Add Python API compatibility and libController compilation #508

ygoumaz · 2022-11-07T08:17:11Z

Follow-up to #503. Fresh start and rebased to develop.

This PR has 2 goals:

Add compatibility with the new Webots Python API introduced in R2023a:
- Get rid of the C++ controller API in the package. Rely only on the C and Python API.
- Copy binaries to lib/controller folder instead of lib/
- Set WEBOTS_HOME to the webots_ros2 installation folder (instead of Webots) to load the correct libController.
The current libController repository storing the binaries of the libController is replaced with committed source files. This way the source files can be compiled with the package and ensure compatibility with ARM architecture.

This reverts commit bf80017.

ygoumaz · 2022-11-17T14:31:20Z

I don't think it is possible to test the buildfarm, without making a proper release and PR on ROS Distro. So we should first merge this PR and then make a release to see if the branch solution works.

ad-daniel

Looks good to me.
When trying to update the submodule it seems to fail

Fetched in submodule path 'webots_ros2_driver/webots', but it did not contain 717732e9a1bf21b559b8f834fa5cae94d9f116ee. Direct fetching of that commit failed.

did you delete the branch by any chance?

Also, to test it in the build farm it will be necessary to merge develop into master and create a release from there. Might wanna make sure develop is up to date with master beforehand

ygoumaz · 2022-11-17T15:30:55Z

If your submodule is still pointing to the libcontroller repository, it may require a few more operations to change the folder to the correct tree and find the commit. The branch and commit exist and are correct, see here: cyberbotics/webots@717732e

EDIT: Try git submodule update --remote to update the repository of the libcontroller and checkout to the correct commit.

ygoumaz · 2022-11-17T15:33:55Z

And yes we should merge #516 and #523 to master first. Then merge master in develop. Finally merge this PR and merge develop in master.

In addition, we annonced that the webots_ros2_core package would be removed with R2023a. We should probably also create a new PR to delete it before merging develop to master (or directly target master after all the above operations).

ad-daniel · 2022-11-17T15:37:33Z

what about the dummy branch? Shouldn't this PR target develop directly or develop is missing other changes?

ygoumaz · 2022-11-17T16:18:41Z

It targets libcontroller-develop branch on the Webots repository. This branch is a mirror of the develop branch but every file not related to the libController API are removed.

In the future, there should be a libcontroller-master branch too. These branches will be protected and synchronized automatically with master and develop branch of Webots when the libController gets an update.

ad-daniel · 2022-11-17T16:32:17Z

These branches will be protected and synchronized automatically with master and develop branch of Webots when the libController gets an update.

wouldn't that create countless merge conflicts?

ygoumaz · 2022-11-17T16:44:36Z

Yes, if we try to synchronize "classically", it would be impossible to resolve conflicts. But we can probably push directly to the branch, as it is done on the libcontroller repository right now, what do you think?

ygoumaz · 2022-11-18T09:39:05Z

I have replaced the submodule by commited files, as discussed.

…lcon

ad-daniel

I've only checked the files outside driver, I'll take your word the webots folder is complete, it compiles without errors for me

* Sync submodule (#501) Co-authored-by: ad-daniel <ad-daniel@github.com> * Sync submodule (#507) Co-authored-by: ad-daniel <ad-daniel@github.com> * Merge master into develop (#524) * Sync submodule (#498) Co-authored-by: ad-daniel <ad-daniel@github.com> * Update link to wiki page in README.md (#499) * Update README.md * Update README.md Co-authored-by: Olivier Michel <Olivier.Michel@cyberbotics.com> * Keep webots and libController to R2022b rev1 * Update robot launch files (#502) * update changelog and packages.xml (#506) * Fix camera focal length (#510) * Fix camera focal length * Update CHANGELOG.rst * Update CHANGELOG.rst Co-authored-by: ad-daniel <44834743+ad-daniel@users.noreply.github.com> * Sync submodule (#518) Co-authored-by: ad-daniel <ad-daniel@github.com> * Sync submodule (#521) Co-authored-by: ad-daniel <ad-daniel@github.com> * Upgrade urdf2webots to 2.0.3 (#516) * Upgrade urdf2webots to 2.0.3 * Fix * Fix * Update calculation of `CameraRecognitionObject` (#523) * Update calculation of CameraRecognitionObject Calculation now conforms to the new camera coordinate frame introduced with Webots R2022b. Signed-off-by: Andreas Kreutz <andreas.kreutz@hotmail.de> * Add test for recognition object calculation Signed-off-by: Andreas Kreutz <andreas.kreutz@hotmail.de> * Add missing dependency Signed-off-by: Andreas Kreutz <andreas.kreutz@hotmail.de> * Fix linting error Signed-off-by: Andreas Kreutz <andreas.kreutz@hotmail.de> * Update changelogs Signed-off-by: Andreas Kreutz <andreas.kreutz@hotmail.de> Signed-off-by: Andreas Kreutz <andreas.kreutz@hotmail.de> Co-authored-by: ad-daniel <44834743+ad-daniel@users.noreply.github.com> * Update webots * update changelog and packages.xml (#526) * Keep correct version of Webots Signed-off-by: Andreas Kreutz <andreas.kreutz@hotmail.de> Co-authored-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: ad-daniel <ad-daniel@github.com> Co-authored-by: Stefania Pedrazzi <stefaniapedrazzi@users.noreply.github.com> Co-authored-by: Olivier Michel <Olivier.Michel@cyberbotics.com> Co-authored-by: Darko Lukić <lukicdarkoo@gmail.com> Co-authored-by: ad-daniel <44834743+ad-daniel@users.noreply.github.com> Co-authored-by: Andreas Kreutz <andreas.kreutz@hotmail.de> * Remove deprecared `webots_ros2_core` package (#525) * Remove * Minor * Fix changelog * Fix submodule * Add Python API compatibility and libController compilation (#508) * Update from #503 * Update webots submodule * Update python install cmake * Update libcontroller commit * shallow submodule * Cleanup + rename python modules * Add symlinks for libController + cleanup * Convert to C API * Converting ros2control to C API * Update python plugin to load correct libController * Update repo * pull specific branch from webots * update test version for buildfarm * Revert "update test version for buildfarm" This reverts commit bf80017. * Add explanation for WEBOTS_HOME * update to commit * replace submodule by commited files * Delete webots * Rename libcontroller to webots * Add changelog * Update changelog version * Remove useless files * Upgrade to R2023a (develop) (#535) * Change minimal version to R2023a * Update ci_before_init_embed.bash * Upgrade worlds to R2023a * Update copyrights * Enhancement add auto libcontroller sync (#528) * cleanup + new script * launch test * fix wrong path * Update titles and url * Copy files anyway * improve infos and copy * remove comments * final touch * change step name * trigger sync * change checkout branch * restore changes * Remove version update * change version for tests * revert version Signed-off-by: Andreas Kreutz <andreas.kreutz@hotmail.de> Co-authored-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: ad-daniel <ad-daniel@github.com> Co-authored-by: Stefania Pedrazzi <stefaniapedrazzi@users.noreply.github.com> Co-authored-by: Olivier Michel <Olivier.Michel@cyberbotics.com> Co-authored-by: Darko Lukić <lukicdarkoo@gmail.com> Co-authored-by: ad-daniel <44834743+ad-daniel@users.noreply.github.com> Co-authored-by: Andreas Kreutz <andreas.kreutz@hotmail.de>

