024-08-28/ubuntu/pool/main/r/ros-humble-hardware-interface/ros-humble-hardware-interface_2.43.0-1jammy.20240823.145349_amd64.deb && \
+    apt install -y --allow-downgrades /tmp/hotfix.deb && \
+    rm -f /tmp/hotfix.deb || true
 
 COPY ./docker/bashrc /tmp/bashrc
 COPY ./docker/webots.conf /${DOCKERUSER}/.config/Cyberbotics/Webots-R${WEBOTS_VERSION}.conf

docker/Makefile

@@ -6,13 +6,13 @@ BASENAME:=webots_ros2
 DOCKERUSERCOMMENT:="Cyberbotics"
 ROS_DISTRO?=jazzy
 ROS_TESTING?=0
-WEBOTS_VERSION?=2023b
+WEBOTS_VERSION?=2025a
 
 build:
 	echo "ROS_TESTING=${ROS_TESTING}"
 	docker build ${ROOT_DIR} \
 		-f ${ROOT_DIR}/docker/Dockerfile \
-		-t ${BASENAME}-image ${DOCKER_ARGS} \
+		-t ${BASENAME} ${DOCKER_ARGS} \
 		--build-arg UID=${UID} \
 		--build-arg DOCKERUSER=${DOCKERUSER} \
 		--build-arg DOCKERUSERCOMMENT=${DOCKERUSERCOMMENT} \
@@ -21,12 +21,12 @@ build:
 		--build-arg ROS_DISTRO=${ROS_DISTRO}
 
 run:
-	@docker container rm -f ${BASENAME}-container
+	@docker container rm -f ${BASENAME}
 	docker run \
 		--net=host \
 		--ipc=host \
 		--cap-add SYS_ADMIN \
-		--name ${BASENAME}-container \
+		--name ${BASENAME} \
 		--privileged \
 		--restart unless-stopped \
 		-e NVIDIA_DRIVER_CAPABILITIES=all ${NVIDIA_GPU} \
@@ -37,8 +37,8 @@ run:
 		-v ${ROOT_DIR}:/${DOCKERUSER}/ros2_ws/src/${BASENAME} \
 		-v /dev:/dev:rw \
 		--entrypoint bash \
-		-d -it ${BASENAME}-image
+		-d -it ${BASENAME}
 
 
 exec:
-	docker exec -it ${BASENAME}-container bash
+	docker exec -it ${BASENAME} bash

docker/README.md

@@ -13,10 +13,18 @@ curl -sSL https://get.docker.com | sh && sudo usermod -aG docker $USER
 
 You need to build & run the container only the first time:
 ```bash
-ROS_DISTRO=jazzy ROS_TESTING=1 WEBOTS_VERSION=2023b make build run exec
+ROS_DISTRO=jazzy ROS_TESTING=0 WEBOTS_VERSION=2025a make build run exec
+```
+
+if you want to test a nightly build:
+```bash
+ROS_DISTRO=jazzy ROS_TESTING=0 WEBOTS_VERSION=nightly_25_12_2024/webots_2025a make build run exec
 ```
 
 After that, you can just attach to the container with:
 ```bash
 make exec
 ```
+
+> [!NOTE]
+> In case you get an error something like `qt.qpa.xcb: could not connect to display :0` then please run `xhost local:root` on the host.

docker/bashrc

@@ -7,3 +7,4 @@ alias teleop='ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -p
 # For debugging
 export WEBOTS_HOME=/usr/local/webots
 export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:/cyberbotics/ros2_ws/src/webots_ros2/webots_ros2_driver/webots/lib/controller
+export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

scripts/ci_after_init.bash

@@ -41,17 +41,14 @@ fi
 
 # TODO: Revert once the https://github.com/ros-planning/navigation2/issues/3033 issue is fixed.
 # Fast-DDS is not working properly with the Nav2 package on Humble and Iron. Using Cyclone DDS instead.
-if [[ "${ROS_DISTRO}" != "rolling" ]]; then
-    apt install -y ros-${ROS_DISTRO}-rmw-cyclonedds-cpp
-fi
+apt install -y ros-${ROS_DISTRO}-rmw-cyclonedds-cpp
 
 # Setup Qt plugins for RViz (can be used once RViz does not randomly crash anymore in GitHub CI).
-#export QT_PLUGIN_PATH=/usr/lib/x86_64-linux-gnu/qt5/plugins
-
+# export QT_PLUGIN_PATH=/usr/lib/x86_64-linux-gnu/qt5/plugins
 
