Prepare packages for new release

.github/workflows/test.yml

@@ -16,7 +16,7 @@ jobs:
       fail-fast: false
       matrix:
         ROS_REPO: [main, testing]
-        ROS_DISTRO: [humble, iron, rolling]
+        ROS_DISTRO: [humble, jazzy, rolling]
     runs-on: ubuntu-latest
     env:
       AFTER_INIT: ./scripts/ci_after_init.bash ${ROS_DISTRO} ${ROS_REPO}

.github/workflows/test_develop.yml

@@ -14,7 +14,7 @@ jobs:
       fail-fast: false
       matrix:
         ROS_REPO: [main, testing]
-        ROS_DISTRO: [humble, iron, rolling]
+        ROS_DISTRO: [humble, jazzy, rolling]
     runs-on: ubuntu-latest
     env:
       AFTER_INIT: ./scripts/ci_after_init.bash ${ROS_DISTRO} ${ROS_REPO}

docker/Dockerfile

@@ -0,0 +1,42 @@
+ARG ROS_DISTRO=jazzy
+
+FROM osrf/ros:${ROS_DISTRO}-desktop
+
+ARG DEBIAN_FRONTEND=noninteractive
+ARG UID=1000
+ARG DOCKERUSER=
+ARG DOCKERUSERCOMMENT=
+ARG ROS_DISTRO=jazzy
+ARG ROS_TESTING=0
+ARG WEBOTS_VERSION=2023b
+
+RUN userdel -r ubuntu && \
+    useradd -d /${DOCKERUSER} -m \
+            -u ${UID} -U \
+            -s /usr/bin/bash \
+            -c "${DOCKERUSERCOMMENT}" ${DOCKERUSER} && \
+    echo "${DOCKERUSER} ALL=(ALL) NOPASSWD: ALL" >> /etc/sudoers && \
+    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_${WEBOTS_VERSION}_amd64.deb -O /tmp/webots.deb && \
+    apt install -y /tmp/webots.deb && \
+    rm /tmp/webots.deb
+
+RUN [ "$ROS_TESTING" -eq "1" ] && echo "deb [ signed-by=/usr/share/keyrings/ros2-latest-archive-keyring.gpg ] http://packages.ros.org/ros2-testing/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros2-latest.list || true
+
+RUN apt-get update && apt-get install -y \
+    ros-${ROS_DISTRO}-vision-msgs \
+    ros-${ROS_DISTRO}-ros2-control \
+    ros-${ROS_DISTRO}-ros2-controllers \
+    ros-${ROS_DISTRO}-xacro \
+    gdb
+
+COPY ./docker/bashrc /tmp/bashrc
+COPY ./docker/webots.conf /${DOCKERUSER}/.config/Cyberbotics/Webots-R${WEBOTS_VERSION}.conf
+RUN cat /tmp/bashrc >> /${DOCKERUSER}/.bashrc
+
+ENV USERNAME=default
+USER ${DOCKERUSER}
+WORKDIR /${DOCKERUSER}/ros2_ws

docker/Makefile

@@ -0,0 +1,44 @@
+UID:=$(shell id -u)
+ROOT_DIR:=$(shell dirname $(realpath $(firstword $(MAKEFILE_LIST))))/../
+NVIDIA_GPU:=$(shell docker info | grep Runtimes | grep nvidia 1> /dev/null && nvidia-smi 1> /dev/null && echo '--runtime nvidia --gpus all' || echo '')
+DOCKERUSER:=cyberbotics
+BASENAME:=webots_ros2
+DOCKERUSERCOMMENT:="Cyberbotics"
+ROS_DISTRO?=jazzy
+ROS_TESTING?=0
+WEBOTS_VERSION?=2023b
+
+build:
+	echo "ROS_TESTING=${ROS_TESTING}"
+	docker build ${ROOT_DIR} \
+		-f ${ROOT_DIR}/docker/Dockerfile \
+		-t ${BASENAME}-image ${DOCKER_ARGS} \
+		--build-arg UID=${UID} \
+		--build-arg DOCKERUSER=${DOCKERUSER} \
+		--build-arg DOCKERUSERCOMMENT=${DOCKERUSERCOMMENT} \
+		--build-arg ROS_TESTING=${ROS_TESTING} \
+		--build-arg WEBOTS_VERSION=${WEBOTS_VERSION} \
+		--build-arg ROS_DISTRO=${ROS_DISTRO}
+
+run:
+	@docker container rm -f ${BASENAME}-container
+	docker run \
+		--net=host \
+		--ipc=host \
+		--cap-add SYS_ADMIN \
+		--name ${BASENAME}-container \
+		--privileged \
+		--restart unless-stopped \
+		-e NVIDIA_DRIVER_CAPABILITIES=all ${NVIDIA_GPU} \
+		-e DISPLAY=${DISPLAY} \
+		-v ~/.Xauthority:/${DOCKERUSER}/.Xauthority:ro \
+		-v /tmp/.X11-unix/:/tmp/.X11-unix:rw \
+		-v /dev/dri:/dev/dri:ro \
+		-v ${ROOT_DIR}:/${DOCKERUSER}/ros2_ws/src/${BASENAME} \
+		-v /dev:/dev:rw \
+		--entrypoint bash \
+		-d -it ${BASENAME}-image
+
+
+exec:
+	docker exec -it ${BASENAME}-container bash