* Sync submodule (#498) Co-authored-by: ad-daniel <ad-daniel@github.com> * Update link to wiki page in README.md (#499) * Update README.md * Update README.md Co-authored-by: Olivier Michel <Olivier.Michel@cyberbotics.com> * Keep webots and libController to R2022b rev1 * Update robot launch files (#502) * update changelog and packages.xml (#506) * Fix camera focal length (#510) * Fix camera focal length * Update CHANGELOG.rst * Update CHANGELOG.rst Co-authored-by: ad-daniel <44834743+ad-daniel@users.noreply.github.com> * Sync submodule (#518) Co-authored-by: ad-daniel <ad-daniel@github.com> * Sync submodule (#521) Co-authored-by: ad-daniel <ad-daniel@github.com> * Upgrade urdf2webots to 2.0.3 (#516) * Upgrade urdf2webots to 2.0.3 * Fix * Fix * Update calculation of `CameraRecognitionObject` (#523) * Update calculation of CameraRecognitionObject Calculation now conforms to the new camera coordinate frame introduced with Webots R2022b. Signed-off-by: Andreas Kreutz <andreas.kreutz@hotmail.de> * Add test for recognition object calculation Signed-off-by: Andreas Kreutz <andreas.kreutz@hotmail.de> * Add missing dependency Signed-off-by: Andreas Kreutz <andreas.kreutz@hotmail.de> * Fix linting error Signed-off-by: Andreas Kreutz <andreas.kreutz@hotmail.de> * Update changelogs Signed-off-by: Andreas Kreutz <andreas.kreutz@hotmail.de> Signed-off-by: Andreas Kreutz <andreas.kreutz@hotmail.de> Co-authored-by: ad-daniel <44834743+ad-daniel@users.noreply.github.com> * update changelog and packages.xml (#526) * Update ci_before_init_embed.bash (#536) * Merge develop into master for 2023 version (#540) * Sync submodule (#501) Co-authored-by: ad-daniel <ad-daniel@github.com> * Sync submodule (#507) Co-authored-by: ad-daniel <ad-daniel@github.com> * Merge master into develop (#524) * Sync submodule (#498) Co-authored-by: ad-daniel <ad-daniel@github.com> * Update link to wiki page in README.md (#499) * Update README.md * Update README.md Co-authored-by: Olivier Michel <Olivier.Michel@cyberbotics.com> * Keep webots and libController to R2022b rev1 * Update robot launch files (#502) * update changelog and packages.xml (#506) * Fix camera focal length (#510) * Fix camera focal length * Update CHANGELOG.rst * Update CHANGELOG.rst Co-authored-by: ad-daniel <44834743+ad-daniel@users.noreply.github.com> * Sync submodule (#518) Co-authored-by: ad-daniel <ad-daniel@github.com> * Sync submodule (#521) Co-authored-by: ad-daniel <ad-daniel@github.com> * Upgrade urdf2webots to 2.0.3 (#516) * Upgrade urdf2webots to 2.0.3 * Fix * Fix * Update calculation of `CameraRecognitionObject` (#523) * Update calculation of CameraRecognitionObject Calculation now conforms to the new camera coordinate frame introduced with Webots R2022b. Signed-off-by: Andreas Kreutz <andreas.kreutz@hotmail.de> * Add test for recognition object calculation Signed-off-by: Andreas Kreutz <andreas.kreutz@hotmail.de> * Add missing dependency Signed-off-by: Andreas Kreutz <andreas.kreutz@hotmail.de> * Fix linting error Signed-off-by: Andreas Kreutz <andreas.kreutz@hotmail.de> * Update changelogs Signed-off-by: Andreas Kreutz <andreas.kreutz@hotmail.de> Signed-off-by: Andreas Kreutz <andreas.kreutz@hotmail.de> Co-authored-by: ad-daniel <44834743+ad-daniel@users.noreply.github.com> * Update webots * update changelog and packages.xml (#526) * Keep correct version of Webots Signed-off-by: Andreas Kreutz <andreas.kreutz@hotmail.de> Co-authored-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: ad-daniel <ad-daniel@github.com> Co-authored-by: Stefania Pedrazzi <stefaniapedrazzi@users.noreply.github.com> Co-authored-by: Olivier Michel <Olivier.Michel@cyberbotics.com> Co-authored-by: Darko Lukić <lukicdarkoo@gmail.com> Co-authored-by: ad-daniel <44834743+ad-daniel@users.noreply.github.com> Co-authored-by: Andreas Kreutz <andreas.kreutz@hotmail.de> * Remove deprecared `webots_ros2_core` package (#525) * Remove * Minor * Fix changelog * Fix submodule * Add Python API compatibility and libController compilation (#508) * Update from #503 * Update webots submodule * Update python install cmake * Update libcontroller commit * shallow submodule * Cleanup + rename python modules * Add symlinks for libController + cleanup * Convert to C API * Converting ros2control to C API * Update python plugin to load correct libController * Update repo * pull specific branch from webots * update test version for buildfarm * Revert "update test version for buildfarm" This reverts commit bf80017. * Add explanation for WEBOTS_HOME * update to commit * replace submodule by commited files * Delete webots * Rename libcontroller to webots * Add changelog * Update changelog version * Remove useless files * Upgrade to R2023a (develop) (#535) * Change minimal version to R2023a * Update ci_before_init_embed.bash * Upgrade worlds to R2023a * Update copyrights * Enhancement add auto libcontroller sync (#528) * cleanup + new script * launch test * fix wrong path * Update titles and url * Copy files anyway * improve infos and copy * remove comments * final touch * change step name * trigger sync * change checkout branch * restore changes * Remove version update * change version for tests * revert version Signed-off-by: Andreas Kreutz <andreas.kreutz@hotmail.de> Co-authored-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: ad-daniel <ad-daniel@github.com> Co-authored-by: Stefania Pedrazzi <stefaniapedrazzi@users.noreply.github.com> Co-authored-by: Olivier Michel <Olivier.Michel@cyberbotics.com> Co-authored-by: Darko Lukić <lukicdarkoo@gmail.com> Co-authored-by: ad-daniel <44834743+ad-daniel@users.noreply.github.com> Co-authored-by: Andreas Kreutz <andreas.kreutz@hotmail.de> Signed-off-by: Andreas Kreutz <andreas.kreutz@hotmail.de> Co-authored-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: ad-daniel <ad-daniel@github.com> Co-authored-by: Stefania Pedrazzi <stefaniapedrazzi@users.noreply.github.com> Co-authored-by: Olivier Michel <Olivier.Michel@cyberbotics.com> Co-authored-by: Darko Lukić <lukicdarkoo@gmail.com> Co-authored-by: ad-daniel <44834743+ad-daniel@users.noreply.github.com> Co-authored-by: Andreas Kreutz <andreas.kreutz@hotmail.de>

