.github/workflows/libcontroller_updater.yml

@@ -1,8 +1,7 @@
 name: Libcontroller Updater
 
 on:
-  schedule:
-    - cron:  '0 04 * * *'
+  workflow_dispatch:
 
 jobs:
   automatic-libcontroller-sync:

.github/workflows/sync_master_to_develop.yml

@@ -1,8 +1,7 @@
 name: Branch synchronizer
 
 on:
-  schedule:
-    - cron:  '0 04 * * *'
+  workflow_dispatch:
 
 jobs:
   sync-develop-with-master:

.github/workflows/test.yml

@@ -16,7 +16,7 @@ jobs:
       fail-fast: false
       matrix:
         ROS_REPO: [main, testing]
-        ROS_DISTRO: [humble, rolling]
+        ROS_DISTRO: [humble, jazzy, rolling]
     runs-on: ubuntu-latest
     env:
       AFTER_INIT: ./scripts/ci_after_init.bash ${ROS_DISTRO} ${ROS_REPO}
@@ -32,7 +32,7 @@ jobs:
           ROS_DISTRO: ${{matrix.ROS_DISTRO}}
       - name: Upload Artifact
         if: ${{ failure() }}
-        uses: actions/upload-artifact@v2
+        uses: actions/upload-artifact@v4
         with:
           name: generic_artifacts_${{matrix.ROS_REPO}}_${{matrix.ROS_DISTRO}}
           path: /artifacts

.github/workflows/test_develop.yml

@@ -14,7 +14,7 @@ jobs:
       fail-fast: false
       matrix:
         ROS_REPO: [main, testing]
-        ROS_DISTRO: [humble, rolling]
+        ROS_DISTRO: [humble, jazzy, rolling]
     runs-on: ubuntu-latest
     env:
       AFTER_INIT: ./scripts/ci_after_init.bash ${ROS_DISTRO} ${ROS_REPO}
@@ -31,7 +31,7 @@ jobs:
           ROS_DISTRO: ${{matrix.ROS_DISTRO}}
       - name: Upload Artifact
         if: ${{ failure() }}
-        uses: actions/upload-artifact@v2
+        uses: actions/upload-artifact@v4
         with:
           name: generic_artifacts_develop_${{matrix.ROS_REPO}}_${{matrix.ROS_DISTRO}}
           path: /artifacts

README.md

@@ -12,10 +12,9 @@ It integrates with ROS2 using ROS2 messages, services and actions.
 
 Please visit the [documentation](https://github.com/cyberbotics/webots_ros2/wiki) that contains the following sections:
 - [Getting Started](https://github.com/cyberbotics/webots_ros2/wiki/Getting-Started)
-- [Complete Installation Guide](https://github.com/cyberbotics/webots_ros2/wiki/Complete-Installation-Guide)
-- [Tutorials](https://github.com/cyberbotics/webots_ros2/wiki/Tutorials)
 - [Examples](https://github.com/cyberbotics/webots_ros2/wiki/Examples)
 - [References](https://github.com/cyberbotics/webots_ros2/wiki/References)
+- [Tutorials](https://github.com/cyberbotics/webots_ros2/wiki/Tutorials)
 
 
 ## Acknowledgements

docker/Dockerfile

@@ -0,0 +1,53 @@
+ARG ROS_DISTRO=jazzy
+
+FROM osrf/ros:${ROS_DISTRO}-desktop
+
+ARG DEBIAN_FRONTEND=noninteractive
+ARG UID=1000
+ARG DOCKERUSER=
+ARG DOCKERUSERCOMMENT=
+ARG ROS_DISTRO=jazzy
+ARG ROS_TESTING=0
+ARG WEBOTS_VERSION=2025a
+
+RUN if [ "${ROS_DISTRO}" != "humble" ]; then userdel -r ubuntu; fi
+RUN useradd -d /${DOCKERUSER} -m \
+            -u ${UID} -U \
+            -s /usr/bin/bash \
+            -c "${DOCKERUSERCOMMENT}" ${DOCKERUSER} && \
+    echo "${DOCKERUSER} ALL=(ALL) NOPASSWD: ALL" >> /etc/sudoers && \
+    usermod -a -G video ${DOCKERUSER} && \
+    usermod -a -G dialout ${DOCKERUSER}
+
+RUN echo $WEBOTS_VERSION | grep -q "nightly" && export WEBOTS_URL="https://github.com/cyberbotics/webots/releases/download/${WEBOTS_VERSION}_amd64.deb" || export WEBOTS_URL="https://github.com/cyberbotics/webots/releases/download/R${WEBOTS_VERSION}/webots_${WEBOTS_VERSION}_amd64.deb" && \
+    apt update && apt install -y wget && \
+    wget ${WEBOTS_URL} -O /tmp/webots.deb && \
+    apt install -y /tmp/webots.deb && \
+    rm /tmp/webots.deb
+
+RUN [ "$ROS_TESTING" -eq "1" ] && echo "deb [ signed-by=/usr/share/keyrings/ros2-latest-archive-keyring.gpg ] http://packages.ros.org/ros2-testing/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros2-latest.list || true
+
+RUN apt-get update && apt-get install -y \
+    ros-${ROS_DISTRO}-vision-msgs \
+    ros-${ROS_DISTRO}-xacro \
+    ros-${ROS_DISTRO}-ros2-control \
+    ros-${ROS_DISTRO}-ros2-controllers \
+    ros-${ROS_DISTRO}-robot-localization \
+    ros-${ROS_DISTRO}-laser-filters \
+    ros-${ROS_DISTRO}-tf-transformations \
+    ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
+    gdb \
+    git
+
+# HOTFIX: https://github.com/ros-controls/ros2_control/pull/1960
+RUN [ "${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
+
+ENV USERNAME=default
+USER ${DOCKERUSER}
+WORKDIR /${DOCKERUSER}/ros2_ws

