Remove Ubuntu 20.04 and add 24.04 support

.github/workflows/test_suite_linux.yml

@@ -8,7 +8,7 @@ on:
   push:
     tags:
       - nightly_*
-      - R20*
+      - R24*
 
 concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}
@@ -23,7 +23,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        os: [ubuntu-20.04, ubuntu-22.04]
+        os: [ubuntu-24.04, ubuntu-22.04]
     runs-on: ${{ matrix.os }}
     steps:
     - uses: actions/checkout@v3
@@ -42,10 +42,10 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        os: [ubuntu-20.04, ubuntu-22.04]
+        os: [ubuntu-24.04, ubuntu-22.04]
         include:
-          - os: ubuntu-20.04
-            JAVA_VERSION: "16"
+          - os: ubuntu-24.04
+            JAVA_VERSION: "21"
           - os: ubuntu-22.04
             JAVA_VERSION: "18"
     runs-on: ${{ matrix.os }}
@@ -66,12 +66,6 @@ jobs:
         export PATH=$JAVA_HOME/bin:$PATH
         export LIBGL_ALWAYS_SOFTWARE=true
         xvfb-run --auto-servernum make distrib -j4
-    - name: Create/Update GitHub release
-      if: ${{ matrix.os == 'ubuntu-20.04' && (github.event_name == 'push' || github.event_name == 'schedule') }}
-      run: |
-        sudo python -m pip install requests PyGithub
-        pip install pyopenssl --upgrade
-        scripts/packaging/publish_release.py --key=${{ secrets.GITHUB_TOKEN }} --repo=${{ github.repository }} --branch=${{ github.ref }} --commit=$(git log -1 --format='%H') --tag=${{ github.ref }}
     - uses: actions/upload-artifact@v4
       if: ${{ contains(github.event.pull_request.labels.*.name, 'test suite') || contains(github.event.pull_request.labels.*.name, 'test worlds') }}
       with:
@@ -93,14 +87,14 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        os: [ubuntu-20.04, ubuntu-22.04]
+        os: [ubuntu-24.04, ubuntu-22.04]
     runs-on: ${{ matrix.os }}
     steps:
     - uses: actions/checkout@v3
     - name: Download Artifacts
       uses: actions/[email protected]
       with:
-        name: build-ubuntu-20.04
+        name: build-ubuntu-24.04
         path: artifact
     - name: Extract Webots
       run: tar xjf artifact/webots-*-x86-64*.tar.bz2 -C artifact
@@ -125,44 +119,12 @@ jobs:
         name: test-results-${{ matrix.os }}
         path: |
           tests/
-  test-worlds:
-    needs: build
-    if: ${{ contains(github.event.pull_request.labels.*.name, 'test worlds') || github.event_name == 'schedule' }}
-    runs-on: ubuntu-20.04
-    steps:
-    - name: Download Artifacts
-      uses: actions/[email protected]
-      with:
-        name: build-ubuntu-20.04
-        path: artifact
-    - name: Get branch name
-      id: branch-name
-      uses: tj-actions/[email protected]
-    - name: Extract Webots and Cache
-      run: |
-        tar xjf artifact/webots-*-x86-64*.tar.bz2 -C artifact
-        cp -R artifact/ untouched-artifact/
-        mkdir -p ~/.cache/Cyberbotics/Webots/
-        unzip -q artifact/assets-*.zip -d ~/.cache/Cyberbotics/Webots/assets
-    - name: Set up Python 3.9
-      uses: actions/setup-python@v4
-      with:
-        python-version: 3.9
-    - name: Update World, Check Warnings and Validate Cache
-      run: |
-        wget https://raw.githubusercontent.com/cyberbotics/webots/${{ steps.branch-name.outputs.current_branch }}/scripts/install/linux_runtime_dependencies.sh && sudo bash linux_runtime_dependencies.sh
-        export LIBGL_ALWAYS_SOFTWARE=true
-        export WEBOTS_DISABLE_SAVE_SCREEN_PERSPECTIVE_ON_CLOSE=true
-        export WEBOTS_HOME=$PWD/artifact/webots
-        wget https://raw.githubusercontent.com/cyberbotics/webots/${{ steps.branch-name.outputs.current_branch }}/tests/test_worlds.py
-        xvfb-run --auto-servernum python3 test_worlds.py
-        if [[ "$(diff -qr artifact/ untouched-artifact/ | wc -l)" -ne "0" ]]; then echo Some world and/or wbproj files are not up to date: "$(diff -qr artifact/ untouched-artifact/)"; exit 1; fi
   delete-artifacts:
-    needs: [build, test-suite, test-worlds]
+    needs: [build, test-suite]
     if: ${{ always() && !contains(github.event.pull_request.labels.*.name, 'test distribution')  && !contains(github.event.pull_request.labels.*.name, 'test webots build') }}
     strategy:
       matrix:
-        os: [ubuntu-20.04, ubuntu-22.04]
+        os: [ubuntu-24.04, ubuntu-22.04]
     runs-on: ubuntu-latest
     steps:
     - name: Delete artifacts

