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source/Installation/Alternatives/macOS-Development-Setup.rst

@@ -29,7 +29,7 @@ You need the following things installed to build ROS 2:
 #.
    **Xcode**
 
-   * If you don't already have it installed, install Xcode.
+   * If you don't already have it installed, install [Xcode](https://apps.apple.com/app/xcode/id497799835).
    * Note: Versions of Xcode later than 11.3.1 can no longer be installed on macOS Mojave, so you will need to install an older version manually, see: https://stackoverflow.com/a/61046761
    * Also, if you don't already have it installed, install the Command Line Tools:
 
@@ -71,12 +71,12 @@ You need the following things installed to build ROS 2:
    .. code-block:: bash
 
       # Add the openssl dir for DDS-Security
-      # if you are using ZSH, then replace '.bashrc' with '.zshrc'
-      echo "export OPENSSL_ROOT_DIR=$(brew --prefix openssl)" >> ~/.bashrc
+      # if you are using BASH, then replace '.zshrc' with '.bashrc'
+      echo "export OPENSSL_ROOT_DIR=$(brew --prefix openssl)" >> ~/.zshrc
 
       # Add the Qt directory to the PATH and CMAKE_PREFIX_PATH
-      export CMAKE_PREFIX_PATH=$CMAKE_PREFIX_PATH:/usr/local/opt/qt@5
-      export PATH=$PATH:/usr/local/opt/qt@5/bin
+      export CMAKE_PREFIX_PATH=$CMAKE_PREFIX_PATH:$(brew --prefix qt@5)
+      export PATH=$PATH:$(brew --prefix qt@5)/bin
 
 #.
    Use ``python3 -m pip`` (just ``pip`` may install Python3 or Python2) to install more stuff:
@@ -92,7 +92,7 @@ You need the following things installed to build ROS 2:
         nose pep8 psutil pydocstyle pydot pygraphviz pyparsing==2.4.7 \
         pytest-mock rosdep rosdistro setuptools==59.6.0 vcstool
 
-   Please ensure that the ``$PATH`` environment variable contains the install location of the binaries (default: ``$HOME/Library/Python/<version>/bin``)
+   Please ensure that the ``$PATH`` environment variable contains the install location of the binaries (``$(brew --prefix)/bin``)
 
 #.
    *Optional*: if you want to build the ROS 1<->2 bridge, then you must also install ROS 1:
@@ -156,7 +156,7 @@ Source the ROS 2 setup file:
 
 .. code-block:: bash
 
-   . ~/ros2_{DISTRO}/install/setup.bash
+   . ~/ros2_{DISTRO}/install/setup.zsh
 
 This will automatically set up the environment for any DDS vendors that support was built for.
 

source/Installation/RHEL-Install-RPMs.rst

@@ -1,5 +1,5 @@
-RHEL (RPM)
-==========
+RHEL (RPM packages)
+===================
 
 .. contents:: Table of Contents
    :depth: 2

source/Installation/Ubuntu-Install-Debians.rst

@@ -2,8 +2,8 @@
 
    Installation/Linux-Install-Debians
 
-Ubuntu (Debian)
-===============
+Ubuntu (Debian packages)
+========================
 
 .. contents:: Table of Contents
    :depth: 2

source/The-ROS2-Project/Governance.rst

@@ -333,8 +333,37 @@ It can be accessed via `iCal <https://calendar.google.com/calendar/ical/agf3kaji
 