docker/Makefile

@@ -0,0 +1,44 @@
+UID:=$(shell id -u)
+ROOT_DIR:=$(shell dirname $(realpath $(firstword $(MAKEFILE_LIST))))/../
+NVIDIA_GPU:=$(shell docker info | grep Runtimes | grep nvidia 1> /dev/null && nvidia-smi 1> /dev/null && echo '--runtime nvidia --gpus all' || echo '')
+DOCKERUSER:=cyberbotics
+BASENAME:=webots_ros2
+DOCKERUSERCOMMENT:="Cyberbotics"
+ROS_DISTRO?=jazzy
+ROS_TESTING?=0
+WEBOTS_VERSION?=2025a
+
+build:
+	echo "ROS_TESTING=${ROS_TESTING}"
+	docker build ${ROOT_DIR} \
+		-f ${ROOT_DIR}/docker/Dockerfile \
+		-t ${BASENAME} ${DOCKER_ARGS} \
+		--build-arg UID=${UID} \
+		--build-arg DOCKERUSER=${DOCKERUSER} \
+		--build-arg DOCKERUSERCOMMENT=${DOCKERUSERCOMMENT} \
+		--build-arg ROS_TESTING=${ROS_TESTING} \
+		--build-arg WEBOTS_VERSION=${WEBOTS_VERSION} \
+		--build-arg ROS_DISTRO=${ROS_DISTRO}
+
+run:
+	@docker container rm -f ${BASENAME}
+	docker run \
+		--net=host \
+		--ipc=host \
+		--cap-add SYS_ADMIN \
+		--name ${BASENAME} \
+		--privileged \
+		--restart unless-stopped \
+		-e NVIDIA_DRIVER_CAPABILITIES=all ${NVIDIA_GPU} \
+		-e DISPLAY=${DISPLAY} \
+		-v ~/.Xauthority:/${DOCKERUSER}/.Xauthority:ro \
+		-v /tmp/.X11-unix/:/tmp/.X11-unix:rw \
+		-v /dev/dri:/dev/dri:ro \
+		-v ${ROOT_DIR}:/${DOCKERUSER}/ros2_ws/src/${BASENAME} \
+		-v /dev:/dev:rw \
+		--entrypoint bash \
+		-d -it ${BASENAME}
+
+
+exec:
+	docker exec -it ${BASENAME} bash

docker/README.md

@@ -0,0 +1,30 @@
+# Docker
+
+Development container for the project.
+
+## Dependencies
+
+```bash
+sudo apt install git make curl
+curl -sSL https://get.docker.com | sh && sudo usermod -aG docker $USER
+```
+
+## Usage
+
+You need to build & run the container only the first time:
+```bash
+ROS_DISTRO=jazzy ROS_TESTING=0 WEBOTS_VERSION=2025a make build run exec
+```
+
+if you want to test a nightly build:
+```bash
+ROS_DISTRO=jazzy ROS_TESTING=0 WEBOTS_VERSION=nightly_25_12_2024/webots_2025a make build run exec
+```
+
+After that, you can just attach to the container with:
+```bash
+make exec
+```
+
+> [!NOTE]
+> In case you get an error something like `qt.qpa.xcb: could not connect to display :0` then please run `xhost local:root` on the host.