.github/workflows/test_suite_linux_develop.yml

@@ -17,7 +17,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        os: [ubuntu-20.04, ubuntu-22.04]
+        os: [ubuntu-24.04, ubuntu-22.04]
     runs-on: ${{ matrix.os }}
     steps:
     - uses: actions/checkout@v3
@@ -37,10 +37,10 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        os: [ubuntu-20.04, ubuntu-22.04]
+        os: [ubuntu-24.04, ubuntu-22.04]
         include:
-          - os: ubuntu-20.04
-            JAVA_VERSION: "16"
+          - os: ubuntu-24.04
+            JAVA_VERSION: "21"
           - os: ubuntu-22.04
             JAVA_VERSION: "18"
     runs-on: ${{ matrix.os }}
@@ -63,7 +63,7 @@ jobs:
         export LIBGL_ALWAYS_SOFTWARE=true
         xvfb-run --auto-servernum make distrib -j4
     - name: Create/Update GitHub release
-      if: ${{ matrix.os == 'ubuntu-20.04' && (github.event_name == 'push' || github.event_name == 'schedule') }}
+      if: ${{ matrix.os == 'ubuntu-24.04' && (github.event_name == 'push' || github.event_name == 'schedule') }}
       run: |
         sudo python -m pip install requests PyGithub
         pip install pyopenssl --upgrade
@@ -89,7 +89,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        os: [ubuntu-20.04, ubuntu-22.04]
+        os: [ubuntu-24.04, ubuntu-22.04]
     runs-on: ${{ matrix.os }}
     steps:
     - uses: actions/checkout@v3
@@ -98,7 +98,7 @@ jobs:
     - name: Download Artifacts
       uses: actions/[email protected]
       with:
-        name: build-ubuntu-20.04
+        name: build-ubuntu-24.04
         path: artifact
     - name: Extract Webots
       run: tar xjf artifact/webots-*-x86-64*.tar.bz2 -C artifact
@@ -120,12 +120,12 @@ jobs:
   test-worlds:
     needs: build
     if: ${{ contains(github.event.pull_request.labels.*.name, 'test worlds') || github.event_name == 'schedule' }}
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-24.04
     steps:
     - name: Download Artifacts
       uses: actions/[email protected]
       with:
-        name: build-ubuntu-20.04
+        name: build-ubuntu-24.04
         path: artifact
     - name: Get branch name
       id: branch-name
@@ -154,7 +154,7 @@ jobs:
     if: ${{ always() && !contains(github.event.pull_request.labels.*.name, 'test distribution')  && !contains(github.event.pull_request.labels.*.name, 'test webots build') }}
     strategy:
       matrix:
-        os: [ubuntu-20.04, ubuntu-22.04]
+        os: [ubuntu-24.04, ubuntu-22.04]
     runs-on: ubuntu-latest
     steps:
     - name: Delete artifacts

projects/default/libraries/vehicle/java/Makefile

@@ -76,7 +76,7 @@ $(JAR): JAVA_CLASSES
 	@jar cfv "$@" $(MODULE_PATH)/*.class > /dev/null
 
