Merge pull request #762 from cyberbotics/sync-master-b901918

Merge master into develop
cyberbotics · Jun 5, 2023 · b8fe29e · b8fe29e
2 parents 074675e + 16e4a46
commit b8fe29e
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Showing 16 changed files with 796 additions and 99 deletions.
diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
@@ -16,7 +16,7 @@ jobs:
       fail-fast: false
       matrix:
         ROS_REPO: [main, testing]
-        ROS_DISTRO: [humble, rolling]
+        ROS_DISTRO: [humble, iron, rolling]
     runs-on: ubuntu-latest
     env:
       AFTER_INIT: ./scripts/ci_after_init.bash ${ROS_DISTRO} ${ROS_REPO}

diff --git a/.github/workflows/test_develop.yml b/.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, iron, rolling]
     runs-on: ubuntu-latest
     env:
       AFTER_INIT: ./scripts/ci_after_init.bash ${ROS_DISTRO} ${ROS_REPO}

diff --git a/webots_ros2/CHANGELOG.rst b/webots_ros2/CHANGELOG.rst
@@ -4,6 +4,7 @@ Changelog for package webots_ros2
 
 2023.1.0 (2023-XX-XX)
 ------------------
+* Added support for Navigation2 in Iron.
 * 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.

diff --git a/webots_ros2_epuck/CHANGELOG.rst b/webots_ros2_epuck/CHANGELOG.rst
@@ -4,6 +4,7 @@ Changelog for package webots_ros2_epuck
 
 2023.1.0 (2023-XX-XX)
 ------------------
+* Added support for Navigation2 in Iron.
 * Update driver node to new WebotsController node.
 
 2023.0.4 (2023-05-23)

diff --git a/webots_ros2_epuck/launch/robot_launch.py b/webots_ros2_epuck/launch/robot_launch.py
@@ -66,10 +66,7 @@ def get_ros2_nodes(*args):
     )
     ros_control_spawners = [diffdrive_controller_spawner, joint_state_broadcaster_spawner]
 
-    mappings = [('/diffdrive_controller/cmd_vel_unstamped', '/cmd_vel')]
-    if 'ROS_DISTRO' in os.environ and os.environ['ROS_DISTRO'] in ['humble', 'rolling']:
-        mappings.append(('/diffdrive_controller/odom', '/odom'))
-
+    mappings = [('/diffdrive_controller/cmd_vel_unstamped', '/cmd_vel'), ('/diffdrive_controller/odom', '/odom')]
     epuck_driver = WebotsController(
         robot_name='e-puck',
         parameters=[

diff --git a/webots_ros2_epuck/launch/robot_tools_launch.py b/webots_ros2_epuck/launch/robot_tools_launch.py
@@ -51,6 +51,8 @@ def generate_launch_description():
     )
 
     # Navigation
+    nav2_params_file = 'nav2_params_iron.yaml' if ('ROS_DISTRO' in os.environ
+                                                   and os.environ['ROS_DISTRO'] == 'iron') else 'nav2_params.yaml'
     if 'nav2_bringup' in get_packages_with_prefixes():
         launch_description_nodes.append(
             IncludeLaunchDescription(
@@ -60,7 +62,7 @@ def generate_launch_description():
                 launch_arguments=[
                     ('map', map_filename),
                     ('use_sim_time', use_sim_time),
-                    ('params_file', os.path.join(package_dir, 'resource', 'nav2_params.yaml'))
+                    ('params_file', os.path.join(package_dir, 'resource', nav2_params_file))
                 ],
                 condition=launch.conditions.IfCondition(use_nav)
             )

diff --git a/webots_ros2_epuck/resource/all.rviz b/webots_ros2_epuck/resource/all.rviz
@@ -92,28 +92,6 @@ Visualization Manager:
         Reliability Policy: Reliable
         Value: /odom
       Value: true
-    - Class: rviz_default_plugins/Camera
-      Enabled: false
-      Image Rendering: background and overlay
-      Name: Camera
-      Overlay Alpha: 0.5
-      Topic:
-        Depth: 5
-        Durability Policy: Volatile
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: /camera/image_raw
-      Value: false
-      Visibility:
-        Grid: true
-        LaserScan: true
-        Map: true
-        Odometry: true
-        Path: true
-        Range: true
-        TF: true
-        Value: true
-      Zoom Factor: 1
     - Alpha: 1
       Autocompute Intensity Bounds: true
       Autocompute Value Bounds:
@@ -422,82 +400,81 @@ Visualization Manager:
       Show Names: false
       Tree:
         map:
-          {}
-        odom:
-          base_link:
-            base_footprint:
-              {}
-            camera:
-              {}
-            laser_scanner:
-              {}
-            led0:
-              {}
-            led1:
-              {}
-            led2:
-              {}
-            led3:
-              {}
-            led4:
-              {}
-            led5:
-              {}
-            led6:
-              {}
-            led7:
-              {}
-            led8:
-              {}
-            led9:
-              {}
-            left wheel:
-              {}
-            pi-puck_894:
-              cap screw(0)_999:
+          odom:
+            base_link:
+              base_footprint:
+                {}
+              camera:
+                {}
+              laser_scanner:
                 {}
-              cap screw(1)_1034:
+              led0:
                 {}
-              cap screw_964:
+              led1:
                 {}
-              pi-puck led 0:
+              led2:
                 {}
-              pi-puck led 1:
+              led3:
                 {}
-              pi-puck led 2:
+              led4:
                 {}
-              solid_924:
+              led5:
                 {}
-            pipe:
-              {}
-            ps0_533:
-              ps0:
+              led6:
                 {}
-            ps1_542:
-              ps1:
+              led7:
                 {}
-            ps2_551:
-              ps2:
+              led8:
                 {}
-            ps3_560:
-              ps3:
+              led9:
                 {}
-            ps4_569:
-              ps4:
+              left wheel:
                 {}
-            ps5_578:
-              ps5:
+              pi-puck_894:
+                cap screw(0)_999:
+                  {}
+                cap screw(1)_1034:
+                  {}
+                cap screw_964:
+                  {}
+                pi-puck led 0:
+                  {}
+                pi-puck led 1:
+                  {}
+                pi-puck led 2:
+                  {}
+                solid_924:
+                  {}
+              pipe:
                 {}
-            ps6_587:
-              ps6:
+              ps0_533:
+                ps0:
+                  {}
+              ps1_542:
+                ps1:
+                  {}
+              ps2_551:
+                ps2:
+                  {}
+              ps3_560:
+                ps3:
+                  {}
+              ps4_569:
+                ps4:
+                  {}
+              ps5_578:
+                ps5:
+                  {}
+              ps6_587:
+                ps6:
+                  {}
+              ps7_596:
+                ps7:
+                  {}
+              right wheel:
                 {}
-            ps7_596:
-              ps7:
+              tof:
                 {}
-            right wheel:
-              {}
-            tof:
-              {}
       Update Interval: 0
       Value: true
     - Alpha: 1