cyberbotics · lukicdarkoo · Jul 14, 2025 · Jun 18, 2025 · Jun 29, 2025 · Jun 29, 2025
diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
@@ -16,7 +16,7 @@ jobs:
       fail-fast: false
       matrix:
         ROS_REPO: [main, testing]
-        ROS_DISTRO: [humble, jazzy, rolling]
+        ROS_DISTRO: [humble, jazzy, kilted, rolling]
     runs-on: ubuntu-latest
     env:
       AFTER_INIT: ./scripts/ci_after_init.bash ${ROS_DISTRO} ${ROS_REPO}

diff --git a/.github/workflows/test_develop.yml b/.github/workflows/test_develop.yml
@@ -14,7 +14,7 @@ jobs:
       fail-fast: false
       matrix:
         ROS_REPO: [main, testing]
-        ROS_DISTRO: [humble, jazzy, rolling]
+        ROS_DISTRO: [humble, jazzy, kilted, rolling]
     runs-on: ubuntu-latest
     env:
       AFTER_INIT: ./scripts/ci_after_init.bash ${ROS_DISTRO} ${ROS_REPO}

diff --git a/docker/Dockerfile b/docker/Dockerfile
@@ -39,11 +39,6 @@ RUN apt-get update && apt-get install -y \
     gdb \
     git
 
-# HOTFIX: https://github.com/ros-controls/ros2_control/pull/1960
-RUN [ "${ROS_DISTRO}" = "humble" ] && wget -O /tmp/hotfix.deb http://snapshots.ros.org/humble/2024-08-28/ubuntu/pool/main/r/ros-humble-hardware-interface/ros-humble-hardware-interface_2.43.0-1jammy.20240823.145349_amd64.deb && \
-    apt install -y --allow-downgrades /tmp/hotfix.deb && \
-    rm -f /tmp/hotfix.deb || true
-
 COPY ./docker/bashrc /tmp/bashrc
 COPY ./docker/webots.conf /${DOCKERUSER}/.config/Cyberbotics/Webots-R${WEBOTS_VERSION}.conf
 RUN cat /tmp/bashrc >> /${DOCKERUSER}/.bashrc

diff --git a/webots_ros2_control/CHANGELOG.rst b/webots_ros2_control/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package webots_ros2_control
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2025.0.1 (XXXX-XX-XX)
+------------------
+* Replaces ament_target_dependencies with target_link_libraries.
+* Adds ROS Kilted Kaiju support.
+
 2023.1.3 (2024-08-07)
 ------------------
 * Added support for the new `ros2_control` API affecting resource_manager and controller_manager.

diff --git a/webots_ros2_control/CMakeLists.txt b/webots_ros2_control/CMakeLists.txt
@@ -6,6 +6,8 @@ if($ENV{ROS_DISTRO} MATCHES "humble")
   add_compile_definitions(HUMBLE)
 elseif($ENV{ROS_DISTRO} MATCHES "jazzy")
   add_compile_definitions(JAZZY)
+elseif($ENV{ROS_DISTRO} MATCHES "kilted")
+  add_compile_definitions(KILTED)
 elseif($ENV{ROS_DISTRO} MATCHES "rolling")
   add_compile_definitions(ROLLING)
 endif()
@@ -50,15 +52,26 @@ target_include_directories(
   ${PROJECT_NAME}
   PRIVATE
   include
+  ${webots_ros2_driver_INCLUDE_DIRS}
 )
-ament_target_dependencies(
-  ${PROJECT_NAME}
-  hardware_interface
-  controller_manager
-  pluginlib
-  rclcpp
-  webots_ros2_driver
-)
+if ($ENV{ROS_DISTRO} MATCHES "humble" OR $ENV{ROS_DISTRO} MATCHES "jazzy")
+  ament_target_dependencies(
+    ${PROJECT_NAME}
+    hardware_interface
+    controller_manager
+    pluginlib
+    rclcpp
+    webots_ros2_driver
+  )
+else()
+  target_link_libraries(${PROJECT_NAME}
+    PUBLIC
+    hardware_interface::hardware_interface
+    controller_manager::controller_manager
+    pluginlib::pluginlib
+    rclcpp::rclcpp
+  )
+endif()
 