docker/bashrc

@@ -0,0 +1,10 @@
+source /opt/ros/${ROS_DISTRO}/setup.bash
+source ~/ros2_libs_ws/install/local_setup.bash
+source ~/ros2_ws/install/local_setup.bash
+alias cb='colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Debug'
+alias teleop='ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -p stamped:=true'
+
+# For debugging
+export WEBOTS_HOME=/usr/local/webots
+export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:/cyberbotics/ros2_ws/src/webots_ros2/webots_ros2_driver/webots/lib/controller
+export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

docker/webots.conf

@@ -0,0 +1,17 @@
+[%General]
+checkWebotsUpdateOnStartup=false
+pythonCommand=python3
+rendering=true
+startupMode=Real-time
+telemetry=false
+theme=webots_night.qss
+
+[OpenGL]
+GTAO=0
+disableAntiAliasing=true
+disableShadows=true
+textureFiltering=1
+textureQuality=0
+
+[Internal]
+firstLaunch=false

scripts/ci_after_init.bash

@@ -3,20 +3,24 @@
 ROS_DISTRO=$1
 ROS_REPO=$2
 
-# Take the latest nightly build
-YESTERDAY_WEEK_DAY_NUMBER=`date --date="1 day ago" +"%u"`
-LAST_NIGHTLY_DAY_OLD=1
-# There is no nightly build the weekend
-if [ ${YESTERDAY_WEEK_DAY_NUMBER} -gt 5 ]; then
-    LAST_NIGHTLY_DAY_OLD="$((${YESTERDAY_WEEK_DAY_NUMBER}-4))"
+WEBOTS_VERSION="R${WEBOTS_RELEASE_VERSION}"
+
+if [ "${TEST_WITH_WEBOTS_NIGTHLY}" == "1" ]; then
+    # Take the latest nightly build
+    YESTERDAY_WEEK_DAY_NUMBER=`date --date="1 day ago" +"%u"`
+    LAST_NIGHTLY_DAY_OLD=1
+    # There is no nightly build the weekend
+    if [ ${YESTERDAY_WEEK_DAY_NUMBER} -gt 5 ]; then
+        LAST_NIGHTLY_DAY_OLD="$((${YESTERDAY_WEEK_DAY_NUMBER}-4))"
+    fi
+    NIGHTLY_DATE=`date --date="${LAST_NIGHTLY_DAY_OLD} day ago" +"%-d_%-m_%Y"`
+    WEBOTS_VERSION="nightly_${NIGHTLY_DATE}"
 fi
-NIGHTLY_DATE=`date --date="${LAST_NIGHTLY_DAY_OLD} day ago" +"%-d_%-m_%Y"`
-WEBOTS_NIGHTLY_VERSION="nightly_${NIGHTLY_DATE}"
 
-apt update
-apt install -y wget dialog apt-utils psmisc lsb-release git
-wget https://github.com/cyberbotics/webots/releases/download/${WEBOTS_NIGHTLY_VERSION}/webots_${WEBOTS_RELEASE_VERSION}_amd64.deb -O /tmp/webots.deb
-apt install -y /tmp/webots.deb xvfb
+apt update > /dev/null
+apt install -y wget dialog apt-utils psmisc lsb-release git > /dev/null
+wget https://github.com/cyberbotics/webots/releases/download/${WEBOTS_VERSION}/webots_${WEBOTS_RELEASE_VERSION}_amd64.deb -O /tmp/webots.deb > /dev/null
+apt install -y /tmp/webots.deb xvfb > /dev/null
 
 # OpenSSL patch for ubuntu 22
 if [[ $(lsb_release -rs) == "22.04" && ${WEBOTS_RELEASE_VERSION} == "2022a" ]]; then
@@ -37,9 +41,14 @@ fi
 
 # TODO: Revert once the https://github.com/ros-planning/navigation2/issues/3033 issue is fixed.
 # Fast-DDS is not working properly with the Nav2 package on Humble and Iron. Using Cyclone DDS instead.
-if [[ "${ROS_DISTRO}" != "rolling" ]]; then
-    apt install -y ros-${ROS_DISTRO}-rmw-cyclonedds-cpp
-fi
+apt install -y ros-${ROS_DISTRO}-rmw-cyclonedds-cpp
 
 # Setup Qt plugins for RViz (can be used once RViz does not randomly crash anymore in GitHub CI).
-#export QT_PLUGIN_PATH=/usr/lib/x86_64-linux-gnu/qt5/plugins
+# export QT_PLUGIN_PATH=/usr/lib/x86_64-linux-gnu/qt5/plugins
+
+# HOTFIX: https://github.com/ros-controls/ros2_control/pull/1960
+if [[ "${ROS_DISTRO}" == "humble" ]]; then
+    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
+fi

scripts/ci_before_init_embed.bash

@@ -2,7 +2,8 @@
 
 ROS_DISTRO=$1
 
-export WEBOTS_RELEASE_VERSION=2023a-rev1
+export TEST_WITH_WEBOTS_NIGTHLY=1
+export WEBOTS_RELEASE_VERSION=2025a
 export WEBOTS_OFFSCREEN=1
 export CI=1
 export DEBIAN_FRONTEND=noninteractive
@@ -14,6 +15,4 @@ fi
 