docker/README.md

@@ -0,0 +1,22 @@
+# Docker
+
+Development container for the project.
+
+## Dependencies
+
+```bash
+sudo apt install git make curl
+curl -sSL https://get.docker.com | sh && sudo usermod -aG docker $USER
+```
+
+## Usage
+
+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
+```
+
+After that, you can just attach to the container with:
+```bash
+make exec
+```

docker/bashrc

@@ -0,0 +1,8 @@
+source /opt/ros/${ROS_DISTRO}/setup.bash
+source ~/ros2_ws/install/local_setup.bash
+alias cb='colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Debug'
+alias teleop='ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -p stamped:=true'
+
+# For debugging
+export WEBOTS_HOME=/usr/local/webots
+export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:/cyberbotics/ros2_ws/src/webots_ros2/webots_ros2_driver/webots/lib/controller

docker/webots.conf

@@ -0,0 +1,17 @@
+[%General]
+checkWebotsUpdateOnStartup=false
+pythonCommand=python3
+rendering=true
+startupMode=Real-time
+telemetry=false
+theme=webots_night.qss
+
+[OpenGL]
+GTAO=0
+disableAntiAliasing=true
+disableShadows=true
+textureFiltering=1
+textureQuality=0
+
+[Internal]
+firstLaunch=false

scripts/ci_after_init.bash

@@ -3,20 +3,24 @@
 ROS_DISTRO=$1
 ROS_REPO=$2
 
-# Take the latest nightly build
-YESTERDAY_WEEK_DAY_NUMBER=`date --date="1 day ago" +"%u"`
-LAST_NIGHTLY_DAY_OLD=1
-# There is no nightly build the weekend
-if [ ${YESTERDAY_WEEK_DAY_NUMBER} -gt 5 ]; then
-    LAST_NIGHTLY_DAY_OLD="$((${YESTERDAY_WEEK_DAY_NUMBER}-4))"
+WEBOTS_VERSION="R${WEBOTS_RELEASE_VERSION}"
+
+if [ "${TEST_WITH_WEBOTS_NIGTHLY}" == "1" ]; then
+    # Take the latest nightly build
+    YESTERDAY_WEEK_DAY_NUMBER=`date --date="1 day ago" +"%u"`
+    LAST_NIGHTLY_DAY_OLD=1
+    # There is no nightly build the weekend
+    if [ ${YESTERDAY_WEEK_DAY_NUMBER} -gt 5 ]; then
+        LAST_NIGHTLY_DAY_OLD="$((${YESTERDAY_WEEK_DAY_NUMBER}-4))"
+    fi
+    NIGHTLY_DATE=`date --date="${LAST_NIGHTLY_DAY_OLD} day ago" +"%-d_%-m_%Y"`
+    WEBOTS_VERSION="nightly_${NIGHTLY_DATE}"
 fi
-NIGHTLY_DATE=`date --date="${LAST_NIGHTLY_DAY_OLD} day ago" +"%-d_%-m_%Y"`
-WEBOTS_NIGHTLY_VERSION="nightly_${NIGHTLY_DATE}"
 
-apt update
-apt install -y wget dialog apt-utils psmisc lsb-release git
-wget https://github.com/cyberbotics/webots/releases/download/${WEBOTS_NIGHTLY_VERSION}/webots_${WEBOTS_RELEASE_VERSION}_amd64.deb -O /tmp/webots.deb
-apt install -y /tmp/webots.deb xvfb
+apt update > /dev/null
+apt install -y wget dialog apt-utils psmisc lsb-release git > /dev/null
+wget https://github.com/cyberbotics/webots/releases/download/${WEBOTS_VERSION}/webots_${WEBOTS_RELEASE_VERSION}_amd64.deb -O /tmp/webots.deb > /dev/null
+apt install -y /tmp/webots.deb xvfb > /dev/null
 
 # OpenSSL patch for ubuntu 22
 if [[ $(lsb_release -rs) == "22.04" && ${WEBOTS_RELEASE_VERSION} == "2022a" ]]; then
@@ -44,13 +48,10 @@ fi
 # 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
 
