Update Setting-up a Robot Simulation (Webots) tutorial to 2023.0.2 (#3317)

ygoumaz · ad-daniel · omichel · web-flow · commit 588b10a15841 · 2023-02-13T15:40:35.000-06:00
* Update intro to WSL * Revert "Update intro to WSL" This reverts commit 52a52d0. * Update intro to wsl * Remove windows tabs * Add windows WSL tab for extern controller code * Clean tutorial * Update world with declarations * Add supervisor node and environment var * Add ros2supervisorlauncher node creation in launch files * add env variable for linux * Update tutorial with explanations * Update source/Tutorials/Advanced/Simulators/Webots.rst Co-authored-by: ad-daniel <44834743+ad-daniel@users.noreply.github.com> * include correct file for supervisor part * Add WEBOTS_CONTROLLER_URL wsl infos * cleanup * Update source/Tutorials/Advanced/Simulators/Webots.rst Co-authored-by: Olivier Michel <Olivier.Michel@cyberbotics.com> * Remove confusing sentence * Update source/Tutorials/Advanced/Simulators/Webots.rst Co-authored-by: Olivier Michel <Olivier.Michel@cyberbotics.com> * Squashed commit of the following: commit 72effa7 Author: Luke Schmitt <85308904+LSinterbotix@users.noreply.github.com> Date: Tue Nov 1 17:26:25 2022 -0500 Fix list formatting on Contact page (#3153) commit dcd066f Author: Dan Zimmerman <dan@danzimmerman.com> Date: Tue Nov 1 16:29:34 2022 -0400 Update throttle logging docs with units and data type hints (re: rclcpp/issues/1929) (#3143) * Note milliseconds on API Concepts page * Add units and types to About Logging page Co-authored-by: dan <dan@polarworks.no> Co-authored-by: Chris Lalancette <clalancette@openrobotics.org> commit 375b6cf Author: definitelyuncertain <saikirann94@gmail.com> Date: Fri Oct 28 14:30:22 2022 -0500 Change to mention explicit requirement for folder names for .msg and .srv files (#3144) * Change to mention explicit requirement for folder names for msg and srv files From ros2/tutorials#29 * fix typo Co-authored-by: Tomoya Fujita <Tomoya.Fujita@sony.com> * fix rst formatting Co-authored-by: Chris Lalancette <clalancette@gmail.com> Co-authored-by: Tomoya Fujita <Tomoya.Fujita@sony.com> Co-authored-by: Chris Lalancette <clalancette@gmail.com> commit da871ef Author: Sergei Sergienko <divelix1@gmail.com> Date: Thu Oct 27 17:20:06 2022 +0300 fix link to Gazebo-ROS2 bridge + CLI examples (#3139) * fix link to Gazebo-ROS2 bridge + CLI examples Co-authored-by: Chris Lalancette <clalancette@gmail.com> commit e19c9b5 Author: Chris Lalancette <clalancette@openrobotics.org> Date: Wed Oct 26 16:31:21 2022 -0400 Update the language to match the source code. (#3135) Fallout from #2865 Signed-off-by: Chris Lalancette <clalancette@openrobotics.org> commit a5910a1 Author: Chris Lalancette <clalancette@openrobotics.org> Date: Wed Oct 26 08:38:36 2022 -0400 Shorten the Windows build-from-source path. (#3130) * Shorten the Windows build-from-source path. This is to keep the total length down below the 260 character limit imposed by Windows by default. Signed-off-by: Chris Lalancette <clalancette@openrobotics.org> commit 8225686 Author: Chris Lalancette <clalancette@openrobotics.org> Date: Mon Oct 24 08:30:37 2022 -0400 Fix up the variable name in the traveling in time (C++) tutorial. (#3115) This is just to match what is in the code in the upstream repository. Signed-off-by: Chris Lalancette <clalancette@openrobotics.org> commit 87ab121 Author: Ian Colwell <48106342+icolwell-as@users.noreply.github.com> Date: Fri Oct 21 11:07:30 2022 -0400 Update default WORKING_DIRECTORY for ament_add_gtest() (#3117) commit 87bf20a Author: chianfern <chianfern@gmail.com> Date: Tue Oct 18 21:36:57 2022 +0800 Add ParameterDescriptor to 'Using parameters in a class (C++)' (#2865) * Rename node name in "Using parameters" C++ tutorial to be consistent with Python tutorial. Signed-off-by: Tan Chian Fern <chianfern@gmail.com> Signed-off-by: Chris Lalancette <clalancette@openrobotics.org> commit 77646ce Author: George Stavrinos <gstavrinos@protonmail.com> Date: Tue Oct 18 15:29:37 2022 +0300 Fixed Intel's robot SDK repo with