Compatibility for Docker on macOS

webots_ros2_driver/scripts/webots_tcp_client.py

@@ -41,29 +41,33 @@ def get_host_ip():
                 return fields[2]
         sys.exit('Unable to get host IP address.')
     except subprocess.CalledProcessError:
-        sys.exit('Unable to get host IP address. \'ip route\' could not be executed.')
+        sys.exit('Unable to get host IP address. \'ip route\' could not be executed. Make sure that iproute2 is installed.')
 
 
-HOST = get_host_ip()  # Connect to host of the VM
-PORT = 2000  # Port to connect to
+def host_shared_folder():
+    shared_folder_list = os.environ['WEBOTS_SHARED_FOLDER'].split(':')
+    return shared_folder_list[0]
+
+
+simulation_server_ip = None
+simulation_server_port = None
 
-tcp_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
 launch_arguments = ''
-for arg in sys.argv:
-    if arg.endswith('.py') or arg == '':
-        continue
-    elif arg.endswith('.wbt'):
+for arg in sys.argv[1:]:
+    if arg.endswith('.wbt'):
         world_name = arg
+    elif "--simulation_server_ip=" in arg:
+        simulation_server_ip = arg.replace("--simulation_server_ip=", "")
+    elif "--simulation_server_port=" in arg:
+        simulation_server_port = int(arg.replace("--simulation_server_port=", ""))
     else:
         launch_arguments = launch_arguments + ' ' + arg
 
+simulation_server_ip = get_host_ip() if simulation_server_ip is None else simulation_server_ip
+simulation_server_port = 2000 if simulation_server_port is None else simulation_server_port
 
-def host_shared_folder():
-    shared_folder_list = os.environ['WEBOTS_SHARED_FOLDER'].split(':')
-    return shared_folder_list[0]
-
-
-while tcp_socket.connect_ex((HOST, PORT)) != 0:
+tcp_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+while tcp_socket.connect_ex((simulation_server_ip, simulation_server_port)) != 0:
     print('WARNING: Unable to start Webots. Please start the local simulation server on your host machine. Next connection '
           'attempt in 1 second.', file=sys.stderr)
     time.sleep(1)

webots_ros2_driver/webots_ros2_driver/utils.py

@@ -140,7 +140,7 @@ def get_host_ip():
                 return fields[2]
         sys.exit('Unable to get host IP address.')
     except subprocess.CalledProcessError:
-        sys.exit('Unable to get host IP address. \'ip route\' could not be executed.')
+        sys.exit('Unable to get host IP address. \'ip route\' could not be executed. Make sure that iproute2 is installed.')
 
 
 def controller_protocol():
@@ -153,7 +153,9 @@ def controller_ip_address():
     return ip_address
 
 
-def controller_url_prefix(port='1234'):
+def controller_url_prefix(ip_address=None, port='1234'):
+    if ip_address is not None:
+        return 'tcp://' + str(ip_address) + ':' + port + '/'
     if has_shared_folder() or is_wsl():
         return 'tcp://' + (get_host_ip() if has_shared_folder() else get_wsl_ip_address()) + ':' + port + '/'
     else:

webots_ros2_driver/webots_ros2_driver/webots_controller.py

@@ -29,11 +29,11 @@
 
 class WebotsController(ExecuteProcess):
     def __init__(self, output='screen', respawn=False, remappings=[],
-                 namespace='', parameters=[], robot_name='', port='1234', **kwargs):
+                 namespace='', parameters=[], robot_name='', ip_address='', webots_port='1234', **kwargs):
         webots_controller = (os.path.join(get_package_share_directory('webots_ros2_driver'), 'scripts', 'webots-controller'))
 
         protocol = controller_protocol()
-        ip_address = controller_ip_address() if (protocol == 'tcp') else ''
+        ip_address = controller_ip_address() if (ip_address == '' and protocol == 'tcp') else ip_address
 