 # Prevent pluginlib from using boost
 target_compile_definitions(${PROJECT_NAME} PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
@@ -74,15 +87,26 @@ target_include_directories(
   ${PROJECT_NAME}_system
   PRIVATE
   include
+  ${webots_ros2_driver_INCLUDE_DIRS}
 )
-ament_target_dependencies(
-  ${PROJECT_NAME}_system
-  hardware_interface
-  pluginlib
-  rclcpp
-  rclcpp_lifecycle
-  webots_ros2_driver
-)
+if ($ENV{ROS_DISTRO} MATCHES "humble" OR $ENV{ROS_DISTRO} MATCHES "jazzy")
+  ament_target_dependencies(
+    ${PROJECT_NAME}_system
+    hardware_interface
+    pluginlib
+    rclcpp
+    rclcpp_lifecycle
+    webots_ros2_driver
+  )
+else()
+  target_link_libraries(${PROJECT_NAME}_system
+    PUBLIC
+    hardware_interface::hardware_interface
+    pluginlib::pluginlib
+    rclcpp::rclcpp
+    rclcpp_lifecycle::rclcpp_lifecycle
+  )
+endif()
 
 # Prevent pluginlib from using boost
 target_compile_definitions(${PROJECT_NAME}_system PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")

diff --git a/webots_ros2_control/src/Ros2Control.cpp b/webots_ros2_control/src/Ros2Control.cpp
@@ -97,7 +97,7 @@ namespace webots_ros2_control {
 
     WebotsResourceManager(const WebotsResourceManager &) = delete;
 
-    bool load_and_initialize_components(const std::string &urdf, unsigned int update_rate) override {
+    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;

diff --git a/webots_ros2_driver/CHANGELOG.rst b/webots_ros2_driver/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package webots_ros2_driver
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2025.0.1 (XXXX-XX-XX)
+------------------
+* Replaces ament_target_dependencies with target_link_libraries.
+* Adds ROS Kilted Kaiju support.
+
 2023.1.3 (2024-08-07)
 ------------------
 * Make webots_ros2_driver scripts executable.

diff --git a/webots_ros2_driver/CMakeLists.txt b/webots_ros2_driver/CMakeLists.txt
@@ -12,6 +12,8 @@ elseif($ENV{ROS_DISTRO} MATCHES "jazzy")
   add_compile_definitions(JAZZY)
 elseif($ENV{ROS_DISTRO} MATCHES "rolling")
   add_compile_definitions(ROLLING)
+elseif($ENV{ROS_DISTRO} MATCHES "kilted")
+  add_compile_definitions(KILTED)
 endif()
 
