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Remove ROS1 support (#6697)
* Remove ROS 1 Support * Remove ROS 1 From The Documentation * Update Documentation
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‎.github/workflows/test_suite_linux.yml‎

Lines changed: 5 additions & 45 deletions
Original file line numberDiff line numberDiff line change
@@ -38,15 +38,14 @@ jobs:
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export LIBGL_ALWAYS_SOFTWARE=true
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xvfb-run --auto-servernum make webots_target -j4
4040
build:
41-
if: ${{ github.event_name == 'push' || github.event_name == 'schedule' || contains(github.event.pull_request.labels.*.name, 'test distribution') || contains(github.event.pull_request.labels.*.name, 'test suite') || contains(github.event.pull_request.labels.*.name, 'test ros') || contains(github.event.pull_request.labels.*.name, 'test worlds') }}
41+
if: ${{ github.event_name == 'push' || github.event_name == 'schedule' || contains(github.event.pull_request.labels.*.name, 'test distribution') || contains(github.event.pull_request.labels.*.name, 'test worlds') }}
4242
strategy:
4343
fail-fast: false
4444
matrix:
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os: [ubuntu-20.04, ubuntu-22.04]
4646
include:
4747
- os: ubuntu-20.04
4848
JAVA_VERSION: "16"
49-
ROS_DISTRO: "noetic"
5049
- os: ubuntu-22.04
5150
JAVA_VERSION: "18"
5251
runs-on: ${{ matrix.os }}
@@ -66,7 +65,6 @@ jobs:
6665
export JAVA_HOME=/usr/lib/jvm/java-${{ matrix.JAVA_VERSION }}-openjdk-amd64
6766
export PATH=$JAVA_HOME/bin:$PATH
6867
export LIBGL_ALWAYS_SOFTWARE=true
69-
export ROS_DISTRO=${{ matrix.ROS_DISTRO }}
7068
xvfb-run --auto-servernum make distrib -j4
7169
- name: Create/Update GitHub release
7270
if: ${{ matrix.os == 'ubuntu-20.04' && (github.event_name == 'push' || github.event_name == 'schedule') }}
@@ -75,14 +73,14 @@ jobs:
7573
pip install pyopenssl --upgrade
7674
scripts/packaging/publish_release.py --key=${{ secrets.GITHUB_TOKEN }} --repo=${{ github.repository }} --branch=${{ github.ref }} --commit=$(git log -1 --format='%H') --tag=${{ github.ref }}
7775
- uses: actions/upload-artifact@v4
78-
if: ${{ contains(github.event.pull_request.labels.*.name, 'test suite') || contains(github.event.pull_request.labels.*.name, 'test ros') || contains(github.event.pull_request.labels.*.name, 'test worlds') }}
76+
if: ${{ contains(github.event.pull_request.labels.*.name, 'test suite') || contains(github.event.pull_request.labels.*.name, 'test worlds') }}
7977
with:
8078
name: build-${{ matrix.os }}
8179
path: |
8280
distribution/*.tar.bz2
8381
distribution/*.zip
8482
- uses: actions/upload-artifact@v4
85-
if: ${{ !contains(github.event.pull_request.labels.*.name, 'test suite') && !contains(github.event.pull_request.labels.*.name, 'test ros') && !contains(github.event.pull_request.labels.*.name, 'test worlds') }}
83+
if: ${{ !contains(github.event.pull_request.labels.*.name, 'test suite') && !contains(github.event.pull_request.labels.*.name, 'test worlds') }}
8684
with:
8785
name: build-${{ matrix.os }}
8886
path: |
@@ -107,7 +105,7 @@ jobs:
107105
- name: Extract Webots
108106
run: tar xjf artifact/webots-*-x86-64*.tar.bz2 -C artifact
109107
- name: Install Webots Dependencies
110-
run: sudo scripts/install/linux_test_dependencies.sh --exclude-ros
108+
run: sudo scripts/install/linux_test_dependencies.sh
111109
- name: Set up Python 3.9
112110
uses: actions/setup-python@v4
113111
with:
@@ -127,44 +125,6 @@ jobs:
127125
name: test-results-${{ matrix.os }}
128126
path: |
129127
tests/
130-
test-ros:
131-
needs: build
132-
if: ${{ contains(github.event.pull_request.labels.*.name, 'test ros') || github.event_name == 'schedule' }}
133-
strategy:
134-
fail-fast: false
135-
matrix:
136-
os: [ubuntu-20.04]
137-
include:
138-
- os: ubuntu-20.04
139-
ROS_DISTRO: noetic
140-
python: 3.8
141-
runs-on: ${{ matrix.os }}
142-
steps:
143-
- uses: actions/checkout@v3
144-
with:
145-
submodules: true
146-
- name: Download Artifacts
147-
uses: actions/[email protected]
148-
with:
149-
name: build-${{ matrix.os }}
150-
path: artifact
151-
- name: Extract Webots
152-
run: tar xjf artifact/webots-*-x86-64*.tar.bz2 -C artifact
153-
- name: Install Webots Dependencies
154-
run: sudo scripts/install/linux_test_dependencies.sh
155-
- name: Set up Python ${{ matrix.python }}
156-
uses: actions/setup-python@v4
157-
with:
158-
python-version: ${{ matrix.python }}
159-
- name: Run Test
160-
run: |
161-
export WEBOTS_HOME=$PWD/artifact/webots
162-
export ROS_DISTRO=${{ matrix.ROS_DISTRO }}
163-
python -m pip install rospkg catkin_pkg empy==3.3.4 defusedxml netifaces
164-
Xvfb :99 &
165-
export DISPLAY=:99
166-
./tests/ros.sh
167-
timeout-minutes: 15
168128
test-worlds:
169129
needs: build
170130
if: ${{ contains(github.event.pull_request.labels.*.name, 'test worlds') || github.event_name == 'schedule' }}
@@ -198,7 +158,7 @@ jobs:
198158
xvfb-run --auto-servernum python3 test_worlds.py
199159
if [[ "$(diff -qr artifact/ untouched-artifact/ | wc -l)" -ne "0" ]]; then echo Some world and/or wbproj files are not up to date: "$(diff -qr artifact/ untouched-artifact/)"; exit 1; fi
200160
delete-artifacts:
201-
needs: [build, test-suite, test-ros, test-worlds]
161+
needs: [build, test-suite, test-worlds]
202162
if: ${{ always() && !contains(github.event.pull_request.labels.*.name, 'test distribution') && !contains(github.event.pull_request.labels.*.name, 'test webots build') }}
203163
strategy:
204164
matrix:

‎.github/workflows/test_suite_linux_develop.yml‎

Lines changed: 5 additions & 46 deletions
Original file line numberDiff line numberDiff line change
@@ -33,15 +33,14 @@ jobs:
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export LIBGL_ALWAYS_SOFTWARE=true
3434
xvfb-run --auto-servernum make webots_target -j4
3535
build:
36-
if: ${{ github.event_name == 'push' || github.event_name == 'schedule' || contains(github.event.pull_request.labels.*.name, 'test distribution') || contains(github.event.pull_request.labels.*.name, 'test suite') || contains(github.event.pull_request.labels.*.name, 'test ros') || contains(github.event.pull_request.labels.*.name, 'test worlds') }}
36+
if: ${{ github.event_name == 'push' || github.event_name == 'schedule' || contains(github.event.pull_request.labels.*.name, 'test distribution') || contains(github.event.pull_request.labels.*.name, 'test suite') || contains(github.event.pull_request.labels.*.name, 'test worlds') }}
3737
strategy:
3838
fail-fast: false
3939
matrix:
4040
os: [ubuntu-20.04, ubuntu-22.04]
4141
include:
4242
- os: ubuntu-20.04
4343
JAVA_VERSION: "16"
44-
ROS_DISTRO: "noetic"
4544
- os: ubuntu-22.04
4645
JAVA_VERSION: "18"
4746
runs-on: ${{ matrix.os }}
@@ -62,7 +61,6 @@ jobs:
6261
export JAVA_HOME=/usr/lib/jvm/java-${{ matrix.JAVA_VERSION }}-openjdk-amd64
6362
export PATH=$JAVA_HOME/bin:$PATH
6463
export LIBGL_ALWAYS_SOFTWARE=true
65-
export ROS_DISTRO=${{ matrix.ROS_DISTRO }}
6664
xvfb-run --auto-servernum make distrib -j4
6765
- name: Create/Update GitHub release
6866
if: ${{ matrix.os == 'ubuntu-20.04' && (github.event_name == 'push' || github.event_name == 'schedule') }}
@@ -71,14 +69,14 @@ jobs:
7169
pip install pyopenssl --upgrade
7270
scripts/packaging/publish_release.py --key=${{ secrets.GITHUB_TOKEN }} --repo=${{ github.repository }} --branch=${{ github.ref }} --commit=$(git log -1 --format='%H') --tag=${{ github.ref }}
7371
- uses: actions/upload-artifact@v4
74-
if: ${{ contains(github.event.pull_request.labels.*.name, 'test suite') || contains(github.event.pull_request.labels.*.name, 'test ros') || contains(github.event.pull_request.labels.*.name, 'test worlds') }}
72+
if: ${{ contains(github.event.pull_request.labels.*.name, 'test suite') || contains(github.event.pull_request.labels.*.name, 'test worlds') }}
7573
with:
7674
name: build-${{ matrix.os }}
7775
path: |
7876
distribution/*.tar.bz2
7977
distribution/*.zip
8078
- uses: actions/upload-artifact@v4
81-
if: ${{ !contains(github.event.pull_request.labels.*.name, 'test suite') && !contains(github.event.pull_request.labels.*.name, 'test ros') && !contains(github.event.pull_request.labels.*.name, 'test worlds') }}
79+