@ygoumaz

* Sync submodule (#501) Co-authored-by: ad-daniel <ad-daniel@github.com> * Sync submodule (#507) Co-authored-by: ad-daniel <ad-daniel@github.com> * Merge master into develop (#524) * Sync submodule (#498) Co-authored-by: ad-daniel <ad-daniel@github.com> * Update link to wiki page in README.md (#499) * Update README.md * Update README.md Co-authored-by: Olivier Michel <Olivier.Michel@cyberbotics.com> * Keep webots and libController to R2022b rev1 * Update robot launch files (#502) * update changelog and packages.xml (#506) * Fix camera focal length (#510) * Fix camera focal length * Update CHANGELOG.rst * Update CHANGELOG.rst Co-authored-by: ad-daniel <44834743+ad-daniel@users.noreply.github.com> * Sync submodule (#518) Co-authored-by: ad-daniel <ad-daniel@github.com> * Sync submodule (#521) Co-authored-by: ad-daniel <ad-daniel@github.com> * Upgrade urdf2webots to 2.0.3 (#516) * Upgrade urdf2webots to 2.0.3 * Fix * Fix * Update calculation of `CameraRecognitionObject` (#523) * Update calculation of CameraRecognitionObject Calculation now conforms to the new camera coordinate frame introduced with Webots R2022b. Signed-off-by: Andreas Kreutz <andreas.kreutz@hotmail.de> * Add test for recognition object calculation Signed-off-by: Andreas Kreutz <andreas.kreutz@hotmail.de> * Add missing dependency Signed-off-by: Andreas Kreutz <andreas.kreutz@hotmail.de> * Fix linting error Signed-off-by: Andreas Kreutz <andreas.kreutz@hotmail.de> * Update changelogs Signed-off-by: Andreas Kreutz <andreas.kreutz@hotmail.de> Signed-off-by: Andreas Kreutz <andreas.kreutz@hotmail.de> Co-authored-by: ad-daniel <44834743+ad-daniel@users.noreply.github.com> * Update webots * update changelog and packages.xml (#526) * Keep correct version of Webots Signed-off-by: Andreas Kreutz <andreas.kreutz@hotmail.de> Co-authored-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: ad-daniel <ad-daniel@github.com> Co-authored-by: Stefania Pedrazzi <stefaniapedrazzi@users.noreply.github.com> Co-authored-by: Olivier Michel <Olivier.Michel@cyberbotics.com> Co-authored-by: Darko Lukić <lukicdarkoo@gmail.com> Co-authored-by: ad-daniel <44834743+ad-daniel@users.noreply.github.com> Co-authored-by: Andreas Kreutz <andreas.kreutz@hotmail.de> * Remove deprecared `webots_ros2_core` package (#525) * Remove * Minor * Fix changelog * Fix submodule * Add Python API compatibility and libController compilation (#508) * Update from #503 * Update webots submodule * Update python install cmake * Update libcontroller commit * shallow submodule * Cleanup + rename python modules * Add symlinks for libController + cleanup * Convert to C API * Converting ros2control to C API * Update python plugin to load correct libController * Update repo * pull specific branch from webots * update test version for buildfarm * Revert "update test version for buildfarm" This reverts commit bf80017. * Add explanation for WEBOTS_HOME * update to commit * replace submodule by commited files * Delete webots * Rename libcontroller to webots * Add changelog * Update changelog version * Remove useless files * Upgrade to R2023a (develop) (#535) * Change minimal version to R2023a * Update ci_before_init_embed.bash * Upgrade worlds to R2023a * Update copyrights * Enhancement add auto libcontroller sync (#528) * cleanup + new script * launch test * fix wrong path * Update titles and url * Copy files anyway * improve infos and copy * remove comments * final touch * change step name * trigger sync * change checkout branch * restore changes * Merge master into develop (#542) * Sync submodule (#498) Co-authored-by: ad-daniel <ad-daniel@github.com> * Update link to wiki page in README.md (#499) * Update README.md * Update README.md Co-authored-by: Olivier Michel <Olivier.Michel@cyberbotics.com> * Keep webots and libController to R2022b rev1 * Update robot launch files (#502) * update changelog and packages.xml (#506) * Fix camera focal length (#510) * Fix camera focal length * Update CHANGELOG.rst * Update CHANGELOG.rst Co-authored-by: ad-daniel <44834743+ad-daniel@users.noreply.github.com> * Sync submodule (#518) Co-authored-by: ad-daniel <ad-daniel@github.com> * Sync submodule (#521) Co-authored-by: ad-daniel <ad-daniel@github.com> * Upgrade urdf2webots to 2.0.3 (#516) * Upgrade urdf2webots to 2.0.3 * Fix * Fix * Update calculation of `CameraRecognitionObject` (#523) * Update calculation of CameraRecognitionObject Calculation now conforms to the new camera coordinate frame introduced with Webots R2022b. Signed-off-by: Andreas