Sync with 'webots' repo.

CMakeLists.txt

@@ -76,10 +76,12 @@ find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs sensor_msgs messag
     field_set_vec2f.srv
     field_set_vec3f.srv
     get_bool.srv
+    get_float_array.srv
     get_float.srv
     get_int.srv
     get_string.srv
     get_uint64.srv
+    get_urdf.srv
     gps_decimal_degrees_to_degrees_minutes_seconds.srv
     lidar_get_frequency_info.srv
     lidar_get_info.srv
@@ -264,8 +266,20 @@ install(TARGETS panoramic_view_recorder
 install(TARGETS pioneer3at
         RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
 
-install(PROGRAMS src/webots_launcher.py
+catkin_install_python(PROGRAMS scripts/ros_controller.py
+        DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+
+catkin_install_python(PROGRAMS scripts/ros_python.py
+        DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+
+catkin_install_python(PROGRAMS scripts/webots_launcher.py
         DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
 
 install(DIRECTORY launch
         DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+install(DIRECTORY plugins
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+install(DIRECTORY worlds
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

launch/catch_the_bird.launch

@@ -5,7 +5,7 @@
   <include file="$(find webots_ros)/launch/webots.launch">
     <arg name="mode" value="realtime"/>
     <arg name="no-gui" value="$(arg no-gui)"/>
-    <arg name="world" value="$(env WEBOTS_HOME)/projects/languages/ros/worlds/catch_the_bird.wbt"/>
+    <arg name="world" value="$(find webots_ros)/worlds/catch_the_bird.wbt"/>
   </include>
 
   <arg name="auto-close" default="false" doc="Startup mode"/>

launch/complete_test.launch

@@ -5,7 +5,7 @@
   <include file="$(find webots_ros)/launch/webots.launch">
     <arg name="mode" value="realtime"/>
     <arg name="no-gui" value="$(arg no-gui)"/>
-    <arg name="world" value="$(env WEBOTS_HOME)/projects/languages/ros/worlds/complete_test.wbt"/>
+    <arg name="world" value="$(find webots_ros)/worlds/complete_test.wbt"/>
   </include>
 
   <arg name="auto-close" default="false" doc="Startup mode"/>

launch/e_puck_line.launch

@@ -5,7 +5,7 @@
   <include file="$(find webots_ros)/launch/webots.launch">
     <arg name="mode" value="realtime"/>
     <arg name="no-gui" value="$(arg no-gui)"/>
-    <arg name="world" value="$(env WEBOTS_HOME)/projects/languages/ros/worlds/e-puck_line.wbt"/>
+    <arg name="world" value="$(find webots_ros)/worlds/e-puck_line.wbt"/>
   </include>
 
   <arg name="duration" default="20" doc="Duration in seconds"/>

launch/keyboard_teleop.launch

@@ -5,7 +5,7 @@
   <include file="$(find webots_ros)/launch/webots.launch">
     <arg name="mode" value="realtime"/>
     <arg name="no-gui" value="$(arg no-gui)"/>
-    <arg name="world" value="$(env WEBOTS_HOME)/projects/languages/ros/worlds/keyboard_teleop.wbt"/>
+    <arg name="world" value="$(find webots_ros)/worlds/keyboard_teleop.wbt"/>
   </include>
 
   <arg name="auto-close" default="false" doc="Startup mode"/>

launch/panoramic_view_recorder.launch

@@ -5,7 +5,7 @@
   <include file="$(find webots_ros)/launch/webots.launch">
     <arg name="mode" value="realtime"/>
     <arg name="no-gui" value="$(arg no-gui)"/>
-    <arg name="world" value="$(env WEBOTS_HOME)/projects/languages/ros/worlds/panoramic_view_recorder.wbt"/>
+    <arg name="world" value="$(find webots_ros)/worlds/panoramic_view_recorder.wbt"/>
   </include>
 
   <arg name="auto-close" default="false" doc="Startup mode"/>

launch/pioneer3at.launch

@@ -5,9 +5,9 @@
   <include file="$(find webots_ros)/launch/webots.launch">
     <arg name="mode" value="realtime"/>
     <arg name="no-gui" value="$(arg no-gui)"/>
-    <arg name="world" value="$(env WEBOTS_HOME)/projects/languages/ros/worlds/pioneer3at.wbt"/>
+    <arg name="world" value="$(find webots_ros)/worlds/pioneer3at.wbt"/>
   </include>
 
   <arg name="auto-close" default="false" doc="Startup mode"/>
-  <node name="pioneer3at" pkg="webots_ros" type="pioneer3at" required="$(arg auto-close)"/>
+  <node name="pioneer3at_controller" pkg="webots_ros" type="pioneer3at" required="$(arg auto-close)"/>
 </launch>

launch/robot_information_parser.launch

@@ -5,7 +5,7 @@
   <include file="$(find webots_ros)/launch/webots.launch">
     <arg name="mode" value="realtime"/>
     <arg name="no-gui" value="$(arg no-gui)"/>
-    <arg name="world" value="$(env WEBOTS_HOME)/projects/languages/ros/worlds/e-puck_line.wbt"/>
+    <arg name="world" value="$(find webots_ros)/worlds/e-puck_line.wbt"/>
   </include>
 
