Various refactors and improvements (#186)

* Initial refactoring

* Fix

* Fix

* Fix

* Fix

* Ignore

* Better webots_home

* Camel-case

* Unused

* Fix

* Fix

* Path

* Fix

* Add rolling ci

* Fix camera

* Fix euler

* Move

* Ignore

* Update interpolation.py

* Update utils.py

* Update webots_node.py

* Update webots_node.py

* Update webots_node.py

* Update webots_node.py

* Update webots_node.py

* Fix home

* Visualize download

* Change docstring

* New line

* Update webots_launcher.py

* Use Inno Setup on Windows

* Changelog

* Better handle

* Move installation to utils

* Escape path

* Fix

* Escape path

* Update webots_ros2_core/webots_ros2_core/utils.py

Co-authored-by: Olivier Michel <[email protected]>

Co-authored-by: Olivier Michel <[email protected]>

Author: lukicdarkoo

.github/workflows/test.yml

@@ -11,6 +11,8 @@ jobs:
         env:
           - {ROS_DISTRO: foxy, ROS_REPO: testing}
           - {ROS_DISTRO: foxy, ROS_REPO: main}
+          - {ROS_DISTRO: rolling, ROS_REPO: testing}
+          - {ROS_DISTRO: rolling, ROS_REPO: main}
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v1

webots_ros2_core/CHANGELOG.rst

@@ -2,7 +2,14 @@
 Changelog for package webots_ros2_core
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-1.0.3 (2020-xx-xx)
+1.0.4 (2021-xx-xx)
+------------------
+* Improved performance of camera.
+* Replaced `tkinter` by a simple command line tools.
+* Fixed usage on Windows.
+* Introduced notion of minimum and target Webots versions.
+
+1.0.3 (2020-12-01)
 ------------------
 * Improved the performance of point cloud publishing by a few times.
 

webots_ros2_core/test/test_flake8.py

@@ -21,5 +21,7 @@
 @pytest.mark.flake8
 @pytest.mark.linter
 def test_flake8():
-    rc = main(argv=['--linelength', '128', '--exclude', 'webots_ros2_core/math/quaternions.py'])
+    rc = main(argv=[
+        '--linelength', '128', '--exclude', 'webots_ros2_core/math/quaternions.py', 'webots_ros2_core/webots_controller.py'
+    ])
     assert rc == 0, 'Found errors'

webots_ros2_core/test/test_math_utils.py

@@ -13,7 +13,7 @@
 # limitations under the License.
 
 import unittest
-from webots_ros2_core.math_utils import interpolate_lookup_table
+from webots_ros2_core.math.interpolation import interpolate_lookup_table
 
 
 TABLE_DESC = [

webots_ros2_core/test/test_pep257.py

@@ -21,5 +21,5 @@
 @pytest.mark.linter
 @pytest.mark.pep257
 def test_pep257():
-    rc = main(argv=['.', '--exclude', 'webots_ros2_core/math/quaternions.py'])
+    rc = main(argv=['.', '--exclude', 'webots_ros2_core/math/quaternions.py', 'webots_ros2_core/webots_controller.py'])
     assert rc == 0, 'Found code style errors / warnings'

webots_ros2_core/webots_ros2_core/devices/camera_device.py

@@ -102,7 +102,12 @@ def step(self):
             msg.width = self._wb_device.getWidth()
             msg.is_bigendian = False
             msg.step = self._wb_device.getWidth() * 4
-            msg.data = self._wb_device.getImage()
+            # We pass `data` directly to we avoid using `data` setter.
+            # Otherwise ROS2 converts data to `array.array` which slows down the simulation as it copies memory internally.
+            # Both, `bytearray` and `array.array`, implement Python buffer protocol, so we should not see unpredictable
+            # behavior.
+            # deepcode ignore W0212: Avoid conversion from `bytearray` to `array.array`.
+            msg._data = self._wb_device.getImage()
             msg.encoding = 'bgra8'
             self._image_publisher.publish(msg)
         else:

webots_ros2_core/webots_ros2_core/devices/device_manager.py

@@ -16,21 +16,14 @@
 
 """Auto discover Webots devices and publish suitable ROS2 topics."""
 
-import sys
 from .camera_device import CameraDevice
 from .led_device import LEDDevice
 from .lidar_device import LidarDevice
 from .distance_sensor_device import DistanceSensorDevice
 from .light_sensor_device import LightSensorDevice
 from .robot_device import RobotDevice
 from .imu_device import ImuDevice
-from webots_ros2_core.utils import append_webots_python_lib_to_path
-try:
-    append_webots_python_lib_to_path()
-    from controller import Node
-except Exception as e:
-    sys.stderr.write('"WEBOTS_HOME" is not correctly set.')
-    raise e
+from webots_ros2_core.webots_controller import Node
 
 
 class DeviceManager:

webots_ros2_core/webots_ros2_core/devices/distance_sensor_device.py

@@ -15,7 +15,7 @@
 """Webots DistanceSensor device wrapper for ROS2."""
 
 from sensor_msgs.msg import Range
-from webots_ros2_core.math_utils import interpolate_lookup_table
+from webots_ros2_core.math.interpolation import interpolate_lookup_table
 from .sensor_device import SensorDevice
 
 

webots_ros2_core/webots_ros2_core/devices/imu_device.py

@@ -15,7 +15,7 @@
 """Webots Accelerometer, Gyro and InertialUnit devices wrapper for ROS2."""
 
 from sensor_msgs.msg import Imu
-from webots_ros2_core.math_utils import interpolate_lookup_table
+from webots_ros2_core.math.interpolation import interpolate_lookup_table
 from .sensor_device import SensorDevice
 
 

webots_ros2_core/webots_ros2_core/devices/light_sensor_device.py

@@ -15,7 +15,7 @@
 """Webots LightSensor device wrapper for ROS2."""
 
 from sensor_msgs.msg import Illuminance
-from webots_ros2_core.math_utils import interpolate_lookup_table
+from webots_ros2_core.math.interpolation import interpolate_lookup_table
 from .sensor_device import SensorDevice