 JAVA_CLASSES: $(JAVA_SOURCES)
-	@javac --release 8 -classpath $(WEBOTS_CONTROLLER_LIB_PATH)/java/Controller.jar $(JAVA_SOURCES) -d .
+	@javac --release 11 -classpath $(WEBOTS_CONTROLLER_LIB_PATH)/java/Controller.jar $(JAVA_SOURCES) -d .
 
 $(JAVA_SOURCES): $(WRAPPER)
 

projects/languages/java/controllers/Driver/Driver.java

@@ -36,6 +36,9 @@ public class Driver extends Supervisor {
   private double[] translation = {x, y, 0};
 
   public Driver() {
+  }
+
+  public void initialize() {
     emitter = getEmitter("emitter");
     Node robot = getFromDef("ROBOT1");
     if (robot == null)
@@ -111,6 +114,7 @@ private void displayHelp(){
 
   public static void main(String[] args) {
     Driver controller = new Driver();
+    controller.initialize();
     controller.run();
   }
 }

projects/languages/java/controllers/Slave/Slave.java

@@ -46,6 +46,9 @@ private double boundSpeed(double speed) {
   }
 
   public Slave() {
+  }
+
+  public void initialize() {
     camera = getCamera("camera");
     camera.enable(4*timeStep);
     receiver = getReceiver("receiver");
@@ -106,6 +109,7 @@ else if (message.equals("turn"))
 
   public static void main(String[] args) {
     Slave controller = new Slave();
+    controller.initialize();
     controller.run();
   }
 }

projects/samples/contests/ratslife/controllers/Rat0/Rat0.java

@@ -38,6 +38,9 @@ public class Rat0 extends Robot {
   protected LED[] leds = new LED[10];
 
   public Rat0() {
+  }
+
+  public void initialize() {
     accelerometer = getAccelerometer("accelerometer");
     camera = getCamera("camera");
     camera.enable(8*timeStep);
@@ -161,6 +164,7 @@ public void run() {
 
   public static void main(String[] args) {
     Rat0 rat0 = new Rat0();
+    rat0.initialize();
     rat0.run();
   }
 }

projects/samples/contests/ratslife/controllers/Rat1/Rat1.java

@@ -38,6 +38,10 @@ public class Rat1 extends Robot {
   protected LED[] leds = new LED[10];
 
   public Rat1() {
+
+  }
+
+  public void initialize() {
     accelerometer = getAccelerometer("accelerometer");
     camera = getCamera("camera");
     camera.enable(8*timeStep);
@@ -161,6 +165,7 @@ public void run() {
 
   public static void main(String[] args) {
     Rat1 rat1 = new Rat1();
+    rat1.initialize();
     rat1.run();
   }
 }

projects/samples/devices/controllers/EmitterReceiver/EmitterReceiver.java

@@ -36,6 +36,9 @@ protected void printConsole(String message) {
   }
 
   public EmitterReceiver() {
+  }
+
+  public void initialize() {
 
     // As we are using the same controller for the emitter and the
     // receiver, we need to distinguish them.
@@ -140,6 +143,7 @@ else if (ir0Value > 500) {
 
   public static void main(String[] args) {
     EmitterReceiver robot = new EmitterReceiver();
+    robot.initialize();
     robot.run();
   }
 }