Kreutz <andreas.kreutz@hotmail.de> * Add test for recognition object calculation Signed-off-by: Andreas Kreutz <andreas.kreutz@hotmail.de> * Add missing dependency Signed-off-by: Andreas Kreutz <andreas.kreutz@hotmail.de> * Fix linting error Signed-off-by: Andreas Kreutz <andreas.kreutz@hotmail.de> * Update changelogs Signed-off-by: Andreas Kreutz <andreas.kreutz@hotmail.de> Signed-off-by: Andreas Kreutz <andreas.kreutz@hotmail.de> Co-authored-by: ad-daniel <44834743+ad-daniel@users.noreply.github.com> * update changelog and packages.xml (#526) * Update ci_before_init_embed.bash (#536) * Merge develop into master for 2023 version (#540) * Sync submodule (#501) Co-authored-by: ad-daniel <ad-daniel@github.com> * Sync submodule (#507) Co-authored-by: ad-daniel <ad-daniel@github.com> * Merge master into develop (#524) * Sync submodule (#498) Co-authored-by: ad-daniel <ad-daniel@github.com> * Update link to wiki page in README.md (#499) * Update README.md * Update README.md Co-authored-by: Olivier Michel <Olivier.Michel@cyberbotics.com> * Keep webots and libController to R2022b rev1 * Update robot launch files (#502) * update changelog and packages.xml (#506) * Fix camera focal length (#510) * Fix camera focal length * Update CHANGELOG.rst * Update CHANGELOG.rst Co-authored-by: ad-daniel <44834743+ad-daniel@users.noreply.github.com> * Sync submodule (#518) Co-authored-by: ad-daniel <ad-daniel@github.com> * Sync submodule (#521) Co-authored-by: ad-daniel <ad-daniel@github.com> * Upgrade urdf2webots to 2.0.3 (#516) * Upgrade urdf2webots to 2.0.3 * Fix * Fix * Update calculation of `CameraRecognitionObject` (#523) * Update calculation of CameraRecognitionObject Calculation now conforms to the new camera coordinate frame introduced with Webots R2022b. Signed-off-by: Andreas Kreutz <andreas.kreutz@hotmail.de> * Add test for recognition object calculation Signed-off-by: Andreas Kreutz <andreas.kreutz@hotmail.de> * Add missing dependency Signed-off-by: Andreas Kreutz <andreas.kreutz@hotmail.de> * Fix linting error Signed-off-by: Andreas Kreutz <andreas.kreutz@hotmail.de> * Update changelogs Signed-off-by: Andreas Kreutz <andreas.kreutz@hotmail.de> Signed-off-by: Andreas Kreutz <andreas.kreutz@hotmail.de> Co-authored-by: ad-daniel <44834743+ad-daniel@users.noreply.github.com> * Update webots * update changelog and packages.xml (#526) * Keep correct version of Webots Signed-off-by: Andreas Kreutz <andreas.kreutz@hotmail.de> Co-authored-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: ad-daniel <ad-daniel@github.com> Co-authored-by: Stefania Pedrazzi <stefaniapedrazzi@users.noreply.github.com> Co-authored-by: Olivier Michel <Olivier.Michel@cyberbotics.com> Co-authored-by: Darko Lukić <lukicdarkoo@gmail.com> Co-authored-by: ad-daniel <44834743+ad-daniel@users.noreply.github.com> Co-authored-by: Andreas Kreutz <andreas.kreutz@hotmail.de> * Remove deprecared `webots_ros2_core` package (#525) * Remove * Minor * Fix changelog * Fix submodule * Add Python API compatibility and libController compilation (#508) * Update from #503 * Update webots submodule * Update python install cmake * Update libcontroller commit * shallow submodule * Cleanup + rename python modules * Add symlinks for libController + cleanup * Convert to C API * Converting ros2control to C API * Update python plugin to load correct libController * Update repo * pull specific branch from webots * update test version for buildfarm * Revert "update test version for buildfarm" This reverts commit bf80017. * Add explanation for WEBOTS_HOME * update to commit * replace submodule by commited files * Delete webots * Rename libcontroller to webots * Add changelog * Update changelog version * Remove useless files * Upgrade to R2023a (develop) (#535) * Change minimal version to R2023a * Update ci_before_init_embed.bash * Upgrade worlds to R2023a * Update copyrights * Enhancement add auto libcontroller sync (#528) * cleanup + new script * launch test * fix wrong path * Update titles and url * Copy files anyway * improve infos and copy * remove comments * final touch * change step name * trigger sync * change checkout branch * restore changes * Remove version update * change version for tests * revert version Signed-off-by: Andreas Kreutz <andreas.kreutz@hotmail.de> Co-authored-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: ad-daniel <ad-daniel@github.com> Co-authored-by: Stefania Pedrazzi <stefaniapedrazzi@users.noreply.github.com> Co-authored-by: Olivier Michel <Olivier.Michel@cyberbotics.com> Co-authored-by: Darko Lukić <lukicdarkoo@gmail.com> Co-authored-by: ad-daniel <44834743+ad-daniel@users.noreply.github.com> Co-authored-by: Andreas Kreutz <andreas.kreutz@hotmail.de> Signed-off-by: Andreas Kreutz <andreas.kreutz@hotmail.de> Co-authored-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: ad-daniel <ad-daniel@github.com> Co-authored-by: Stefania Pedrazzi <stefaniapedrazzi@users.noreply.github.com> Co-authored-by: Olivier Michel <Olivier.Michel@cyberbotics.com> Co-authored-by: Darko Lukić <lukicdarkoo@gmail.com> Co-authored-by: ad-daniel <44834743+ad-daniel@users.noreply.github.com> Co-authored-by: Andreas Kreutz <andreas.kreutz@hotmail.de> * Sync submodule (#544) Co-authored-by: ad-daniel <ad-daniel@github.com> * Sync submodule (#547) Co-authored-by: ad-daniel <ad-daniel@github.com> * Sync submodule (#550) Co-authored-by: ad-daniel <ad-daniel@github.com> * Sync submodule (#553) Co-authored-by: ad-daniel <ad-daniel@github.com> * Sync submodule (#556) Co-authored-by: ad-daniel <ad-daniel@github.com> * Sync submodule (#563) Co-authored-by: ad-daniel <ad-daniel@github.com> * Sync submodule (#566) Co-authored-by: ad-daniel <ad-daniel@github.com> * Sync submodule (#571) Co-authored-by: ad-daniel <ad-daniel@github.com> * Sync submodule (#589) Co-authored-by: ad-daniel <ad-daniel@github.com> * Enforce clang format (#599) (#601) * Apply clangformat * Add test sources * Test pep8 * Fix workflow * Fix workflow * Fix script * pep8 fixes * Cpp fixes * Remove ament pep257 & flake8 * Update urdf2webots submodule * Revert "Update urdf2webots submodule" This reverts commit fa45543. * Revert "Remove ament pep257 & flake8" This reverts commit 92df8a3. * Revert "Cpp fixes" This reverts commit c3a497c. * Revert "pep8 fixes" This reverts commit 141b0c8. * Revert "Revert "pep8 fixes"" This reverts commit ad007a4. * Test * Revert "Test" This reverts commit 25934ef. * Revert "Revert "Cpp fixes"" This reverts commit 8462d81. * Revert "Revert "Remove ament pep257 & flake8"" This reverts commit c689352. * Revert "Revert "Update urdf2webots submodule"" This reverts commit e2ed2b3. * Order fixes * Skip submodule tests * Finalize * Sync submodule (#605) Co-authored-by: ad-daniel <ad-daniel@github.com> * Sync submodule (#608) Co-authored-by: ad-daniel <ad-daniel@github.com> * Sync submodule (#611) Co-authored-by: ad-daniel <ad-daniel@github.com> * Sync submodule (#614) Co-authored-by: ad-daniel <ad-daniel@github.com> * Sync submodule (#618) Co-authored-by: ad-daniel <ad-daniel@github.com> * Sync submodule (#621) Co-authored-by: ad-daniel <ad-daniel@github.com> * Sync submodule (#624) Co-authored-by: ad-daniel <ad-daniel@github.com> * Sync submodule (#628) Co-authored-by: ad-daniel <ad-daniel@github.com> * Sync master with develop (#630) * Enforce clang format (#599) * Apply clangformat * Add test sources * Test pep8 * Fix workflow * Fix workflow * Fix script * pep8 fixes * Cpp fixes * Remove ament pep257 & flake8 * Update urdf2webots submodule * Revert "Update urdf2webots submodule" This reverts commit fa45543. * Revert "Remove ament pep257 & flake8" This reverts commit 92df8a3. * Revert "Cpp fixes" This reverts commit c3a497c. * Revert "pep8 fixes" This reverts commit 141b0c8. * Revert "Revert "pep8 fixes"" This reverts commit ad007a4. * Test * Revert "Test" This reverts commit 25934ef. * Revert "Revert "Cpp fixes"" This reverts commit 8462d81. * Revert "Revert "Remove ament pep257 & flake8"" This reverts commit c689352. * Revert "Revert "Update urdf2webots submodule"" This reverts commit e2ed2b3. * Order fixes * Skip submodule tests * Finalize * Sync submodule (#602) Co-authored-by: ad-daniel <ad-daniel@github.com> * Sync submodule (#606) Co-authored-by: ad-daniel <ad-daniel@github.com> * Sync submodule (#609) Co-authored-by: ad-daniel <ad-daniel@github.com> * Sync submodule (#613) Co-authored-by: ad-daniel <ad-daniel@github.com> * Fix macOS local assets with relative URLs (#612) * Add macOS copy * remove host * Update changelogs * Optional Ros2 Supervisor (#616) * webots launcher creates supervisor if needed * Update launch files * minor fix * Update changelogs * Fix URDF spawner on macOS and WSL (#610) * add wsl and macos urdfpath edit * Better path manipulation in supervisor * fix package names in yalm and xacro * Fix resources copy and prefix * Fix directory split * Update wsl * fix wsl * Update changelogs * cleanup * fix sources * Update webots_ros2_driver/webots_ros2_driver/ros2_supervisor.py Co-authored-by: ad-daniel <44834743+ad-daniel@users.noreply.github.com> * Update