-# TODO: Remove once the https://packages.ubuntu.com/noble/python3-flake8 package version is updated.
-# Manually upgrade python3-flake8 to 7.0.0 for noble
+
+# 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 install -y python3-flake8
-    wget http://ftp.ubuntu.com/ubuntu/ubuntu/pool/universe/p/pyflakes/python3-pyflakes_3.2.0-1_all.deb -P /tmp
-    dpkg -i /tmp/python3-pyflakes_3.2.0-1_all.deb
-    wget http://ftp.ubuntu.com/ubuntu/ubuntu/pool/universe/p/python-flake8/python3-flake8_7.0.0-1_all.deb -P /tmp
-    dpkg -i /tmp/python3-flake8_7.0.0-1_all.deb
-    apt --fix-broken install -y
+    apt-get install -y libqt5quickcontrols2-5 qtquickcontrols2-5-dev
 fi

scripts/ci_before_init_embed.bash

@@ -2,7 +2,8 @@
 
 ROS_DISTRO=$1
 
-export WEBOTS_RELEASE_VERSION=2023b-rev1
+export TEST_WITH_WEBOTS_NIGTHLY=0
+export WEBOTS_RELEASE_VERSION=2023b
 export WEBOTS_OFFSCREEN=1
 export CI=1
 export DEBIAN_FRONTEND=noninteractive

webots_ros2/CHANGELOG.rst

@@ -2,6 +2,14 @@
 Changelog for package webots_ros2
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2023.1.3 (2024-XX-XX)
+------------------
+* Added support for ROS 2 Jazzy.
+* Make webots_ros2_driver scripts executable.
+* Fixed passing the `robot_description` parameter to ros2_control.
+* Fixed the produced URDF to also contain joint limits necessary for ros2_control.
+* Added support for the new `ros2_control` API affecting resource_manager and controller_manager.
+
 2023.1.2 (2024-04-08)
 ------------------
 * Fixed errors showing up when launching moveit for ur5e.

webots_ros2_control/CHANGELOG.rst

@@ -2,6 +2,10 @@
 Changelog for package webots_ros2_control
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2023.1.3 (2024-XX-XX)
+------------------
+* Added support for the new `ros2_control` API affecting resource_manager and controller_manager.
+
 2023.1.0 (2023-06-29)
 ------------------
 * Fixed component activation.

webots_ros2_control/CMakeLists.txt

@@ -4,8 +4,8 @@ project(webots_ros2_control)
 # Check which ROS distribution is used, ros2control depends of that
 if($ENV{ROS_DISTRO} MATCHES "humble")
   add_compile_definitions(HUMBLE)
-elseif($ENV{ROS_DISTRO} MATCHES "iron")
-  add_compile_definitions(IRON)
+elseif($ENV{ROS_DISTRO} MATCHES "jazzy")
+  add_compile_definitions(JAZZY)
 elseif($ENV{ROS_DISTRO} MATCHES "rolling")
   add_compile_definitions(ROLLING)
 endif()

webots_ros2_control/src/Ros2Control.cpp

@@ -36,6 +36,53 @@ const double CONTROLLER_MANAGER_ALLOWED_SAMPLE_ERROR_MS = 1.0;
 
 namespace webots_ros2_control {
 
+#if HARDWARE_INTERFACE_VERSION_MAJOR >= 4 && HARDWARE_INTERFACE_VERSION_MINOR >= 12
+  class WebotsResourceManager : public hardware_interface::ResourceManager {
+  public:
+    WebotsResourceManager(webots_ros2_driver::WebotsNode *node) :
+      hardware_interface::ResourceManager(node->get_node_clock_interface(), node->get_node_logging_interface()),
+      mHardwareLoader("webots_ros2_control", "webots_ros2_control::Ros2ControlSystemInterface"),
+      mLogger(node->get_logger().get_child("WebotsResourceManager")) {
+      mNode = node;
+    }
+
+    WebotsResourceManager(const WebotsResourceManager &) = delete;
+
+    bool load_and_initialize_components(const std::string &urdf, unsigned int update_rate) override {
+      components_are_loaded_and_initialized_ = true;
+
+      std::vector<hardware_interface::HardwareInfo> controlHardware;
+      try {
+        controlHardware = hardware_interface::parse_control_resources_from_urdf(urdf);
+      } catch (const std::runtime_error &ex) {
+        throw std::runtime_error("URDF cannot be parsed by a `ros2_control` component parser: " + std::string(ex.what()));
+      }
+      for (unsigned int i = 0; i < controlHardware.size(); i++) {
+        const std::string pluginName = controlHardware[i].hardware_plugin_name;
+
+        std::unique_ptr<webots_ros2_control::Ros2ControlSystemInterface> webotsSystem;
+        try {
+          webotsSystem = std::unique_ptr<webots_ros2_control::Ros2ControlSystemInterface>(
+            mHardwareLoader.createUnmanagedInstance(pluginName));
+        } catch (pluginlib::PluginlibException &ex) {
+          RCLCPP_ERROR(mLogger, "The plugin failed to load for some reason. Error: %s\n", ex.what());
+          continue;
+        }
+
+        webotsSystem->init(mNode, controlHardware[i]);
+        import_component(std::move(webotsSystem), controlHardware[i]);
+      }
+
+      return components_are_loaded_and_initialized_;
+    }
+
+  private:
+    webots_ros2_driver::WebotsNode *mNode;
+    pluginlib::ClassLoader<webots_ros2_control::Ros2ControlSystemInterface> mHardwareLoader;
+    rclcpp::Logger mLogger;
+  };
+#endif
+
   Ros2Control::Ros2Control() {
     mNode = NULL;
   }
@@ -62,10 +109,14 @@ namespace webots_ros2_control {
       mHardwareLoader.reset(new pluginlib::ClassLoader<webots_ros2_control::Ros2ControlSystemInterface>(
         "webots_ros2_control", "webots_ros2_control::Ros2ControlSystemInterface"));
     } catch (pluginlib::LibraryLoadException &ex) {
-      throw std::runtime_error("Hardware loader cannot be created: " + atoi(ex.what()));
+      throw std::runtime_error("Hardware loader cannot be created: " + std::string(ex.what()));
     }
 