   <arg name="auto-close" default="false" doc="Startup mode"/>

launch/webots_ros_python.launch

@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+<launch>
+  <!-- start Webots -->
+  <arg name="no-gui" default="false," doc="Start Webots with minimal GUI"/>
+  <include file="$(find webots_ros)/launch/webots.launch">
+    <arg name="mode" value="realtime"/>
+    <arg name="no-gui" value="$(arg no-gui)"/>
+    <arg name="world" value="$(find webots_ros)/worlds/ros_python.wbt"/>
+  </include>
+
+  <arg name="auto-close" default="false" doc="Startup mode"/>
+  <env name="LD_LIBRARY_PATH" value="$(env LD_LIBRARY_PATH):$(env WEBOTS_HOME)/lib/controller"/>
+  <env name="PYTHONPATH" value="$(env PYTHONPATH):$(env WEBOTS_HOME)/lib/controller/python27" unless="$(eval '1' if env('ROS_DISTRO') == 'noetic' else '0')" />
+  <env name="PYTHONPATH" value="$(env PYTHONPATH):$(env WEBOTS_HOME)/lib/controller/python38" if="$(eval '1' if env('ROS_DISTRO') == 'noetic' else '0')" />
+  <node name="webots_ros_python" pkg="webots_ros" type="ros_python.py" required="$(arg auto-close)"/>
+  <node name="ros_controller" pkg="webots_ros" type="ros_controller.py" required="$(arg auto-close)"/>
+</launch>

package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>webots_ros</name>
-  <version>2.0.6</version>
+  <version>2.1.0</version>
   <description>The ROS package containing examples for interfacing ROS with the standard ROS controller of Webots</description>
 
   <url>http://wiki.ros.org/webots_ros</url>

plugins/robot_windows/info/info.html

@@ -0,0 +1,7 @@
+<div>
+  <h2>Info window</h2>
+  <div>
+    <p>Show message received from the controller:</p>
+    <span id='text-display'></span>
+  </div>
+</div>

plugins/robot_windows/info/info.js

@@ -0,0 +1,7 @@
+webots.window('info').receive = function(message, robot) {
+  if (message.startsWith('test')) {
+    document.querySelector("#text-display").innerHTML = message;
+    this.send("Answer: " + message, robot);
+  } else
+    console.log("Received unknown message for robot '" + robot + "': '" + message + "'");
+}

scripts/ros_controller.py

@@ -0,0 +1,38 @@
+#!/usr/bin/env python
+
+# Copyright 1996-2020 Cyberbotics Ltd.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""
+This is a simple example of a Python ROS node receiving sensor values and publishing motor commands (velocity)
+to drive a robot and stop it before colliding with an obstacle.
+"""
+
+import rospy
+from std_msgs.msg import Float64
+
+
+def callback(data):
+    global pub
+    rospy.loginfo(rospy.get_caller_id() + 'Received sensor value: %s', data.data)
+    if data.data > 100:
+        pub.publish(0)
+    else:
+        pub.publish(9)
+
+
+rospy.init_node('controller', anonymous=True)
+pub = rospy.Publisher('motor', Float64, queue_size=10)
+rospy.Subscriber("sensor", Float64, callback)
+rospy.spin()

scripts/ros_python.py

@@ -0,0 +1,62 @@
+#!/usr/bin/env python
+
+# Copyright 1996-2020 Cyberbotics Ltd.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""
+This is a simple example of a Webots controller running a Python ROS node thanks to rospy.
+The robot is publishing the value of its front distance sensor and receving motor commands (velocity).
+"""
+
+import rospy
+from std_msgs.msg import Float64
+from controller import Robot
+import os
+
+
+def callback(data):
+    global velocity
+    global message
+    message = 'Received velocity value: ' + str(data.data)
+    velocity = data.data
+
+
+robot = Robot()
+timeStep = int(robot.getBasicTimeStep())
+left = robot.getMotor('motor.left')
+right = robot.getMotor('motor.right')
+sensor = robot.getDistanceSensor('prox.horizontal.2')  # front central proximity sensor
+sensor.enable(timeStep)
+left.setPosition(float('inf'))  # turn on velocity control for both motors
+right.setPosition(float('inf'))
+velocity = 0
+left.setVelocity(velocity)
+right.setVelocity(velocity)
+message = ''
+print('Initializing ROS: connecting to ' + os.environ['ROS_MASTER_URI'])
+robot.step(timeStep)
+rospy.init_node('listener', anonymous=True)
+print('Subscribing to "motor" topic')
+robot.step(timeStep)
+rospy.Subscriber('motor', Float64, callback)
+pub = rospy.Publisher('sensor', Float64, queue_size=10)
+print('Running the control loop')
+while robot.step(timeStep) != -1 and not rospy.is_shutdown():
+    pub.publish(sensor.getValue())
+    print('Published sensor value: ', sensor.getValue())
+    if message:
+        print(message)
+        message = ''
+    left.setVelocity(velocity)
+    right.setVelocity(velocity)