 .. raw:: html
 
-    <iframe src="https://calendar.google.com/calendar/embed?src=agf3kajirket8khktupm9go748%40group.calendar.google.com" style="border: 0" width="800" height="600" frameborder="0" scrolling="no"></iframe>
-
-
+    <!--
+    The below code comes from https://www.mpking.com/2021/04/making-google-calendar-embeddable.html.
+    The basic idea is that if we are on a desktop device (defined as anything that has more than 767 pixels),
+    then we show the monthly version of the calendar. If we are on a device with 767 or less, show the agenda
+    version, which is much narrower.
+    -->
+    <style>
+      .responsiveCal {
+        position: relative; padding-bottom: 75%; height: 0; overflow: hidden;
+      }
+
+      .responsiveCal iframe {
+        position: absolute; top:0; left: 0; width: 100%; height: 100%;
+      }
+
+      @media all and (min-width: 768px) {
+        .deskContent {display:block;}
+        .phoneContent {display:none;}
+      }
+
+      @media all and (max-width: 767px) {
+        .deskContent {display:none;}
+        .phoneContent {display:block;}
+      }
+    </style>
+    <div class="responsiveCal">
+      <div class="deskContent">
+        <iframe src="https://calendar.google.com/calendar/embed?src=agf3kajirket8khktupm9go748%40group.calendar.google.com" style="border: 0" width="800" height="600" frameborder="0" scrolling="no"></iframe>
+      </div>
+      <div class="phoneContent"><iframe src="https://calendar.google.com/calendar/embed?mode=AGENDA&amp;height=400&amp;wkst=1&amp;src=agf3kajirket8khktupm9go748%40group.calendar.google.com" style="border: 0" width="280" height="500" frameborder="0" scrolling="no"></iframe>
+      </div>
+    </div>
 
 If you have an individual event or series of events that you'd like to post please contact [email protected]

source/Tutorials/Advanced/Simulators/Webots/Code/robot_launch.py

@@ -1,28 +1,23 @@
 import os
-import pathlib
 import launch
-from launch_ros.actions import Node
 from launch import LaunchDescription
 from ament_index_python.packages import get_package_share_directory
 from webots_ros2_driver.webots_launcher import WebotsLauncher
-from webots_ros2_driver.utils import controller_url_prefix
+from webots_ros2_driver.webots_controller import WebotsController
 
 
 def generate_launch_description():
     package_dir = get_package_share_directory('my_package')
-    robot_description = pathlib.Path(os.path.join(package_dir, 'resource', 'my_robot.urdf')).read_text()
+    robot_description_path = os.path.join(package_dir, 'resource', 'my_robot.urdf')
 
     webots = WebotsLauncher(
         world=os.path.join(package_dir, 'worlds', 'my_world.wbt')
     )
 
-    my_robot_driver = Node(
-        package='webots_ros2_driver',
-        executable='driver',
-        output='screen',
-        additional_env={'WEBOTS_CONTROLLER_URL': controller_url_prefix() + 'my_robot'},
+    my_robot_driver = WebotsController(
+        robot_name='my_robot',
         parameters=[
-            {'robot_description': robot_description},
+            {'robot_description': robot_description_path},
         ]
     )
 

source/Tutorials/Advanced/Simulators/Webots/Code/robot_launch_sensor.py

@@ -1,28 +1,24 @@
 import os
-import pathlib
 import launch
 from launch_ros.actions import Node
 from launch import LaunchDescription
 from ament_index_python.packages import get_package_share_directory
-from webots_ros2_driver.webots_launcher import WebotsLauncher, Ros2SupervisorLauncher
-from webots_ros2_driver.utils import controller_url_prefix
+from webots_ros2_driver.webots_launcher import WebotsLauncher
+from webots_ros2_driver.webots_controller import WebotsController
 
 
 def generate_launch_description():
     package_dir = get_package_share_directory('my_package')
-    robot_description = pathlib.Path(os.path.join(package_dir, 'resource', 'my_robot.urdf')).read_text()
+    robot_description_path = os.path.join(package_dir, 'resource', 'my_robot.urdf')
 
     webots = WebotsLauncher(
         world=os.path.join(package_dir, 'worlds', 'my_world.wbt')
     )
 
-    my_robot_driver = Node(
-        package='webots_ros2_driver',
-        executable='driver',
-        output='screen',
-        additional_env={'WEBOTS_CONTROLLER_URL': controller_url_prefix() + 'my_robot'},
+    my_robot_driver = WebotsController(
+        robot_name='my_robot',
         parameters=[
-            {'robot_description': robot_description},
+            {'robot_description': robot_description_path},
         ]
     )
 

source/Tutorials/Advanced/Simulators/Webots/Setting-Up-Simulation-Webots-Advanced.rst

@@ -24,6 +24,8 @@ Prerequisites
 This is a continuation of the first part of the tutorial: :doc:`./Setting-Up-Simulation-Webots-Basic`.
 It is mandatory to start with the first part to set up the custom packages and necessary files.
 
