Merge master in develop

.github/workflows/test.yml

@@ -10,8 +10,12 @@ jobs:
       fail-fast: false
       matrix:
         ROS_REPO: [main, testing]
-        ROS_DISTRO: [foxy]
+        ROS_DISTRO: [foxy, rolling]
     runs-on: ubuntu-latest
+    env:
+      AFTER_INIT: ./scripts/ci_after_init.bash ${ROS_DISTRO} ${ROS_REPO}
+      BEFORE_INIT_EMBED: source scripts/ci_before_init_embed.bash
+      DOCKER_RUN_OPTS: -v /artifacts:/tmp/artifacts
     steps:
       - uses: actions/checkout@v1
         with:
@@ -20,3 +24,10 @@ jobs:
         env: 
           ROS_REPO: ${{matrix.ROS_REPO}}
           ROS_DISTRO: ${{matrix.ROS_DISTRO}}
+      - name: Upload Artifact
+        if: ${{ failure() }}
+        uses: actions/upload-artifact@v2
+        with:
+          name: generic_artifacts_${{matrix.ROS_REPO}}_${{matrix.ROS_DISTRO}}
+          path: /artifacts
+          retention-days: 5

README.md

@@ -1,6 +1,6 @@
 # Webots ROS2 Interface
 
-[![Build Status](https://travis-ci.com/cyberbotics/webots_ros2.svg?branch=master)](https://travis-ci.com/cyberbotics/webots_ros2)
+![Test Status](https://github.com/cyberbotics/webots_ros2/actions/workflows/test.yml/badge.svg)
 [![license - apache 2.0](https://img.shields.io/:license-Apache%202.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)
 [![Version](https://img.shields.io/github/v/tag/cyberbotics/webots_ros2?label=version)](http://wiki.ros.org/webots_ros2)
 

scripts/ci_after_init.bash

@@ -0,0 +1,14 @@
+#!/usr/bin/env bash
+
+ROS_DISTRO=$1
+ROS_REPO=$2
+
+apt update
+apt install -y wget dialog apt-utils psmisc
+wget https://github.com/cyberbotics/webots/releases/download/R${WEBOTS_VERSION}/webots_${WEBOTS_VERSION}_amd64.deb -O /tmp/webots.deb
+apt install -y /tmp/webots.deb xvfb
+
+# The following packages are only available in the ROS 2 Foxy distribution. Therefore, we cannot include them in the package.xml, but we have to install them manually here.
+if [ "${ROS_DISTRO}" = "foxy" ]; then
+    apt install -y ros-foxy-turtlebot3-cartographer ros-foxy-turtlebot3-navigation2
+fi

scripts/ci_before_init_embed.bash

@@ -0,0 +1,7 @@
+#!/usr/bin/env bash
+
+export WEBOTS_VERSION=2021b
+export WEBOTS_OFFSCREEN=1
+export CI=1
+export DEBIAN_FRONTEND=noninteractive
+export QTWEBENGINE_DISABLE_SANDBOX=1

scripts/version_increase.bash

@@ -0,0 +1,24 @@
+#!/usr/bin/env bash
+
+# Please run the script from the repository root.
+
+
+NEW_VERSION=$(echo $1 | grep -E -o "[0-9]{1,}\.[0-9]{1,}\.[0-9]{1,}")
+if [ -z "${NEW_VERSION}" ]; then
+    echo "Please run the script with a version number, e.g. './scripts/version_increase.bash 1.1.1'"
+    exit 1
+fi
+
+# Upgrade the version in the Python setup.py files
+PYTHON_SETUP_FILES=$(find -maxdepth 2 -name setup.py)
+for file in ${PYTHON_SETUP_FILES}; do
+    echo ${file}
+    sed -i -E "s/version='[0-9]{1,}\.[0-9]{1,}\.[0-9]{1,}'/version='${NEW_VERSION}'/g" ${file}
+done
+
+# Upgrade the version in the XML package files
+XML_PACKAGE_FILES=$(find -maxdepth 2 -name package.xml)
+for file in ${XML_PACKAGE_FILES}; do
+    echo ${file}
+    sed -i -E "s/<version>[0-9]{1,}\.[0-9]{1,}\.[0-9]{1,}<\/version>/<version>${NEW_VERSION}<\/version>/g" ${file}
+done

webots_ros2/CHANGELOG.rst

@@ -2,7 +2,20 @@
 Changelog for package webots_ros2
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-1.0.1 (2020-XX-YY)
+1.1.0 (2021-07-19)
+------------------
+* Included the 'webots_ros2_driver' package as a C++ alternative to the 'webots_ros2_core' package.
+* Integrated ros2_control.
+* Included a Mavic drone simulation example
+
+1.0.5 (2021-01-08)
+------------------
+* Improved performance of the camera.
+* Replaced tkinter with simple command-line tools.
+* Fixed usage on Windows.
+* Introduced notion of minimum and target Webots versions.
+
+1.0.1 (2020-09-18)
 ------------------
 * Removed the 'webots_ros2_desktop' package.
 * Added missing 'webots_ros2_demos', 'webots_ros2_epuck' and 'webots_ros2_msgs' packages as dependencies.

webots_ros2/package.xml

@@ -14,26 +14,23 @@
   <exec_depend>rclpy</exec_depend>
   <exec_depend>std_msgs</exec_depend>
   <exec_depend>builtin_interfaces</exec_depend>
-  <exec_depend>webots_ros2_abb</exec_depend>
+  <exec_depend>webots_ros2_control</exec_depend>
   <exec_depend>webots_ros2_core</exec_depend>
-  <exec_depend>webots_ros2_demos</exec_depend>
+  <exec_depend>webots_ros2_driver</exec_depend>
   <exec_depend>webots_ros2_epuck</exec_depend>
-  <exec_depend>webots_ros2_examples</exec_depend>
   <exec_depend>webots_ros2_importer</exec_depend>
   <exec_depend>webots_ros2_mavic</exec_depend>
   <exec_depend>webots_ros2_msgs</exec_depend>
   <exec_depend>webots_ros2_tesla</exec_depend>
   <exec_depend>webots_ros2_tiago</exec_depend>
   <exec_depend>webots_ros2_turtlebot</exec_depend>
-  <exec_depend>webots_ros2_tutorials</exec_depend>
   <exec_depend>webots_ros2_universal_robot</exec_depend>
 
-  <!-- These test dependencies are optional
-  Their purpose is to make sure that the code passes the linters -->
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>
   <test_depend>ament_pep257</test_depend>
   <test_depend>python3-pytest</test_depend>
+  <test_depend>webots_ros2_tests</test_depend>
 
   <export>
     <build_type>ament_python</build_type>

webots_ros2/setup.cfg

@@ -1,4 +1,4 @@
 [develop]
-script-dir=$base/lib/webots_ros2
+script_dir=$base/lib/webots_ros2
 [install]
-install-scripts=$base/lib/webots_ros2
+install_scripts=$base/lib/webots_ros2