-# Fixes:
-#   MESA: error: ZINK: failed to choose pdev
-#   2024-07-27T19:23:20.1063344Z [webots-4] glx: failed to create drisw screen
-if [[ "${ROS_DISTRO}" == "rolling" ]]; then
-    apt-get install -y libqt5quickcontrols2-5 qtquickcontrols2-5-dev
+# HOTFIX: https://github.com/ros-controls/ros2_control/pull/1960
+if [[ "${ROS_DISTRO}" == "humble" ]]; then
+    wget -O /tmp/hotfix.deb http://snapshots.ros.org/humble/2024-08-28/ubuntu/pool/main/r/ros-humble-hardware-interface/ros-humble-hardware-interface_2.43.0-1jammy.20240823.145349_amd64.deb && \
+        apt install -y --allow-downgrades /tmp/hotfix.deb && \
+        rm -f /tmp/hotfix.deb
 fi

scripts/ci_before_init_embed.bash

@@ -2,8 +2,8 @@
 
 ROS_DISTRO=$1
 
-export TEST_WITH_WEBOTS_NIGTHLY=0
-export WEBOTS_RELEASE_VERSION=2023b
+export TEST_WITH_WEBOTS_NIGTHLY=1
+export WEBOTS_RELEASE_VERSION=2025a
 export WEBOTS_OFFSCREEN=1
 export CI=1
 export DEBIAN_FRONTEND=noninteractive
@@ -15,6 +15,4 @@ fi
 
 # TODO: Revert once the https://github.com/ros-planning/navigation2/issues/3033 issue is fixed.
 # Fast-DDS is not working properly with the Nav2 package on Humble. Using Cyclone DDS instead.
-if [[ "${ROS_DISTRO}" != "rolling" ]]; then
-    export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
-fi
+export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

tests/sources/test_clang_format.py

@@ -56,6 +56,7 @@ def test_sources_are_clang_format_compliant(self):
             'webots_ros2_control',
             'webots_ros2_driver',
             'webots_ros2_epuck',
+            'webots_ros2_husarion',
             'webots_ros2_importer',
             'webots_ros2_mavic',
             'webots_ros2_msgs',

tests/sources/test_pep8.py

@@ -31,7 +31,10 @@
 skippedDirectories = [
     '.git',
     'webots_ros2_importer/webots_ros2_importer/urdf2webots/',
-    'webots_ros2_driver/webots/lib'
+    'webots_ros2_driver/webots/lib',
+    'webots_ros2_husarion/rosbot_ros',
+    'webots_ros2_husarion/rosbot_xl_ros',
+    'webots_ros2_husarion/ros_components_description'
 ]
 skippedDirectoriesFull = [os.path.join(ROOT_FOLDER, os.path.normpath(path)) for path in skippedDirectories]
 

webots_ros2/CHANGELOG.rst

@@ -2,6 +2,11 @@
 Changelog for package webots_ros2
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2025.0.0 (2025-XX-XX)
+------------------
+* Created webots_ros2_husarion package.
+* Created webots_ros2_crazyflie package.
+
 2023.1.3 (2024-08-07)
 ------------------
 * Added support for ROS 2 Jazzy.

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>2023.1.3</version>
+  <version>2025.0.0</version>
   <description>Interface between Webots and ROS2</description>
 
   <maintainer email="[email protected]">Cyberbotics</maintainer>
@@ -24,6 +24,8 @@
   <exec_depend>webots_ros2_tiago</exec_depend>
   <exec_depend>webots_ros2_turtlebot</exec_depend>
   <exec_depend>webots_ros2_universal_robot</exec_depend>
+  <exec_depend>webots_ros2_crazyflie</exec_depend>
+  <exec_depend>webots_ros2_husarion</exec_depend>
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>python3-pytest</test_depend>

webots_ros2/setup.py

@@ -6,7 +6,7 @@
 
 setup(
     name=package_name,
-    version='2023.1.3',
+    version='2025.0.0',
     packages=[package_name],
     data_files=[
         ('share/' + package_name, ['package.xml']),

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>2023.1.3</version>
+  <version>2025.0.0</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