if: ${{ !contains(github.event.pull_request.labels.*.name, 'test suite') && !contains(github.event.pull_request.labels.*.name, 'test worlds') }}
8280
with:
8381
name: build-${{ matrix.os }}
8482
path: |
@@ -105,7 +103,7 @@ jobs:
105103
- name: Extract Webots
106104
run: tar xjf artifact/webots-*-x86-64*.tar.bz2 -C artifact
107105
- name: Install Webots Dependencies
108-
run: sudo scripts/install/linux_test_dependencies.sh --exclude-ros
106+
run: sudo scripts/install/linux_test_dependencies.sh
109107
- name: Set up Python 3.9
110108
uses: actions/setup-python@v2
111109
with:
@@ -119,45 +117,6 @@ jobs:
119117
export TESTS_HOME=$PWD # required by cache group in the test suite
120118
export BRANCH_HASH=$(git log -1 --format='%H')
121119
xvfb-run --auto-servernum python tests/test_suite.py
122-
test-ros:
123-
needs: build
124-
if: ${{ contains(github.event.pull_request.labels.*.name, 'test ros') || github.event_name == 'schedule' }}
125-
strategy:
126-
fail-fast: false
127-
matrix:
128-
os: [ubuntu-20.04]
129-
include:
130-
- os: ubuntu-20.04
131-
ROS_DISTRO: noetic
132-
python: 3.8
133-
runs-on: ${{ matrix.os }}
134-
steps:
135-
- uses: actions/checkout@v3
136-
with:
137-
submodules: true
138-
ref: develop
139-
- name: Download Artifacts
140-
uses: actions/[email protected]
141-
with:
142-
name: build-${{ matrix.os }}
143-
path: artifact
144-
- name: Extract Webots
145-
run: tar xjf artifact/webots-*-x86-64*.tar.bz2 -C artifact
146-
- name: Install Webots Dependencies
147-
run: sudo scripts/install/linux_test_dependencies.sh
148-
- name: Set up Python ${{ matrix.python }}
149-
uses: actions/setup-python@v2
150-
with:
151-
python-version: ${{ matrix.python }}
152-
- name: Run Test
153-
run: |
154-
export WEBOTS_HOME=$PWD/artifact/webots
155-
export ROS_DISTRO=${{ matrix.ROS_DISTRO }}
156-
python -m pip install rospkg catkin_pkg empy==3.3.4 defusedxml netifaces
157-
Xvfb :99 &
158-
export DISPLAY=:99
159-
./tests/ros.sh
160-
timeout-minutes: 15
161120
test-worlds:
162121
needs: build
163122
if: ${{ contains(github.event.pull_request.labels.*.name, 'test worlds') || github.event_name == 'schedule' }}
@@ -191,7 +150,7 @@ jobs:
191150
xvfb-run --auto-servernum python3 test_worlds.py
192151
if [[ "$(diff -qr artifact/ untouched-artifact/ | wc -l)" -ne "0" ]]; then echo Some world and/or wbproj files are not up to date: "$(diff -qr artifact/ untouched-artifact/)"; exit 1; fi
193152
delete-artifacts:
194-
needs: [build, test-suite, test-ros, test-worlds]
153+
needs: [build, test-suite, test-worlds]
195154
if: ${{ always() && !contains(github.event.pull_request.labels.*.name, 'test distribution') && !contains(github.event.pull_request.labels.*.name, 'test webots build') }}
196155
strategy:
197156
matrix:

‎.gitmodules‎

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Original file line numberDiff line numberDiff line change
@@ -4,6 +4,3 @@
44
[submodule "src/stb"]
55
path = src/stb
66
url = https://github.com/nothings/stb.git
7-
[submodule "resources/webots_ros"]
8-
path = resources/webots_ros
9-
url = https://github.com/cyberbotics/webots_ros

‎docs/automobile/car-and-driver-libraries.md‎

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Original file line numberDiff line numberDiff line change
@@ -9,4 +9,3 @@ This section presents and explains how to use these two libraries.
99
- [Driver library](driver-library.md)
1010
- [Car library](car-library.md)
1111
- [C++, Java and Python wrappers of the automobile libraries](cpp-java-and-python-wrappers-of-the-automobile-libraries.md)
12-
- [ROS support](ros-support.md)

‎docs/automobile/car-library.md‎

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Original file line numberDiff line numberDiff line change
@@ -66,17 +66,8 @@ public class Car extends Driver {
6666

6767
%tab-end
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69-
%tab "ROS"
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71-
> In ROS, car library initialization and cleanup are implicit.
72-
73-
%tab-end
74-
7569
%end
7670

77-
> **Note** [ROS]: To enable synchronous simulation you will have to call the `/robot/time_step` service with a positive `step` argument.
78-
Then each time this service is called a car step will be executed (set the `step` argument to 0 to disable synchronization).
79-
8071
##### Description
8172

8273
*Initialise and clean*
@@ -167,15 +158,6 @@ public class Car extends Driver {
167158

168159
%tab-end
169160

170-
%tab "ROS"
171-
172-
| name | service/topic | data type | data type definition |
173-
| --- | --- | --- | --- |
174-
| [`/automobile/get_type`](car-library.md#wbu_car_get_type) | `service` | `webots_ros::get_int` | |
175-
| [`/automobile/get_engine_type`](car-library.md#wbu_car_get_type) | `service` | `webots_ros::get_int` | |
176-
177-
%tab-end
178-
179161
%end
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181163
##### Description
@@ -266,15 +248,6 @@ public class Car extends Driver {
266248

267249
%tab-end
268250

269-
%tab "ROS"
270-
271-
| name | service/topic | data type | data type definition |
272-
| --- | --- | --- | --- |
273-
| `/automobile/set_indicator_period` | `service` | `webots_ros::set_float` | |
274-
| `/automobile/get_indicator_period` | `service` | `webots_ros::get_float` | |
275-
276-
%tab-end
277-
278251
%end
279252

280253
##### Description
@@ -347,15 +320,6 @@ public class Car extends Driver {
347320