the new devkit name + reference to MoveIt2 instead of 1. (#3107) commit 1d24955 Author: Chris Lalancette <clalancette@openrobotics.org> Date: Mon Oct 17 14:06:52 2022 -0400 Monitor parameter changes: Add note to save callback handle (#3102) Signed-off-by: Chris Lalancette <clalancette@openrobotics.org> commit 8910a80 Author: David V. Lu!! <davidvlu@gmail.com> Date: Fri Oct 14 09:56:14 2022 -0400 Some testing basics (#3084) * Some testing basics Signed-off-by: David V. Lu <davidvlu@gmail.com> Signed-off-by: Chris Lalancette <clalancette@openrobotics.org> commit 8771452 Author: Tomoya Fujita <Tomoya.Fujita@sony.com> Date: Fri Oct 14 05:34:20 2022 -0700 Sony's task for Iron Release. (#3089) * Sony's task for Iron Release. Signed-off-by: Tomoya.Fujita <Tomoya.Fujita@sony.com> * Rearrange and add in links. Signed-off-by: Chris Lalancette <clalancette@openrobotics.org> Signed-off-by: Tomoya.Fujita <Tomoya.Fujita@sony.com> Signed-off-by: Chris Lalancette <clalancette@openrobotics.org> Co-authored-by: Chris Lalancette <clalancette@openrobotics.org> commit 2ea9e7d Author: Yannick Goumaz <61198661+ygoumaz@users.noreply.github.com> Date: Fri Oct 14 14:23:13 2022 +0200 Update Setting-up a Robot Simulation (Webots) tutorial (#3090) * Update intro to WSL * Update world with declarations * Add supervisor node and environment var * Update tutorial with explanations Co-authored-by: ad-daniel <44834743+ad-daniel@users.noreply.github.com> commit 0390a50 Author: mergify[bot] <37929162+mergify[bot]@users.noreply.github.com> Date: Thu Oct 13 13:42:30 2022 -0400 fix unresolved package requirement to install Humble on Ubuntu 20.04 (#3086) (#3088) * fix command to install humble on Ubuntu 20.04 Co-authored-by: paolo.dimasi <paodimasi@outlook.com> Co-authored-by: Chris Lalancette <clalancette@openrobotics.org> (cherry picked from commit 5626af9) Co-authored-by: Paolo Dimasi <46300254+Pamasi@users.noreply.github.com> * Update Webots.rst * Update intro to wsl * Remove windows tabs * Add windows WSL tab for extern controller code * Clean tutorial * Add ros2supervisorlauncher node creation in launch files * Update intro to WSL * Update tutorial with explanations * include correct file for supervisor part * Add WEBOTS_CONTROLLER_URL wsl infos * cleanup * Remove confusing sentence * Update source/Tutorials/Advanced/Simulators/Webots.rst Co-authored-by: Olivier Michel <Olivier.Michel@cyberbotics.com> * Update source/Tutorials/Advanced/Simulators/Webots.rst Co-authored-by: Olivier Michel <Olivier.Michel@cyberbotics.com> * Squashed commit of the following: commit 72effa7 Author: Luke Schmitt <85308904+LSinterbotix@users.noreply.github.com> Date: Tue Nov 1 17:26:25 2022 -0500 Fix list formatting on Contact page (#3153) commit dcd066f Author: Dan Zimmerman <dan@danzimmerman.com> Date: Tue Nov 1 16:29:34 2022 -0400 Update throttle logging docs with units and data type hints (re: rclcpp/issues/1929) (#3143) * Note milliseconds on API Concepts page * Add units and types to About Logging page Co-authored-by: dan <dan@polarworks.no> Co-authored-by: Chris Lalancette <clalancette@openrobotics.org> commit 375b6cf Author: definitelyuncertain <saikirann94@gmail.com> Date: Fri Oct 28 14:30:22 2022 -0500 Change to mention explicit requirement for folder names for .msg and .srv files (#3144) * Change to mention explicit requirement for folder names for msg and srv files From ros2/tutorials#29 * fix typo Co-authored-by: Tomoya Fujita <Tomoya.Fujita@sony.com> * fix rst formatting Co-authored-by: Chris Lalancette <clalancette@gmail.com> Co-authored-by: Tomoya Fujita <Tomoya.Fujita@sony.com> Co-authored-by: Chris Lalancette <clalancette@gmail.com> commit da871ef Author: Sergei Sergienko <divelix1@gmail.com> Date: Thu Oct 27 17:20:06 2022 +0300 fix link to Gazebo-ROS2 bridge + CLI examples (#3139) * fix link to Gazebo-ROS2 bridge + CLI examples Co-authored-by: Chris Lalancette <clalancette@gmail.com> commit e19c9b5 Author: Chris Lalancette <clalancette@openrobotics.org> Date: Wed Oct 26 16:31:21 2022 -0400 Update the language to match