 # TODO: Revert once the https://github.com/ros-planning/navigation2/issues/3033 issue is fixed.
 # Fast-DDS is not working properly with the Nav2 package on Humble. Using Cyclone DDS instead.
-if [[ "${ROS_DISTRO}" != "rolling" ]]; then
-    export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
-fi
+export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

tests/sources/test_clang_format.py

@@ -56,6 +56,7 @@ def test_sources_are_clang_format_compliant(self):
             'webots_ros2_control',
             'webots_ros2_driver',
             'webots_ros2_epuck',
+            'webots_ros2_husarion',
             'webots_ros2_importer',
             'webots_ros2_mavic',
             'webots_ros2_msgs',

tests/sources/test_pep8.py

@@ -31,7 +31,10 @@
 skippedDirectories = [
     '.git',
     'webots_ros2_importer/webots_ros2_importer/urdf2webots/',
-    'webots_ros2_driver/webots/lib'
+    'webots_ros2_driver/webots/lib',
+    'webots_ros2_husarion/rosbot_ros',
+    'webots_ros2_husarion/rosbot_xl_ros',
+    'webots_ros2_husarion/ros_components_description'
 ]
 skippedDirectoriesFull = [os.path.join(ROOT_FOLDER, os.path.normpath(path)) for path in skippedDirectories]
 

webots_ros2/CHANGELOG.rst

@@ -2,11 +2,57 @@
 Changelog for package webots_ros2
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2025.0.0 (2025-XX-XX)
+------------------
+* Created webots_ros2_husarion package.
+* Created webots_ros2_crazyflie package.
+
+2023.1.3 (2024-08-07)
+------------------
+* Added support for ROS 2 Jazzy.
+* Make webots_ros2_driver scripts executable.
+* Fixed passing the `robot_description` parameter to ros2_control.
+* Fixed the produced URDF to also contain joint limits necessary for ros2_control.
+* Added support for the new `ros2_control` API affecting resource_manager and controller_manager.
+
+2023.1.2 (2024-04-08)
+------------------
+* Fixed errors showing up when launching moveit for ur5e.
+* Fixed nav2 turtlebot test failing very often.
+* Fixed build and tests for rolling.
+* Fixed deprecated ros_controls command: cmd_vel_unstamped.
+* Remove usage of deprecated resource manager method: activate_all_components().
+* Set is_urdf_loaded__ of the resource manager to true.
+
+2023.1.1 (2023-07-11)
+------------------
+* Added deprecation message when declaring driver node in launch file.
+* Fixed RangeFinder activation to also check for point cloud subscriptions.
+* Added component remapping parameter to WebotsController to rename PROTO components.
+* Added animation_{start,stop}_recording services to Ros2Supervisor node.
+* Added /Ros2Supervisor namespace to Ros2Supervisor node.
+* Fixed Python plugin termination on SIGINT call or simulation ends.
+
+2023.1.0 (2023-06-29)
+------------------
+* Added Ros2Pen static plugin.
+* Added support for Navigation2 in Iron.
+* Clean simulation reset in launch files.
+* Fixed Universal Robot trajectory interpolation.
+* Added new TIAGo project to webots_ros2_tiago to run real robot configuration.
+* Added new WebotsController node in the driver interface to launch robot controller plugins.
+* Fixed unfound robot window library in Tesla example.
+* Default to canonical topic name and fix camera_info stamp in Ros2Camera, Ros2RangeFinder.
+* Added VacuumGripper gripper support in webots_ros2_driver.
+* Added BoolStamped message in webots_ros2_msgs.
+* Added GetBool service in webots_ros2_msgs.
+* Fixed webots_ros2_control component activation.
+
 2023.0.4 (2023-05-23)
 ------------------
 * Drop support for Foxy.
 * Fixed vertical field of view in static RangeFinder plugin.
-* Added support for painted point clouds
+* Added support for painted point clouds.
 * Fixed ability to launch RViz without other tools in e-puck example.
 * Fixed command line arguments in importer tools.
 * Added custom handler in driver interface to start nodes when Webots is ready.

webots_ros2/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>webots_ros2</name>
-  <version>2023.0.4</version>
+  <version>2025.0.0</version>
   <description>Interface between Webots and ROS2</description>
 
   <maintainer email="support@cyberbotics.com">Cyberbotics</maintainer>
@@ -24,6 +24,8 @@
   <exec_depend>webots_ros2_tiago</exec_depend>
   <exec_depend>webots_ros2_turtlebot</exec_depend>
   <exec_depend>webots_ros2_universal_robot</exec_depend>
+  <exec_depend>webots_ros2_crazyflie</exec_depend>
+  <exec_depend>webots_ros2_husarion</exec_depend>
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>python3-pytest</test_depend>