 # ROS2 Packages
@@ -36,6 +38,8 @@ 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($ENV{ROS_DISTRO} MATCHES "kilted")
+  find_package(Python 3.12 EXACT REQUIRED COMPONENTS Development)
 elseif($ENV{ROS_DISTRO} MATCHES "rolling")
   find_package(Python 3.12 EXACT REQUIRED COMPONENTS Development)
 endif()
@@ -108,27 +112,46 @@ add_executable(driver
   src/utils/Math.cpp
   src/utils/Utils.cpp
 )
-ament_target_dependencies(driver
-  rosgraph_msgs
-  rclcpp
-  pluginlib
-  sensor_msgs
-  std_msgs
-  tf2_geometry_msgs
-  tf2_ros
-  vision_msgs
-  webots_ros2_msgs
-  tinyxml2_vendor
-  TinyXML2
-)
+
+if ($ENV{ROS_DISTRO} MATCHES "humble" OR $ENV{ROS_DISTRO} MATCHES "jazzy")
+  ament_target_dependencies(driver
+    rosgraph_msgs
+    rclcpp
+    pluginlib
+    sensor_msgs
+    std_msgs
+    tf2_geometry_msgs
+    tf2_ros
+    vision_msgs
+    webots_ros2_msgs
+    tinyxml2_vendor
+    TinyXML2
+  )
+  target_link_libraries(driver
+    ${WEBOTS_LIB}
+    ${Python_LIBRARIES}
+    yaml-cpp
+  )
+else()
+  target_link_libraries(driver
+    ${rosgraph_msgs_TARGETS}
+    rclcpp::rclcpp
+    pluginlib::pluginlib
+    ${sensor_msgs_TARGETS}
+    ${std_msgs_TARGETS}
+    tf2_geometry_msgs::tf2_geometry_msgs
+    tf2_ros::tf2_ros
+    ${vision_msgs_TARGETS}
+    ${webots_ros2_msgs_TARGETS}
+    tinyxml2::tinyxml2
+    ${WEBOTS_LIB}
+    ${Python_LIBRARIES}
+    yaml-cpp
+  )
+endif()
 add_dependencies(driver
   compile-lib-vehicle
 )
-target_link_libraries(driver
-  ${WEBOTS_LIB}
-  ${Python_LIBRARIES}
-  yaml-cpp
-)
 install(
   DIRECTORY include/
   DESTINATION include
@@ -146,19 +169,30 @@ add_library(
   src/plugins/Ros2SensorPlugin.cpp
   src/utils/Utils.cpp
 )
-ament_target_dependencies(${PROJECT_NAME}_imu
-  rclcpp
-  sensor_msgs
-  webots_ros2_msgs
-  pluginlib
-  tf2_ros
-)
+if ($ENV{ROS_DISTRO} MATCHES "humble" OR $ENV{ROS_DISTRO} MATCHES "jazzy")
+  ament_target_dependencies(${PROJECT_NAME}_imu
+    rclcpp
+    sensor_msgs
+    webots_ros2_msgs
+    pluginlib
+    tf2_ros
+  )
+  target_link_libraries(${PROJECT_NAME}_imu
+    ${WEBOTS_LIB}
+  )
+else()
+  target_link_libraries(${PROJECT_NAME}_imu
+    rclcpp::rclcpp
+    ${sensor_msgs_TARGETS}
+    ${webots_ros2_msgs_TARGETS}
+    pluginlib::pluginlib
+    tf2_ros::tf2_ros
+    ${WEBOTS_LIB}
+  )
+endif()
 add_dependencies(${PROJECT_NAME}_imu
   compile-lib-vehicle
 )
-target_link_libraries(${PROJECT_NAME}_imu
-  ${WEBOTS_LIB}
-)
 install(TARGETS ${PROJECT_NAME}_imu
   RUNTIME DESTINATION bin
   ARCHIVE DESTINATION lib
@@ -174,18 +208,28 @@ add_library(
   src/plugins/Ros2SensorPlugin.cpp
   src/utils/Utils.cpp
 )
-ament_target_dependencies(${PROJECT_NAME}_rgbd
-  rclcpp
-  sensor_msgs
-  pluginlib
-  tf2_ros
-)
+if ($ENV{ROS_DISTRO} MATCHES "humble" OR $ENV{ROS_DISTRO} MATCHES "jazzy")
+  ament_target_dependencies(${PROJECT_NAME}_rgbd
+    rclcpp
+    sensor_msgs
+    pluginlib
+    tf2_ros
+  )
+  target_link_libraries(${PROJECT_NAME}_rgbd
+    ${WEBOTS_LIB}
+  )
+else()
+  target_link_libraries(${PROJECT_NAME}_rgbd
+    rclcpp::rclcpp
+    ${sensor_msgs_TARGETS}
+    pluginlib::pluginlib
+    tf2_ros::tf2_ros
+    ${WEBOTS_LIB}
+  )
+endif()
 add_dependencies(${PROJECT_NAME}_rgbd
   compile-lib-vehicle
 )
-target_link_libraries(${PROJECT_NAME}_rgbd
-  ${WEBOTS_LIB}
-)
 install(TARGETS ${PROJECT_NAME}_rgbd
   RUNTIME DESTINATION bin
   ARCHIVE DESTINATION lib
@@ -272,4 +316,5 @@ ament_export_libraries(
   ${PROJECT_NAME}_rgbd
   ${WEBOTS_LIB_PATH}
 )
+
 ament_package()
diff --git a/webots_ros2_epuck/launch/robot_launch.py b/webots_ros2_epuck/launch/robot_launch.py
@@ -88,7 +88,7 @@ def generate_launch_description():
 
     robot_description_path = os.path.join(package_dir, 'resource', 'epuck_webots.urdf')
     ros2_control_params = os.path.join(package_dir, 'resource', 'ros2_control.yml')
-    use_twist_stamped = 'ROS_DISTRO' in os.environ and (os.environ['ROS_DISTRO'] in ['rolling', 'jazzy'])
+    use_twist_stamped = 'ROS_DISTRO' in os.environ and (os.environ['ROS_DISTRO'] in ['kilted', 'rolling', 'jazzy'])
     if use_twist_stamped:
         mappings = [('/diffdrive_controller/cmd_vel', '/cmd_vel'), ('/diffdrive_controller/odom', '/odom')]
     else:

diff --git a/webots_ros2_husarion/resource/rosbot_controllers.yaml b/webots_ros2_husarion/resource/rosbot_controllers.yaml
@@ -33,7 +33,6 @@ rosbot_base_controller:
         # min_velocity -  When unspecified, -max_velocity is used
         max_acceleration: 1.0 # m/s^2
         # min_acceleration - When unspecified, -max_acceleration is used.
-        max_jerk: 0.0 # m/s^3
 