the source code. (#3135) Fallout from #2865 Signed-off-by: Chris Lalancette <clalancette@openrobotics.org> commit a5910a1 Author: Chris Lalancette <clalancette@openrobotics.org> Date: Wed Oct 26 08:38:36 2022 -0400 Shorten the Windows build-from-source path. (#3130) * Shorten the Windows build-from-source path. This is to keep the total length down below the 260 character limit imposed by Windows by default. Signed-off-by: Chris Lalancette <clalancette@openrobotics.org> commit 8225686 Author: Chris Lalancette <clalancette@openrobotics.org> Date: Mon Oct 24 08:30:37 2022 -0400 Fix up the variable name in the traveling in time (C++) tutorial. (#3115) This is just to match what is in the code in the upstream repository. Signed-off-by: Chris Lalancette <clalancette@openrobotics.org> commit 87ab121 Author: Ian Colwell <48106342+icolwell-as@users.noreply.github.com> Date: Fri Oct 21 11:07:30 2022 -0400 Update default WORKING_DIRECTORY for ament_add_gtest() (#3117) commit 87bf20a Author: chianfern <chianfern@gmail.com> Date: Tue Oct 18 21:36:57 2022 +0800 Add ParameterDescriptor to 'Using parameters in a class (C++)' (#2865) * Rename node name in "Using parameters" C++ tutorial to be consistent with Python tutorial. Signed-off-by: Tan Chian Fern <chianfern@gmail.com> Signed-off-by: Chris Lalancette <clalancette@openrobotics.org> commit 77646ce Author: George Stavrinos <gstavrinos@protonmail.com> Date: Tue Oct 18 15:29:37 2022 +0300 Fixed Intel's robot SDK repo with the new devkit name + reference to MoveIt2 instead of 1. (#3107) commit 1d24955 Author: Chris Lalancette <clalancette@openrobotics.org> Date: Mon Oct 17 14:06:52 2022 -0400 Monitor parameter changes: Add note to save callback handle (#3102) Signed-off-by: Chris Lalancette <clalancette@openrobotics.org> commit 8910a80 Author: David V. Lu!! <davidvlu@gmail.com> Date: Fri Oct 14 09:56:14 2022 -0400 Some testing basics (#3084) * Some testing basics Signed-off-by: David V. Lu <davidvlu@gmail.com> Signed-off-by: Chris Lalancette <clalancette@openrobotics.org> commit 8771452 Author: Tomoya Fujita <Tomoya.Fujita@sony.com> Date: Fri Oct 14 05:34:20 2022 -0700 Sony's task for Iron Release. (#3089) * Sony's task for Iron Release. Signed-off-by: Tomoya.Fujita <Tomoya.Fujita@sony.com> * Rearrange and add in links. Signed-off-by: Chris Lalancette <clalancette@openrobotics.org> Signed-off-by: Tomoya.Fujita <Tomoya.Fujita@sony.com> Signed-off-by: Chris Lalancette <clalancette@openrobotics.org> Co-authored-by: Chris Lalancette <clalancette@openrobotics.org> commit 2ea9e7d Author: Yannick Goumaz <61198661+ygoumaz@users.noreply.github.com> Date: Fri Oct 14 14:23:13 2022 +0200 Update Setting-up a Robot Simulation (Webots) tutorial (#3090) * Update intro to WSL * Update world with declarations * Add supervisor node and environment var * Update tutorial with explanations Co-authored-by: ad-daniel <44834743+ad-daniel@users.noreply.github.com> commit 0390a50 Author: mergify[bot] <37929162+mergify[bot]@users.noreply.github.com> Date: Thu Oct 13 13:42:30 2022 -0400 fix unresolved package requirement to install Humble on Ubuntu 20.04 (#3086) (#3088) * fix command to install humble on Ubuntu 20.04 Co-authored-by: paolo.dimasi <paodimasi@outlook.com> Co-authored-by: Chris Lalancette <clalancette@openrobotics.org> (cherry picked from commit 5626af9) Co-authored-by: Paolo Dimasi <46300254+Pamasi@users.noreply.github.com> * Update Webots.rst * Update Webots.rst * Remove trailing white spaces * Update to VM and no supervisor * Remove wrong text * Update source/Tutorials/Advanced/Simulators/Webots.rst Co-authored-by: Olivier Michel <Olivier.Michel@cyberbotics.com> --------- Co-authored-by: ad-daniel <44834743+ad-daniel@users.noreply.github.com> Co-authored-by: Olivier Michel <Olivier.Michel@cyberbotics.com>
diff --git a/source/Tutorials/Advanced/Simulators/Code/robot_launch.py b/source/Tutorials/Advanced/Simulators/Code/robot_launch.py
@@ -16,8 +16,6 @@ def generate_launch_description():
         world=os.path.join(package_dir, 'worlds', 'my_world.wbt')
     )
 