ros2_supervisor.py * clear trailing whitespace * Update changelog --------- Co-authored-by: ad-daniel <44834743+ad-daniel@users.noreply.github.com> * update changelogs and version (#620) * Sync submodule (#623) Co-authored-by: ad-daniel <ad-daniel@github.com> * adding possibility to select stream type (#625) * adding possibility to select stream type * Update webots_ros2_driver/webots_ros2_driver/webots_launcher.py Co-authored-by: Olivier Michel <Olivier.Michel@cyberbotics.com> --------- Co-authored-by: Sebastian Ohl <sebastian@ohl.de> Co-authored-by: Olivier Michel <Olivier.Michel@cyberbotics.com> * Fix tests (#633) * fix pep8 * fix pep8 --------- Co-authored-by: ad-daniel <44834743+ad-daniel@users.noreply.github.com> Co-authored-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: ad-daniel <ad-daniel@github.com> Co-authored-by: Sebastian Ohl <45941992+sebastianohl@users.noreply.github.com> Co-authored-by: Sebastian Ohl <sebastian@ohl.de> Co-authored-by: Olivier Michel <Olivier.Michel@cyberbotics.com> * Update sync_controller_lib.sh (#629) * revert lib controller changes * Executable sync_controller_lib * Create lib controller PRs * Update libcontroller_updater.yml * Fix develop branch (#649) * fix develop + sync lib controller * remove lib controller sync * Update libcontroller_updater.yml * Remove lib controller update * Sync submodule (#652) Co-authored-by: ygoumaz <ygoumaz@github.com> * Sync submodule (#661) Co-authored-by: ad-daniel <ad-daniel@github.com> * Sync submodule (#663) Co-authored-by: ad-daniel <ad-daniel@github.com> * Sync submodule (#667) Co-authored-by: ad-daniel <ad-daniel@github.com> * Sync submodule (#670) Co-authored-by: ad-daniel <ad-daniel@github.com> * Sync submodule (#678) Co-authored-by: ad-daniel <ad-daniel@github.com> * Adapt develop workflow * Sync submodule (#699) Co-authored-by: ad-daniel <ad-daniel@github.com> * Sync submodule (#701) Co-authored-by: ad-daniel <ad-daniel@github.com> * Sync submodule (#713) Co-authored-by: ad-daniel <ad-daniel@github.com> * Merge master into develop (#715) * use multiplier (#689) * Adding Compass node (#677) * Adding Compass node * Apply suggestions from code review Co-authored-by: Yannick Goumaz <61198661+ygoumaz@users.noreply.github.com> * Adding @ygoumaz suggestions * Complementing @ygoumaz suggestions * Update CHANGELOG * Ros2Compass minor fix * Including @lukicdarkoo and @ygoumaz comments * Fix msg type * Fix msg type * Fix msg type * Restoring files to compile and updating with discussed changes * Apply @ygoumaz minor suggestions from code review Co-authored-by: Yannick Goumaz <61198661+ygoumaz@users.noreply.github.com> * Delete GetFloatArray.srv * Update Compass publisher name Co-authored-by: Yannick Goumaz <61198661+ygoumaz@users.noreply.github.com> * Fix clang format --------- Co-authored-by: Angel Ayala <angel.antonio@avantia.com.br> Co-authored-by: Olivier Michel <Olivier.Michel@cyberbotics.com> Co-authored-by: Yannick Goumaz <61198661+ygoumaz@users.noreply.github.com> Co-authored-by: Yannick Goumaz <yannick.goumaz@epfl.ch> * Sync submodule (#697) Co-authored-by: ad-daniel <ad-daniel@github.com> * Sync submodule (#698) Co-authored-by: ad-daniel <ad-daniel@github.com> * Fix Emitter and Receiver devices (#696) * Fix Emitter and Receiver devices * Fix Emitter and Receiver devices * Adding @ygoumaz suggestions * Fix illegal calls --------- Co-authored-by: Olivier Michel <Olivier.Michel@cyberbotics.com> Co-authored-by: Yannick Goumaz <61198661+ygoumaz@users.noreply.github.com> * Fix Receiver services names (#703) * Fix CI tests (#706) * install from turtlebot3 from sources * install git * Add target ws * separate ws for turtlebot * cleanup + fix ros not found * try upstream ws * ignore rviz in CI * fix duplicate name * clone fork * remove use rviz from launch file * cleanup + comment * restrict message (#705) * Fix and cleanup e-puck example (#695) * Transfer navigation and mapper to main launcher * Fix odometry * fix navigation, improve params * Fix and improve nav test * minor clean * improve * fix rats life * fix sources * Update changelogs * Apply changes to 2023.0.3 * Skip slam test on foxy to avoid crash --------- Co-authored-by: Olivier Michel <Olivier.Michel@cyberbotics.com> * Prepare 2023.0.3 (#702) * update changelogs and version * Update release date * Sync submodule (#711) Co-authored-by: ad-daniel <ad-daniel@github.com> * Cleanup e-puck tools to run RViz alone (#712) * cleanup launch * changelog * Add RGB point cloud (#709) * Add RGB