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lukicdarkooBruceXSKfmricorenan028Timple
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Merge master into foxy (#248)
* Switch from pep8 to pycodestyle (#220) * Update package.xml * Update * Update webots_node.py (#222) * QoS (#225) * Sensor and Reliable QoS Signed-off-by: Francisco Martín Rico <[email protected]> * Implement a plugin system in C++ and integrate `ros2_control` (#221) * create webots launch without controller * add webots_ros2_cpp package with lidar only * add camera device cpp * add gps, imu, joint states * Initi * Improve name * Begin plugin design * Add plugin interface * Add plugin interface * Fix distane sensor plugin compilation * Register plugins * Add lidar * Add robot description * Parametrise lidar * Simplify * Fix step * Add robot tag * Add PointCloud2 * Cache messages * Add FLU fix * Add camera * Fix update rate * Add recognition * Fix timestep * Add gps * Simplify * Add warnings * Fix naming * Fix GPS * Prepare ros control * Fix * Plugin system works with pluginlib * Improve plugin interface * Update * Add ros2_control controller_manager * Fix * Fix * Add joint details * Start controller_manager thread * Add range finder * WIP: Add distance sensor * Add distance sensor * Add assert * Add light sensor * WIP: Add IMU * Fix * Improve * Stamped vel * WIP: Add TurtleBot * Basic TurtleBot integration * Include IMU * Add LED * Integrate ros2_control * Include robot_state_publisher * Add footprint transform * Add clock publisher * Add webots lib * Fix include * Fix deps * Fix * Prevent pluginlib from using boost * Fix * Fix * Change path * Rename * Delete submodule * Fix * Fix description * Mac and Windows * Delete unused * Single threaded executor is faster * Add changelog * Delete package attribute * Update WebotsNode.hpp * Update Driver.cpp * Rename * Update .gitmodules * Add unordered_map * Protected Co-authored-by: Renan Freitas <[email protected]> * Add missing dependency to TurtleBot3 Burger (#228) * Update package.xml * Update package.xml * Update ros2control.yml * Update package.xml * Update webots_ros2_turtlebot/package.xml Co-authored-by: Tim Clephas <[email protected]> Co-authored-by: Tim Clephas <[email protected]> * Link libcontroller correctly at runtime (#235) * Link the libcontroller correctly for runtime * Update * Add controller manager spawner to the TurtleBot launch file (#236) * Add controller spawner * Start spawners * Increase version and add documentation (#238) * Increase version and add documentation * Update webots_ros2_driver/README.md Co-authored-by: Olivier Michel <[email protected]> Co-authored-by: Olivier Michel <[email protected]> * Upgrade to Webots R2021b (#246) * Upgrade to Webots R2021b * Sync * Fix demos * Fix Mavic * Upgrade urdf2webots * Fix webots_ros2_control changelog (#251) * Update CHANGELOG.rst * Update CHANGELOG.rst * Update CHANGELOG.rst * Update CHANGELOG.rst * Update CHANGELOG.rst * Update CHANGELOG.rst * Update CHANGELOG.rst * Update CHANGELOG.rst Co-authored-by: Bruce <[email protected]> Co-authored-by: Francisco Martín Rico <[email protected]> Co-authored-by: Renan Freitas <[email protected]> Co-authored-by: Tim Clephas <[email protected]> Co-authored-by: Olivier Michel <[email protected]>
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‎.gitmodules‎

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[submodule "webots_ros2_importer/webots_ros2_importer/urdf2webots"]
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path = webots_ros2_importer/webots_ros2_importer/urdf2webots
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url = https://github.com/cyberbotics/urdf2webots.git
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[submodule "webots_ros2_driver/webots"]
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path = webots_ros2_driver/webots
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url = https://github.com/cyberbotics/webots-libcontroller.git

‎webots_ros2/CHANGELOG.rst‎

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Changelog for package webots_ros2
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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1.0.1 (2020-XX-YY)
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1.1.0 (2021-07-19)
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------------------
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* Included the 'webots_ros2_driver' package as a C++ alternative to the 'webots_ros2_core' package.
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* Integrated ros2_control.
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* Included a Mavic drone simulation example
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1.0.5 (2021-01-08)
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------------------
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* Improved performance of the camera.
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* Replaced tkinter with simple command-line tools.
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* Fixed usage on Windows.
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* Introduced notion of minimum and target Webots versions.
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1.0.1 (2020-09-18)
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------------------
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* Removed the 'webots_ros2_desktop' package.
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* Added missing 'webots_ros2_demos', 'webots_ros2_epuck' and 'webots_ros2_msgs' packages as dependencies.