     angular:
       z:
@@ -44,4 +43,3 @@ rosbot_base_controller:
         # min_velocity -  When unspecified, -max_velocity is used
         max_acceleration: 4.0 # rad/s^2
         # min_acceleration - When unspecified, -max_acceleration is used.
-        max_jerk: 0.0 # rad/s^3
diff --git a/webots_ros2_husarion/resource/rosbot_xl_controllers.yaml b/webots_ros2_husarion/resource/rosbot_xl_controllers.yaml
@@ -33,7 +33,6 @@ rosbot_xl_base_controller:
         # min_velocity -  When unspecified, -max_velocity is used
         max_acceleration: 1.0 # m/s^2
         # min_acceleration - When unspecified, -max_acceleration is used.
-        max_jerk: 0.0 # m/s^3
 
     angular:
       z:
@@ -44,4 +43,3 @@ rosbot_xl_base_controller:
         # min_velocity -  When unspecified, -max_velocity is used
         max_acceleration: 4.0 # rad/s^2
         # min_acceleration - When unspecified, -max_acceleration is used.
-        max_jerk: 0.0 # rad/s^3
diff --git a/webots_ros2_tests/test/test_system_epuck.py b/webots_ros2_tests/test/test_system_epuck.py
@@ -89,7 +89,7 @@ def on_range_message_received(message):
         self.wait_for_messages(self.__node, Range, '/tof', condition=on_range_message_received)
 
     def testMovement(self):
-        use_twist_stamped = 'ROS_DISTRO' in os.environ and (os.environ['ROS_DISTRO'] in ['rolling', 'jazzy'])
+        use_twist_stamped = 'ROS_DISTRO' in os.environ and (os.environ['ROS_DISTRO'] in ['rolling', 'jazzy', 'kilted'])
 
         if use_twist_stamped:
             publisher = self.__node.create_publisher(TwistStamped, '/cmd_vel', 1)

diff --git a/webots_ros2_tests/test/test_system_epuck_with_tools.py b/webots_ros2_tests/test/test_system_epuck_with_tools.py
@@ -35,8 +35,8 @@
 def generate_test_description():
     initialize_webots_test()
     # If ROS_DISTRO is rolling, skip the test as some required packages are missing (cf. ci_after_init.bash)
-    if 'ROS_DISTRO' in os.environ and (os.environ['ROS_DISTRO'] in ['rolling', 'jazzy']):
-        pytest.skip('ROS_DISTRO is rolling or jazzy, skipping this test')
+    if 'ROS_DISTRO' in os.environ and (os.environ['ROS_DISTRO'] in ['rolling', 'jazzy', 'kilted']):
+        pytest.skip('ROS_DISTRO is rolling, jazzy or kilted, skipping this test')
 
     epuck_with_tools_webots = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(

diff --git a/webots_ros2_tests/test/test_system_rosbot.py b/webots_ros2_tests/test/test_system_rosbot.py
@@ -64,7 +64,7 @@ def setUp(self):
         self.__node = rclpy.create_node('driver_tester')
 
     def testMovement(self):
-        use_twist_stamped = 'ROS_DISTRO' in os.environ and (os.environ['ROS_DISTRO'] in ['rolling', 'jazzy'])
+        use_twist_stamped = 'ROS_DISTRO' in os.environ and (os.environ['ROS_DISTRO'] in ['rolling', 'jazzy', 'kilted'])
 
         publisher = None
         if use_twist_stamped:

diff --git a/webots_ros2_tests/test/test_system_rosbot_xl.py b/webots_ros2_tests/test/test_system_rosbot_xl.py
@@ -68,7 +68,7 @@ def setUp(self):
         self.__node = rclpy.create_node('driver_tester')
 
     def testMovement(self):
-        use_twist_stamped = 'ROS_DISTRO' in os.environ and (os.environ['ROS_DISTRO'] in ['rolling', 'jazzy'])
+        use_twist_stamped = 'ROS_DISTRO' in os.environ and (os.environ['ROS_DISTRO'] in ['rolling', 'jazzy', 'kilted'])
 
         publisher = None
         if use_twist_stamped:

diff --git a/webots_ros2_tests/test/test_system_tiago.py b/webots_ros2_tests/test/test_system_tiago.py
@@ -35,8 +35,8 @@
 def generate_test_description():
     initialize_webots_test()
     # If ROS_DISTRO is rolling, skip the test as some required packages are missing (cf. ci_after_init.bash)
-    if 'ROS_DISTRO' in os.environ and (os.environ['ROS_DISTRO'] in ['rolling', 'jazzy']):
-        pytest.skip('ROS_DISTRO is rolling or jazzy, skipping this test')
+    if 'ROS_DISTRO' in os.environ and (os.environ['ROS_DISTRO'] in ['rolling', 'jazzy', 'kilted']):
+        pytest.skip('ROS_DISTRO is rolling, jazzy or kilted, skipping this test')
 
     tiago_webots = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(