point cloud * style * better check * Update CHANGELOG.rst * Update CHANGELOG.rst * Update webots_ros2_driver/src/plugins/dynamic/Ros2RGBD.cpp Co-authored-by: Yannick Goumaz <61198661+ygoumaz@users.noreply.github.com> * Update CHANGELOG.rst --------- Co-authored-by: Yannick Goumaz <61198661+ygoumaz@users.noreply.github.com> --------- Co-authored-by: Angel Ayala <angel-ayala@users.noreply.github.com> Co-authored-by: Angel Ayala <angel.antonio@avantia.com.br> Co-authored-by: Olivier Michel <Olivier.Michel@cyberbotics.com> Co-authored-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: ad-daniel <ad-daniel@github.com> Co-authored-by: Darko Lukić <lukicdarkoo@gmail.com> * Fix worlds in develop (#716) * Fix worlds + tiago * R2023b > develop * R2023b > develop * Sync libcontroller develop (#723) * Sync submodule * ignore some tests * restore tests * remove * Revert "remove" This reverts commit f16fea5. * Remove failure if no username folder --------- Co-authored-by: ad-daniel <ad-daniel@github.com> Co-authored-by: Yannick Goumaz <yannick.goumaz@epfl.ch> * Improve TIAGo for better compatibility with real robot (#717) * Update to TIAGo with camera * restore tiago lite * improve original launch file + new bringup * update lidar to /scan_raw * Faster tiago navigation * replace tiago_lite by tiago in new world * Start each node separately * bringup fixes * Update changelogs * Update webots_ros2_tiago/launch/robot_bringup_launch.py Co-authored-by: Olivier Michel <Olivier.Michel@cyberbotics.com> --------- Co-authored-by: Olivier Michel <Olivier.Michel@cyberbotics.com> * backport changes (#729) * clean world (#738) * Sync submodule (#740) Co-authored-by: ad-daniel <ad-daniel@github.com> * Sync libcontroller develop (#745) * Sync submodule * Converted Transform nodes to Pose * Transform to Pose * update occlusion --------- Co-authored-by: ad-daniel <ad-daniel@github.com> Co-authored-by: Olivier Michel <Olivier.Michel@cyberbotics.com> Co-authored-by: Yannick Goumaz <yannick.goumaz@epfl.ch> * Update CHANGELOG.rst * Update CHANGELOG.rst * Update robot_bringup_launch.py * Remove forgotten TODO * Sync submodule (#752) Co-authored-by: ad-daniel <ad-daniel@github.com> * Feature WebotsController node (#746) * create WebotsController node * start controller with parameters * add remappings * minor * adapt launch files * Update robot description to file path * clang format and cleanup * adapt launch files * minor * fix driver test * minor * fix webots_home env * remove rpath in driver * update changelogs * Install libgeneric_robot_window.so in driver (#742) * install generic robot window in driver * Update CHANGELOG.rst * Update CHANGELOG.rst * 749 ros2camera publishes non canonical topics and camera info (#761) * Default to canonical topic names for Ros2Camera and Ros2RangeFinder, and ensure camera info stamp is updated Signed-off-by: Justin Beri <18635834+justinberi@users.noreply.github.com> * Update change logs Signed-off-by: Justin Beri <18635834+justinberi@users.noreply.github.com> * Update tests with new default topic names Signed-off-by: Justin Beri <18635834+justinberi@users.noreply.github.com> --------- Signed-off-by: Justin Beri <18635834+justinberi@users.noreply.github.com> * Update robot_launch.py * Update robot_launch.py * fix sources * fix * fix testing tests * Sync submodule * Sync submodule * Adding VacuumGripper device (#771) * Add VacuumGripper static plugin * Update main changelog * Add GetBool srv * Fix msg and srv * Update Changelog * Fix msgs declarations * Update version.txt --------- Signed-off-by: Andreas Kreutz <andreas.kreutz@hotmail.de> Signed-off-by: Justin Beri <18635834+justinberi@users.noreply.github.com> Co-authored-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: ad-daniel <ad-daniel@github.com> Co-authored-by: Stefania Pedrazzi <stefaniapedrazzi@users.noreply.github.com> Co-authored-by: Olivier Michel <Olivier.Michel@cyberbotics.com> Co-authored-by: Darko Lukić <lukicdarkoo@gmail.com> Co-authored-by: ad-daniel <44834743+ad-daniel@users.noreply.github.com> Co-authored-by: Andreas Kreutz <andreas.kreutz@hotmail.de> Co-authored-by: ad-daniel <daniel.dias@epfl.ch> Co-authored-by: Sebastian Ohl <45941992+sebastianohl@users.noreply.github.com> Co-authored-by: Sebastian Ohl <sebastian@ohl.de> Co-authored-by: ygoumaz <ygoumaz@github.com> Co-authored-by: Angel Ayala <angel-ayala@users.noreply.github.com> Co-authored-by: Angel Ayala <angel.antonio@avantia.com.br> Co-authored-by: Justin Beri <18635834+justinberi@users.noreply.github.com>