resources/Makefile.java.include

@@ -81,15 +81,15 @@ endif
 # set the Java compiler options
 ifneq ($(strip $(CLASSPATH)),)
   ifeq ($(OSTYPE),windows)
-   JAVAC_OPTS += -Xlint -classpath "$(WEBOTS_CONTROLLER_LIB_PATH)/java/Controller.jar;$(CLASSPATH);." --release 8
+   JAVAC_OPTS += -Xlint -classpath "$(WEBOTS_CONTROLLER_LIB_PATH)/java/Controller.jar;$(CLASSPATH);." --release 11
   else
-   JAVAC_OPTS += -Xlint:-options -Xlint -classpath "$(WEBOTS_CONTROLLER_LIB_PATH)/java/Controller.jar:$(CLASSPATH):." --release 8
+   JAVAC_OPTS += -Xlint:-options -Xlint -classpath "$(WEBOTS_CONTROLLER_LIB_PATH)/java/Controller.jar:$(CLASSPATH):." --release 11
   endif
  else
   ifeq ($(OSTYPE),windows)
-   JAVAC_OPTS += -Xlint -classpath "$(WEBOTS_CONTROLLER_LIB_PATH)/java/Controller.jar;." --release 8
+   JAVAC_OPTS += -Xlint -classpath "$(WEBOTS_CONTROLLER_LIB_PATH)/java/Controller.jar;." --release 11
   else
-   JAVAC_OPTS += -Xlint:-options -Xlint -classpath "$(WEBOTS_CONTROLLER_LIB_PATH)/java/Controller.jar":. --release 8
+   JAVAC_OPTS += -Xlint:-options -Xlint -classpath "$(WEBOTS_CONTROLLER_LIB_PATH)/java/Controller.jar":. --release 11
   endif
 endif
 

scripts/install/linux_compilation_dependencies.sh

@@ -15,9 +15,7 @@ apt update
 apt install --yes git lsb-release cmake swig libglu1-mesa-dev libglib2.0-dev libfreeimage3 libfreetype6-dev libxml2-dev libboost-dev libssh-gcrypt-dev libzip-dev libreadline-dev pbzip2 wget zip unzip python3 python3-pip libopenal-dev
 
 UBUNTU_VERSION=$(lsb_release -rs)
-if [[ $UBUNTU_VERSION == "20.04" ]]; then
-       apt install --yes libzip5 perl libtext-template-perl
-elif [[ $UBUNTU_VERSION == "22.04" ]]; then
+if [[ $UBUNTU_VERSION == "24.04" || $UBUNTU_VERSION == "22.04" ]]; then
        apt install --yes libzip4 openssl
 else
        echo "Unsupported Linux version: dependencies may not be completely installed. Only the two latest Ubuntu LTS are supported."

scripts/install/linux_optional_compilation_dependencies.sh

@@ -15,15 +15,15 @@ alias apt='apt --option="APT::Acquire::Retries=3"'
 apt install --yes software-properties-common
 add-apt-repository -y ppa:deadsnakes/ppa
 apt update
-apt install --yes lsb-release curl python3.7-dev python3.8-dev python3.9-dev python3.10-dev dirmngr execstack libxerces-c-dev libfox-1.6-dev libgdal-dev libproj-dev libgl2ps-dev libssh-dev
+apt install --yes lsb-release curl dirmngr execstack libxerces-c-dev libfox-1.6-dev libgdal-dev libproj-dev libgl2ps-dev libssh-dev
 
 UBUNTU_VERSION=$(lsb_release -rs)
 if [[ $UBUNTU_VERSION == "22.04" ]]; then
-       apt install --yes openjdk-18-jdk
-elif [[ $UBUNTU_VERSION == "20.04" ]]; then
-       apt install --yes openjdk-16-jdk
+    apt install --yes openjdk-18-jdk
+elif [[ $UBUNTU_VERSION == "24.04" ]]; then
+    apt install --yes openjdk-21-jdk
 else
-       echo "Unsupported Linux version: dependencies may not be completely installed. Only the two latest Ubuntu LTS are supported."
+    echo "Unsupported Linux version: dependencies may not be completely installed. Only the two latest Ubuntu LTS versions are supported."
 fi
 