348321
%tab-end
349322

350-
%tab "ROS"
351-
352-
| name | service/topic | data type | data type definition |
353-
| --- | --- | --- | --- |
354-
| `/automobile/get_backwards_light` | `service` | `webots_ros::get_bool` | |
355-
| `/automobile/get_brake_light` | `service` | `webots_ros::get_bool` | |
356-
357-
%tab-end
358-
359323
%end
360324

361325
##### Description
@@ -440,14 +404,6 @@ public class Car extends Driver {
440404

441405
%tab-end
442406

443-
%tab "ROS"
444-
445-
| name | service/topic | data type | data type definition |
446-
| --- | --- | --- | --- |
447-
| `/automobile/get_dimensions` | `service` | `webots_ros::automobile_get_dimensions` | `uint8 ask`<br/>---<br/>`float64 trackFront`<br/>`float64 trackRear`<br/>`float64 wheelBase`<br/>`float64 frontWheelRadius`<br/>`float64 rearWheelRadius` |
448-
449-
%tab-end
450-
451407
%end
452408

453409
##### Description
@@ -531,15 +487,6 @@ public class Car extends Driver {
531487

532488
%tab-end
533489

534-
%tab "ROS"
535-
536-
| name | service/topic | data type | data type definition |
537-
| --- | --- | --- | --- |
538-
| `/automobile/front_right_wheel_encoder`<br/>`/automobile/front_left_wheel_encoder`<br/>`/automobile/rear_right_wheel_encoder`<br/>`/automobile/rear_left_wheel_encoder`<br/> | `topic` | `webots_ros::Float64Stamped` | [`Header`](http://docs.ros.org/api/std_msgs/html/msg/Header.html) `header`<br/>`float64 data` |
539-
| `/automobile/front_right_wheel_speed`<br/>`/automobile/front_left_wheel_speed`<br/>`/automobile/rear_right_wheel_speed`<br/>`/automobile/rear_left_wheel_speed`<br/> | `topic` | `webots_ros::Float64Stamped` | [`Header`](http://docs.ros.org/api/std_msgs/html/msg/Header.html) `header`<br/>`float64 data` |
540-
541-
%tab-end
542-
543490
%end
544491

545492
##### Description
@@ -632,17 +579,6 @@ public class Car extends Driver {
632579

633580
%tab-end
634581

635-
%tab "ROS"
636-
637-
| name | service/topic | data type | data type definition |
638-
| --- | --- | --- | --- |
639-
| `/automobile/right_steering_angle` | `topic` | `webots_ros::Float64Stamped` | [`Header`](http://docs.ros.org/api/std_msgs/html/msg/Header.html) `header`<br/>`float64 data` |
640-
| `/automobile/left_steering_angle` | `topic` | `webots_ros::Float64Stamped` | [`Header`](http://docs.ros.org/api/std_msgs/html/msg/Header.html) `header`<br/>`float64 data` |
641-
| `/automobile/set_right_steering_angle` | `service` | `webots_ros::set_float` | |
642-
| `/automobile/set_left_steering_angle` | `service` | `webots_ros::set_float` | |
643-
644-
%tab-end
645-
646582
%end
647583

648584
##### Description
@@ -711,14 +647,6 @@ public class Car extends Driver {
711647

712648
%tab-end
713649

714-
%tab "ROS"
715-
716-
| name | service/topic | data type | data type definition |
717-
| --- | --- | --- | --- |
718-
| `/automobile/enable_limited_slip_differential` | `service` | `webots_ros::set_bool` | |
719-
720-
%tab-end
721-
722650
%end
723651

724652
##### Description
@@ -785,14 +713,6 @@ public class Car extends Driver {
785713

786714
%tab-end
787715

788-
%tab "ROS"
789-
790-
| name | service/topic | data type | data type definition |
791-
| --- | --- | --- | --- |
792-
| `/automobile/enable_indicator_auto_disabling` | `service` | `webots_ros::set_bool` | |
793-
794-
%tab-end
795-
796716
%end
797717

798718
##### Description

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