‎webots_ros2/package.xml‎

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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="2">
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<package format="3">
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<name>webots_ros2</name>
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<version>1.0.6</version>
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<version>1.1.0</version>
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<description>Interface between Webots and ROS2</description>
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<maintainer email="[email protected]">Cyberbotics</maintainer>
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<exec_depend>webots_ros2_epuck</exec_depend>
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<exec_depend>webots_ros2_examples</exec_depend>
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<exec_depend>webots_ros2_importer</exec_depend>
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<exec_depend>webots_ros2_mavic</exec_depend>
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<exec_depend>webots_ros2_msgs</exec_depend>
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<exec_depend>webots_ros2_tesla</exec_depend>
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<exec_depend>webots_ros2_tiago</exec_depend>

‎webots_ros2/setup.py‎

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setup(
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name=package_name,
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version='1.0.6',
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version='1.1.0',
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packages=[package_name],
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data_files=[
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('share/' + package_name, ['package.xml']),

‎webots_ros2_abb/package.xml‎

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<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="2">
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<name>webots_ros2_abb</name>
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<version>1.0.6</version>
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<version>1.1.0</version>
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<description>ABB robots ROS2 interface for Webots.</description>
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<maintainer email="[email protected]">Cyberbotics</maintainer>

‎webots_ros2_abb/setup.py‎

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setup(
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name=package_name,
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version='1.0.6',
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version='1.1.0',
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packages=[],
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data_files=data_files,
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install_requires=['setuptools', 'launch'],

‎webots_ros2_abb/worlds/.abb_irb4600.wbproj‎

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Webots Project File version R2020b
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Webots Project File version R2021b
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perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000001fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000000000140000006900ffffff000000010000011c00000356fc0200000001fb0000001400540065007800740045006400690074006f00720000000016000003560000003f00ffffff000000030000073d0000007dfc0100000001fb0000000e0043006f006e0073006f006c006501000000000000073d0000006900ffffff0000073d0000035600000001000000020000000100000008fc00000000
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simulationViewPerspectives: 000000ff0000000100000002000001000000051f0100000002010000000100
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sceneTreePerspectives: 000000ff0000000100000002000000c0000000fa0100000002010000000200

‎webots_ros2_abb/worlds/abb_irb4600.wbt‎

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#VRML_SIM R2020b utf8
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#VRML_SIM R2021b utf8
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WorldInfo {
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info [
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"ABB IRB4600 Robot simulation."

‎webots_ros2_control/CHANGELOG.rst‎

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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Changelog for package webots_ros2_control
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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1.1.0 (2021-07-19)
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------------------
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* Initial version

‎webots_ros2_control/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.5)
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project(webots_ros2_control)
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# Default to C99
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if(NOT CMAKE_C_STANDARD)
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set(CMAKE_C_STANDARD 99)
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endif()
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# Default to C++14
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 14)
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endif()
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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# Dependencies
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find_package(ament_cmake REQUIRED)
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find_package(hardware_interface REQUIRED)
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find_package(controller_manager REQUIRED)
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find_package(pluginlib REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(webots_ros2_driver REQUIRED)
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list(GET webots_ros2_driver_INCLUDE_DIRS 0 webots_ros2_driver_INCLUDE)
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include_directories(
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${webots_ros2_driver_INCLUDE}/webots/cpp
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)
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# webots_ros2 Plugin
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add_library(
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${PROJECT_NAME}
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SHARED
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src/Ros2Control.cpp
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)
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target_include_directories(
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${PROJECT_NAME}
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PRIVATE
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include
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)
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ament_target_dependencies(
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${PROJECT_NAME}
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hardware_interface
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controller_manager
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pluginlib
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rclcpp
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webots_ros2_driver
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)
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# Prevent pluginlib from using boost
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target_compile_definitions(${PROJECT_NAME} PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
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pluginlib_export_plugin_description_file(webots_ros2_driver webots_ros2_control.xml)
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# ros2_control System
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add_library(
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${PROJECT_NAME}_system
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SHARED
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src/Ros2ControlSystem.cpp
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)
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target_include_directories(
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${PROJECT_NAME}_system
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PRIVATE
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include
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)
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ament_target_dependencies(
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${PROJECT_NAME}_system
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hardware_interface
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pluginlib
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rclcpp
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webots_ros2_driver
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)
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# Prevent pluginlib from using boost
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target_compile_definitions(${PROJECT_NAME}_system PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
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pluginlib_export_plugin_description_file(${PROJECT_NAME} webots_ros2_control_system.xml)
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# Common
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install(TARGETS
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${PROJECT_NAME}
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${PROJECT_NAME}_system
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin
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)
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ament_export_include_directories(
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include
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)
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if(BUILD_TESTING)
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find_package(ament_cmake_gtest REQUIRED)
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endif()
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ament_export_dependencies(
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hardware_interface
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pluginlib
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rclcpp
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)
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ament_export_libraries(
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${PROJECT_NAME}
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${PROJECT_NAME}_system
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)
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ament_package()

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