 script_full_path=$(dirname "$0")

scripts/install/linux_runtime_dependencies.sh

@@ -18,7 +18,7 @@ if [[ -z "$DISPLAY" ]]; then
 fi
 
 UBUNTU_VERSION=$(lsb_release -rs)
-if [[ $UBUNTU_VERSION == "20.04" || $UBUNTU_VERSION == "22.04" ]]; then
+if [[ $UBUNTU_VERSION == "24.04" || $UBUNTU_VERSION == "22.04" ]]; then
        apt install --yes ffmpeg
 else
        echo "Unsupported Linux version: dependencies may not be completely installed. Only the two latest Ubuntu LTS are supported."

scripts/packaging/linux_distro.py

@@ -130,7 +130,7 @@ def create_webots_bundle(self, include_commit_file):
                             os.path.join(package_webots_lib, 'libssl.so.3'))
                 shutil.copy(os.path.join(self.webots_home, 'lib', 'webots', 'libssl.so'),
                             os.path.join(package_webots_lib, 'libssl.so'))
-            else:  # Ubuntu 22.04
+            else:  # Ubuntu 22.04 and 24.04
                 openssl_libs = ['libcrypto.so.3', 'libcrypto.so', 'libssl.so.3', 'libssl.so']
                 for lib in openssl_libs:
                     shutil.copy(os.path.join(system_lib_path, lib), package_webots_lib)
@@ -171,7 +171,7 @@ def create_debian_bundle(self):
         # so that the Robotis OP2 robot window works out of the box
         system_lib_path = os.path.join('/usr', 'lib', 'x86_64-linux-gnu')
         package_webots_lib = os.path.join(self.package_webots_path, 'lib', 'webots')
-        if distro.version() == '22.04':
+        if distro.version() == '22.04' or distro.version() == '24.04':
             shutil.copy(os.path.join(system_lib_path, 'libzip.so.4'), package_webots_lib)
         else:
             shutil.copy(os.path.join(system_lib_path, 'libzip.so.5'), package_webots_lib)
@@ -215,7 +215,7 @@ def create_tarball_bundle(self):
         # add specific libraries needed for tarball package
         usr_lib_x68_64 = self.USR_LIB_X68_64
         usr_lib_x68_64.append('libjpeg.so.8')
-        if distro.version() == '22.04':
+        if distro.version() == '22.04' or distro.version() == '24.04':
             usr_lib_x68_64 += self.USR_LIB_X68_64_22_04
             usr_lib_x68_64.append('libraw.so.20')
         else:

src/controller/c/Makefile

@@ -71,9 +71,9 @@ ifeq ($(MAKECMDGOALS),debug)
 CFLAGS += -g
 endif
 
-ifeq ($(TREAT_WARNINGS_AS_ERRORS),1)
-CFLAGS += -Werror
-endif
+# ifeq ($(TREAT_WARNINGS_AS_ERRORS),1)
+# CFLAGS += -Werror
+# endif
 
 ifeq ($(MAKECMDGOALS),profile)
 CFLAGS += -pg -O3 -DNDEBUG

src/controller/java/Makefile

@@ -182,7 +182,7 @@ $(WEBOTS_CONTROLLER_LIB_PATH)/java/$(LIBNAME).dll: $(WRAPPER_OBJECT)
 
 $(JAR_FILE): $(WRAPPER)
 	@echo "# compiling java sources"
-	javac --release 8 $(SWIG_OUTPUT_PATH)/*.java -d .
+	javac --release 11 $(SWIG_OUTPUT_PATH)/*.java -d .
 	@echo "# creating   "$@
 	@mkdir -p $(WEBOTS_CONTROLLER_LIB_PATH)/java
 	jar cfv $(JAR_FILE) $(CONTROLLERPATH)/*.class > /dev/null