-    ros2_supervisor = Ros2SupervisorLauncher()
-
     my_robot_driver = Node(
         package='webots_ros2_driver',
         executable='driver',
@@ -31,7 +29,6 @@ def generate_launch_description():
     return LaunchDescription([
         webots,
         my_robot_driver,
-        ros2_supervisor,
         launch.actions.RegisterEventHandler(
             event_handler=launch.event_handlers.OnProcessExit(
                 target_action=webots,
diff --git a/source/Tutorials/Advanced/Simulators/Code/robot_launch_sensor.py b/source/Tutorials/Advanced/Simulators/Code/robot_launch_sensor.py
@@ -16,8 +16,6 @@ def generate_launch_description():
         world=os.path.join(package_dir, 'worlds', 'my_world.wbt')
     )
 
-    ros2_supervisor = Ros2SupervisorLauncher()
-
     my_robot_driver = Node(
         package='webots_ros2_driver',
         executable='driver',
@@ -36,7 +34,6 @@ def generate_launch_description():
     return LaunchDescription([
         webots,
         my_robot_driver,
-        ros2_supervisor,
         obstacle_avoider,
         launch.actions.RegisterEventHandler(
             event_handler=launch.event_handlers.OnProcessExit(
diff --git a/source/Tutorials/Advanced/Simulators/Webots.rst b/source/Tutorials/Advanced/Simulators/Webots.rst
@@ -50,7 +50,7 @@ In particular, :doc:`../../Beginner-CLI-Tools/Introducing-Turtlesim/Introducing-
 
     .. group-tab:: macOS
 
-        The Linux and ROS commands of this tutorial must be run in a custom Docker container configured with the ``webots_ros2_driver`` package.
+        The Linux and ROS commands of this tutorial must be run in a pre-configured Linux Virtual Machine (VM).
         See the `Webots ROS 2 macOS installation instructions <https://github.com/cyberbotics/webots_ros2/wiki/macOS-Installation-Guide>`_.
 
 To install ``webots_ros2_driver`` from a terminal, proceed with the following commands.
@@ -203,15 +203,6 @@ You have to specify in the constructor which world file the simulator will open.
     :dedent: 4
     :lines: 15-17
 
-A supervisor Robot is always automatically added to the world file by ``WebotsLauncher``.
-This robot is controlled by the custom node ``Ros2Supervisor``, which must also be started using the ``Ros2SupervisorLauncher``.
-This node allows to spawn URDF robots directly into the world, and it also publishes useful topics like ``/clock``.
-
-.. literalinclude:: Code/robot_launch.py
-    :language: python
-    :dedent: 4
-    :lines: 19
-
 Then, the ROS node interacting with the simulated robot is created.
 This node, named ``driver``, is located in the ``webots_ros2_driver`` package.
 