ygoumaz added 6 commits November 7, 2022 09:11

Update from #503

80a41b5

Update webots submodule

855603b

Update python install cmake

ca75865

Update libcontroller commit

04fdab2

shallow submodule

53de463

Cleanup + rename python modules

da94929

ygoumaz mentioned this pull request Nov 10, 2022

Fix compilation #512

Closed

Add symlinks for libController + cleanup

84d4b76

ygoumaz mentioned this pull request Nov 16, 2022

webots_ros2_driver build failures on ROS 2 Rolling ARM64 #522

Closed

ygoumaz changed the title ~~Replace libController submodule by source files~~ Add Python API compatibility and libController compilation Nov 16, 2022

ygoumaz and others added 8 commits November 16, 2022 15:47

Convert to C API

89957ee

Converting ros2control to C API

c6dd69f

Update python plugin to load correct libController

c083637

Update repo

7d80cb2

pull specific branch from webots

d4c13f4

update test version for buildfarm

bf80017

Revert "update test version for buildfarm"

aa9116e

This reverts commit bf80017.

Add explanation for WEBOTS_HOME

0c3e158

ygoumaz marked this pull request as ready for review November 17, 2022 14:31

ad-daniel reviewed Nov 17, 2022

View reviewed changes

ygoumaz added 3 commits November 18, 2022 09:38

update to commit

46b83f7

replace submodule by commited files

880a3e6

Delete webots

33a22eb

Rename libcontroller to webots

6edc73c

ygoumaz requested a review from ad-daniel November 18, 2022 09:38

ygoumaz and others added 5 commits November 18, 2022 10:50

Add changelog

bcea224

Update changelog version

0f99433

Merge branch 'develop' into enhancement-compile-libcontroller-with-co…

bdf4bc8

…lcon

Merge branch 'develop' into enhancement-compile-libcontroller-with-co…

1a1e5f2

…lcon

Remove useless files

509e976

ad-daniel approved these changes Nov 22, 2022

View reviewed changes

ygoumaz merged commit 4cea114 into develop Nov 22, 2022

ygoumaz deleted the enhancement-compile-libcontroller-with-colcon branch November 22, 2022 11:25

ygoumaz mentioned this pull request Dec 29, 2022

Rethink pre-compiled libController submodule #482

Closed

ygoumaz linked an issue Dec 29, 2022 that may be closed by this pull request

Rethink pre-compiled libController submodule #482

Closed

ygoumaz mentioned this pull request Dec 29, 2022

webots_ros2 install problem #443

Closed

ygoumaz linked an issue Dec 29, 2022 that may be closed by this pull request

webots_ros2 install problem #443

Closed

ygoumaz mentioned this pull request Feb 14, 2023

How to create a ros2 node written in c++ to co-simulate with webots？？ #626

Closed

grekichi mentioned this pull request Dec 12, 2023

Cannot build webots_ros2_driver #873

Open

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

Add Python API compatibility and libController compilation #508

Add Python API compatibility and libController compilation #508

ygoumaz commented Nov 7, 2022 •

edited

Loading

ygoumaz commented Nov 17, 2022

ad-daniel left a comment

ygoumaz commented Nov 17, 2022 •

edited

Loading

ygoumaz commented Nov 17, 2022

ad-daniel commented Nov 17, 2022 •

edited

Loading

ygoumaz commented Nov 17, 2022 •

edited

Loading

ad-daniel commented Nov 17, 2022

ygoumaz commented Nov 17, 2022

ygoumaz commented Nov 18, 2022

ad-daniel left a comment

Add Python API compatibility and libController compilation #508

Add Python API compatibility and libController compilation #508

Conversation

ygoumaz commented Nov 7, 2022 • edited Loading

ygoumaz commented Nov 17, 2022

ad-daniel left a comment

Choose a reason for hiding this comment

ygoumaz commented Nov 17, 2022 • edited Loading

ygoumaz commented Nov 17, 2022

ad-daniel commented Nov 17, 2022 • edited Loading

ygoumaz commented Nov 17, 2022 • edited Loading

ad-daniel commented Nov 17, 2022

ygoumaz commented Nov 17, 2022

ygoumaz commented Nov 18, 2022

ad-daniel left a comment

Choose a reason for hiding this comment

ygoumaz commented Nov 7, 2022 •

edited

Loading

ygoumaz commented Nov 17, 2022 •

edited

Loading

ad-daniel commented Nov 17, 2022 •

edited

Loading

ygoumaz commented Nov 17, 2022 •

edited

Loading