     // Control Hardware
+#if HARDWARE_INTERFACE_VERSION_MAJOR >= 4 && HARDWARE_INTERFACE_VERSION_MINOR >= 12
+    std::unique_ptr<hardware_interface::ResourceManager> resourceManager =
+      std::make_unique<webots_ros2_control::WebotsResourceManager>(node);
+#else
     std::string urdfString;
     std::vector<hardware_interface::HardwareInfo> controlHardware;
     std::unique_ptr<hardware_interface::ResourceManager> resourceManager =
@@ -74,7 +125,7 @@ namespace webots_ros2_control {
       urdfString = mNode->urdf();
       controlHardware = hardware_interface::parse_control_resources_from_urdf(urdfString);
     } catch (const std::runtime_error &ex) {
-      throw std::runtime_error("URDF cannot be parsed by a `ros2_control` component parser: " + atoi(ex.what()));
+      throw std::runtime_error("URDF cannot be parsed by a `ros2_control` component parser: " + std::string(ex.what()));
     }
     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)
@@ -94,8 +145,10 @@ namespace webots_ros2_control {
       using lifecycle_msgs::msg::State;
       rclcpp_lifecycle::State active_state(State::PRIMARY_STATE_ACTIVE, hardware_interface::lifecycle_state_names::ACTIVE);
       resourceManager->set_component_state(controlHardware[i].name, active_state);
+
       resourceManager->load_urdf(urdfString, false, false);
     }
+#endif
 
     // Controller Manager
     mExecutor = std::make_shared<rclcpp::executors::MultiThreadedExecutor>();

webots_ros2_driver/CHANGELOG.rst

@@ -2,6 +2,11 @@
 Changelog for package webots_ros2_driver
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2023.1.3 (2024-XX-XX)
+------------------
+* Make webots_ros2_driver scripts executable.
+* Fixed the produced URDF to also contain joint limits necessary for ros2_control.
+
 2023.1.1 (2023-07-11)
 ------------------
 * Fixed RangeFinder activation to also check for point cloud subscriptions.

webots_ros2_driver/CMakeLists.txt

@@ -8,8 +8,8 @@ set(CMAKE_BUILD_WITH_INSTALL_RPATH ON)
 # Check which ROS distribution is used, vision_msgs depends of that
 if($ENV{ROS_DISTRO} MATCHES "humble")
   add_compile_definitions(HUMBLE)
-elseif($ENV{ROS_DISTRO} MATCHES "iron")
-  add_compile_definitions(IRON)
+elseif($ENV{ROS_DISTRO} MATCHES "jazzy")
+  add_compile_definitions(JAZZY)
 elseif($ENV{ROS_DISTRO} MATCHES "rolling")
   add_compile_definitions(ROLLING)
 endif()
@@ -32,8 +32,8 @@ find_package(yaml-cpp REQUIRED)
 
 if($ENV{ROS_DISTRO} MATCHES "humble")
   find_package(Python 3.10 EXACT REQUIRED COMPONENTS Development)
-elseif($ENV{ROS_DISTRO} MATCHES "iron")
-  find_package(Python 3.10 EXACT REQUIRED COMPONENTS Development)
+elseif($ENV{ROS_DISTRO} MATCHES "jazzy")
+  find_package(Python 3.12 EXACT REQUIRED COMPONENTS Development)
 elseif($ENV{ROS_DISTRO} MATCHES "rolling")
   find_package(Python 3.12 EXACT REQUIRED COMPONENTS Development)
 endif()