         robot_name_option = [] if not robot_name else ['--robot-name=' + robot_name]
         ip_address_option = [] if not ip_address else ['--ip-address=' + ip_address]
@@ -67,7 +67,7 @@ def __init__(self, output='screen', respawn=False, remappings=[],
                 *robot_name_option,
                 ['--protocol=', protocol],
                 *ip_address_option,
-                ['--port=', port],
+                ['--port=', webots_port],
                 'ros2',
                 *ros_args,
                 *ros_arguments,

webots_ros2_driver/webots_ros2_driver/webots_launcher.py

@@ -54,7 +54,7 @@ def perform(self, context):
 
 class WebotsLauncher(ExecuteProcess):
     def __init__(self, output='screen', world=None, gui=True, mode='realtime', stream=False, ros2_supervisor=False,
-                 port='1234', **kwargs):
+                 webots_port='1234', simulation_server_ip=None, simulation_server_port=2000, **kwargs):
         if sys.platform == 'win32':
             print('WARNING: Native webots_ros2 compatibility with Windows is deprecated and will be removed soon. Please use a '
                   'WSL (Windows Subsystem for Linux) environment instead.', file=sys.stderr)
@@ -64,7 +64,7 @@ def __init__(self, output='screen', world=None, gui=True, mode='realtime', strea
         self.__has_shared_folder = has_shared_folder()
         self.__is_supervisor = ros2_supervisor
         if self.__is_supervisor:
-            self._supervisor = Ros2SupervisorLauncher(port=port)
+            self._supervisor = Ros2SupervisorLauncher(simulation_server_ip=simulation_server_ip, webots_port=webots_port)
 
         # Find Webots executable
         if not self.__has_shared_folder:
@@ -98,7 +98,10 @@ def __init__(self, output='screen', world=None, gui=True, mode='realtime', strea
             stream_argument = _ConditionalSubstitution(condition=stream, true_value='--stream')
         else:
             stream_argument = "--stream=" + stream
-        port_argument = '--port=' + port
+        webots_port_argument = '--port=' + webots_port
+
+        simulation_server_ip_argument = "" if simulation_server_ip is None else "--simulation_server_ip=" + simulation_server_ip
+        simulation_server_port_argument = "" if simulation_server_port is None else "--simulation_server_port=" + str(simulation_server_port)
 
         xvfb_run_prefix = []
 
@@ -117,7 +120,9 @@ def __init__(self, output='screen', world=None, gui=True, mode='realtime', strea
                     'python3',
                     webots_tcp_client,
                     stream_argument,
-                    port_argument,
+                    webots_port_argument,
+                    simulation_server_ip_argument,
+                    simulation_server_port_argument,
                     no_rendering,
                     stdout,
                     stderr,
@@ -137,7 +142,7 @@ def __init__(self, output='screen', world=None, gui=True, mode='realtime', strea
                 cmd=xvfb_run_prefix + [
                     webots_path,
                     stream_argument,
-                    port_argument,
+                    webots_port_argument,
                     no_rendering,
                     stdout,
                     stderr,
@@ -261,7 +266,7 @@ def _shutdown_process(self, context, *, send_sigint):
 
 
 class Ros2SupervisorLauncher(Node):
-    def __init__(self, output='screen', respawn=True, port='1234', **kwargs):
+    def __init__(self, output='screen', respawn=True, simulation_server_ip=None, webots_port='1234', **kwargs):
         # Launch the Ros2Supervisor node
         super().__init__(
             package='webots_ros2_driver',
@@ -271,7 +276,7 @@ def __init__(self, output='screen', respawn=True, port='1234', **kwargs):
             output=output,
             # Set WEBOTS_HOME to the webots_ros2_driver installation folder
             # to load the correct libController libraries from the Python API
-            additional_env={'WEBOTS_CONTROLLER_URL': controller_url_prefix(port) + 'Ros2Supervisor',
+            additional_env={'WEBOTS_CONTROLLER_URL': controller_url_prefix(ip_address=simulation_server_ip, port=webots_port) + 'Ros2Supervisor',
                             'WEBOTS_HOME': get_package_prefix('webots_ros2_driver')},
             respawn=respawn,
             **kwargs