@@ -223,11 +214,11 @@ This node, named ``driver``, is located in the ``webots_ros2_driver`` package.
 
     .. group-tab:: Windows
 
-        The node (in WSL) will be able to communicate with the simulated robot (in Webots on Windows) through a TCP connection.
+        The node (in WSL) will be able to communicate with the simulated robot (in Webots on native Windows) through a TCP connection.
 
     .. group-tab:: macOS
 
-        The node (in the docker container) will be able to communicate with the simulated robot (in Webots on macOS) through a TCP connection.
+        The node (in the docker container) will be able to communicate with the simulated robot (in Webots on native macOS) through a TCP connection.
 
 
 In your case, you need to run a single instance of this node, because you have a single robot in the simulation.
@@ -239,21 +230,21 @@ The ``robot_description`` parameter holds the contents of the URDF file which re
 .. literalinclude:: Code/robot_launch.py
     :language: python
     :dedent: 4
-    :lines: 21-29
+    :lines: 19-27
 
 After that, the three nodes are set to be launched in the ``LaunchDescription`` constructor:
 
 .. literalinclude:: Code/robot_launch.py
     :language: python
     :dedent: 4
-    :lines: 31-34
+    :lines: 29-31
 
 Finally, an optional part is added in order to shutdown all the nodes once Webots terminates (e.g., when it gets closed from the graphical user interface).
 
 .. literalinclude:: Code/robot_launch.py
     :language: python
     :dedent: 8
-    :lines: 35-40
+    :lines: 32-37
 
 6 Modify the setup.py file
 ^^^^^^^^^^^^^^^^^^^^^^^^^^
@@ -269,7 +260,6 @@ This sets-up the package and adds in the ``data_files`` variable the newly added
 7 Test the code
 ^^^^^^^^^^^^^^^
 
-
 .. tabs::
 
     .. group-tab:: Linux
@@ -306,18 +296,17 @@ This sets-up the package and adds in the ``data_files`` variable the newly added
         On macOS, a local server must be started on the host to start Webots from the Docker container.
         The local server can be downloaded `on the webots-server repository <https://github.com/cyberbotics/webots-server/blob/main/local_simulation_server.py>`_.
 
-        In a terminal of the host machine (not in the container), specify the Webots installation folder (e.g. ``/Applications/Webots.app``) and start the server using the following commands:
+        In a terminal of the host machine (not in the VM), specify the Webots installation folder (e.g. ``/Applications/Webots.app``) and start the server using the following commands:
 
         .. code-block:: console
 
             export WEBOTS_HOME=/Applications/Webots.app
             python3 local_simulation_server.py
 
-        From the terminal of the Docker container, build and launch your custom package with:
+        From a terminal in the Linux VM in your ROS 2 workspace, build and launch your custom package with:
 
         .. code-block:: console
 
-            cd ~/ros2_ws
             colcon build
             source install/local_setup.bash
             ros2 launch my_package robot_launch.py
@@ -407,7 +396,7 @@ Go to the file ``robot_launch.py`` and replace ``def generate_launch_description
 
 .. literalinclude:: Code/robot_launch_sensor.py
     :language: python
-    :lines: 11-47
+    :lines: 11-44
 
 This will create an ``obstacle_avoider`` node that will be included in the ``LaunchDescription``.
 
@@ -443,7 +432,7 @@ As in task ``7``, launch the simulation from a terminal in your ROS 2 workspace:
 
     .. group-tab:: macOS
 
-        In a terminal of the host machine (not in the container), if not done already, specify the Webots installation folder (e.g. ``/Applications/Webots.app``) and start the server using the following commands:
+        In a terminal of the host machine (not in the VM), if not done already, specify the Webots installation folder (e.g. ``/Applications/Webots.app``) and start the server using the following commands:
 
         .. code-block:: console
 
@@ -452,7 +441,7 @@ As in task ``7``, launch the simulation from a terminal in your ROS 2 workspace:
 
         Note that the server keeps running once the ROS 2 nodes are ended.
         You don't need to restart it every time you want to launch a new simulation.
-        From the terminal of the Docker container, build and launch your custom package with:
+        From a terminal in the Linux VM in your ROS 2 workspace, build and launch your custom package with:
 
         .. code-block:: console
 