@@ -94,7 +94,12 @@ namespace webots_ros2_control {
       const rclcpp::Duration dt = rclcpp::Duration::from_seconds(mControlPeriodMs / 1000.0);
       mControllerManager->read(mNode->get_clock()->now(), dt);
 
-      mControllerManager->update(mNode->get_clock()->now(), dt);
+      try {
+        mControllerManager->update(mNode->get_clock()->now(), dt);
+      } catch (const std::exception &ex) {
+        RCLCPP_WARN_STREAM(mNode->get_logger(), "Controller manager update failed: " << ex.what());
+      }
+
       mLastControlUpdateMs = nowMs;
 
       mControllerManager->write(mNode->get_clock()->now(), dt);

webots_ros2_crazyflie/launch/robot_launch.py

@@ -0,0 +1,72 @@
+# -*- coding: utf-8 -*-
+#
+#  ...........       ____  _ __
+#  |  ,-^-,  |      / __ )(_) /_______________ _____  ___
+#  | (  O  ) |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+#  | / ,..´  |    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+#     +.......   /_____/_/\__/\___/_/   \__,_/ /___/\___/
+
+# MIT License
+
+# Copyright (c) 2023 Bitcraze
+
+
+"""
+file: robot_launch.py
+
+Launch Webots Crazyflie ROS2 driver.
+
+Author:   Kimberly McGuire (Bitcraze AB)
+"""
+
+
+import os
+import launch
+from launch.substitutions import LaunchConfiguration
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions.path_join_substitution import PathJoinSubstitution
+from launch import LaunchDescription
+from ament_index_python.packages import get_package_share_directory
+from webots_ros2_driver.webots_launcher import WebotsLauncher
+from webots_ros2_driver.webots_controller import WebotsController
+
+
+def generate_launch_description():
+    package_dir = get_package_share_directory('webots_ros2_crazyflie')
+    world = LaunchConfiguration('world')
+
+    webots = WebotsLauncher(
+        world=PathJoinSubstitution([package_dir, 'worlds', world]),
+        ros2_supervisor=True
+    )
+
+    robot_description_path = os.path.join(
+        package_dir, 'resource', 'crazyflie_webots.urdf')
+    crazyflie_driver = WebotsController(
+        robot_name='Crazyflie',
+        parameters=[
+            {'robot_description': robot_description_path},
+        ],
+        respawn=True
+    )
+
+    return LaunchDescription([
+        DeclareLaunchArgument(
+            'world',
+            default_value='crazyflie_apartment.wbt',
+            description='Choose one of the world files from `/webots_ros2_crazyflie/worlds` directory'
+        ),
+        webots,
+        webots._supervisor,
+        crazyflie_driver,
+
+        # This action will kill all nodes once the Webots simulation has exited
+        launch.actions.RegisterEventHandler(
+            event_handler=launch.event_handlers.OnProcessExit(
+                target_action=webots,
+                on_exit=[
+                    launch.actions.EmitEvent(event=launch.events.Shutdown())
+                ],
+            )
+        )
+    ])

webots_ros2_crazyflie/package.xml

@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>webots_ros2_crazyflie</name>
+  <version>2025.0.0</version>
+  <description>ROS2 package for Crazyflie webots simulator</description>
+  <maintainer email="[email protected]">Kimberly McGuire (Bitcraze AB)</maintainer>
+  <license>MIT</license>
+
+  <exec_depend>rclpy</exec_depend>
+  <exec_depend>builtin_interfaces</exec_depend>
+  <exec_depend>webots_ros2_driver</exec_depend>
+  <exec_depend>tf_transformations</exec_depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

webots_ros2_crazyflie/resource/crazyflie_webots.urdf

@@ -0,0 +1,17 @@
+<?xml version="1.0" ?>
+<robot name="Crazyflie Webots">
+    <webots>
+        <device reference="gps" type="GPS">
+            <ros>
+                <enabled>true</enabled>
+                <alwaysOn>true</alwaysOn>
+            </ros>
+        </device>
+        <device reference="camera" type="Camera">
+            <ros>
+                <topicName>/camera</topicName>
+            </ros>
+        </device>
+        <plugin type="webots_ros2_crazyflie.crazyflie_driver.CrazyflieDriver" />
+    </webots>
+</robot>

webots_ros2_crazyflie/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/webots_ros2_crazyflie
+[install]
+install_scripts=$base/lib/webots_ros2_crazyflie