+This tutorial is compatible with version 2023.1.0 of ``webots_ros2`` and Webots R2023b, as well as upcoming versions.
+
 Tasks
 -----
 
@@ -153,7 +155,7 @@ Go to the file ``robot_launch.py`` and replace ``def generate_launch_description
 
 .. literalinclude:: Code/robot_launch_sensor.py
     :language: python
-    :lines: 11-44
+    :lines: 10-40
 
 This will create an ``obstacle_avoider`` node that will be included in the ``LaunchDescription``.
 
@@ -221,8 +223,6 @@ Next steps
 ----------
 
 You might want to improve the plugin or create new nodes to change the behavior of the robot.
-Taking inspiration from these previous tutorials could be a starting point:
-
-* :doc:`../../Recording-A-Bag-From-Your-Own-Node-Py`.
+You can also implement a reset handler to automatically restart your ROS nodes when the simulation is reset from the Webots interface:
 
-* :doc:`../../../Intermediate/Tf2/Tf2-Main`.
+* :doc:`./Simulation-Reset-Handler`.

source/Tutorials/Advanced/Simulators/Webots/Setting-Up-Simulation-Webots-Basic.rst

@@ -49,6 +49,8 @@ In particular, :doc:`../../../Beginner-CLI-Tools/Introducing-Turtlesim/Introduci
         The Linux and ROS commands of this tutorial must be run in a pre-configured Linux Virtual Machine (VM).
         The following page :doc:`./Installation-MacOS` explains how to install the ``webots_ros2`` package on macOS.
 
+This tutorial is compatible with version 2023.1.0 of ``webots_ros2`` and Webots R2023b, as well as upcoming versions.
+
 Tasks
 -----
 
@@ -344,10 +346,10 @@ You have to specify in the constructor which world file the simulator will open.
 .. literalinclude:: Code/robot_launch.py
     :language: python
     :dedent: 4
-    :lines: 15-17
+    :lines: 13-15
 
 Then, the ROS node interacting with the simulated robot is created.
-This node, named ``driver``, is located in the ``webots_ros2_driver`` package.
+This node, named ``WebotsController``, is located in the ``webots_ros2_driver`` package.
 
 .. tabs::
 
@@ -366,33 +368,32 @@ This node, named ``driver``, is located in the ``webots_ros2_driver`` package.
 
 In your case, you need to run a single instance of this node, because you have a single robot in the simulation.
 But if you had more robots in the simulation, you would have to run one instance of this node per robot.
-``WEBOTS_CONTROLLER_URL`` is used to define the name of the robot the driver should connect to.
-The ``controller_url_prefix()`` method is mandatory, as it allows ``webots_ros2_driver`` to add the correct protocol prefix depending on your platform.
-The ``robot_description`` parameter holds the contents of the URDF file which refers to the ``MyRobotDriver`` plugin.
-You can see the ``driver`` node as the interface that connects your controller plugin to the target robot.
+The ``robot_name`` parameter is used to define the name of the robot the driver should connect to.
+The ``robot_description`` parameter holds the path to the URDF file which refers to the ``MyRobotDriver`` plugin.
+You can see the ``WebotsController`` node as the interface that connects your controller plugin to the target robot.
 
 .. literalinclude:: Code/robot_launch.py
     :language: python
     :dedent: 4
-    :lines: 19-27
+    :lines: 17-22
 
 After that, the two nodes are set to be launched in the ``LaunchDescription`` constructor:
 
 .. literalinclude:: Code/robot_launch.py
     :language: python
     :dedent: 4
-    :lines: 29-31
+    :lines: 24-26
 
 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: 32-37
+    :lines: 27-32
 
 .. note::
 
-    More details on ``webots_ros2_driver`` and ``WebotsLauncher`` arguments can be found `on the nodes reference page <https://github.com/cyberbotics/webots_ros2/wiki/References-Nodes>`_.
+    More details on ``WebotsController`` and ``WebotsLauncher`` arguments can be found `on the nodes reference page <https://github.com/cyberbotics/webots_ros2/wiki/References-Nodes>`_.
 
 6 Edit additional files
 ^^^^^^^^^^^^^^^^^^^^^^^