Webots ROS2 Interface

This package includes all webots_ros2_* packages.

You can learn more about the package and about the Webots by visiting our documentation.

Changelog for package webots_ros2

2023.1.3 (2024-08-07) ------------------* Added support for ROS 2 Jazzy. * Make webots_ros2_driver scripts executable. * Fixed passing the [robot_description]{.title-ref} parameter to ros2_control. * Fixed the produced URDF to also contain joint limits necessary for ros2_control. * Added support for the new [ros2_control]{.title-ref} 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. * 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.

2023.0.3 (2023-04-12) ------------------* Fixed the calibration of the TIAGo. * Improved the navigation of the TIAGo example. * Added Cartographer for SLAM in the TIAGo example. * Adding port, stream type parameters to webots_laucher * Copying .wbproj when launching a Webots world via webots_launcher * Added Emitter and Receiver support in webots_ros2_driver * Changed undefined Lidar frequency to the default from the .proto file * Added Compass support in webots_ros2_driver * Added startup of the Turlebot navigation and mapping tools from the launch file. * Fixed the calibration of the e-puck. * Fixed and improved the navigation of the e-puck example.

2023.0.2 (2023-02-07) ------------------* Drop support for Galactic. * Fixed the spawn of URDF robots in WSL and macOS when using full path. * Fixed relative assets in macOS. * Ros2Supervisor is now optional.

2023.0.1 (2023-01-05) ------------------* Fixed relative assets in WSL. * Fixed broken controller connection in Rats life example.

2023.0.0 (2022-11-30) ------------------* Added support for the new Python API of Webots R2023a * Convert C++ controller API functions to C * Replace libController submodule by commited source files * Removed 'webots_ros2_core' package (deprecated). * Allow custom motor-encoder pair.

2022.1.4 (2022-11-18) ------------------* Fixed the camera focal length in the CameraInfo topic. * Upgraded to urdf2webots 2.0.3 * Update the calculation of CameraRecognitionObject messages to the RDF convention of R2022b.

2022.1.3 (2022-11-02) ------------------* Added macOS support. * Added reset handler to all examples to support simulation reset from Webots.

2022.1.2 (2022-10-21) ------------------* Added WSL support.

2022.1.0 (2022-09-23) ------------------* Adapted controllers to communicate with Webots R2022b. * Added feature to import URDF on the fly. * Added PointCloud2 support for RangeFinder.

1.2.3 (2022-06-01)

• Fixed support for Humble and Rolling.

1.1.2 (2021-11-03)

• Adapted the 'webots_ros2_driver' package to be also a python alternative to the 'webots_ros2_core' package.
• Replaced the use of the deprecated 'webots_ros2_core' package by the 'webots_ros2_driver' package.
• Removed the 'webots_ros2_example', 'webots_ros2_tutorials' and 'webots_ros2_abb' packages.
• Replaced the 'webots_ros2_tiago' package.

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.

1.0.0 (2020-09-01)

• Improved support for macOS

0.0.3 (2020-06-15)

• Updated to Webots R2020a

0.0.2 (2019-09-23)

• Moved sources to cyberbotics/webots_ros2 (https://github.com/cyberbotics/webots_ros2)
• Added a 'webots_ros2_msgs', 'webots_ros2_core', 'webots_ros2_desktop', 'webots_ros2_examples' 'webots_ros2_abb' and 'webots_ros2_universal_robot' packages
• Added support for ABB robots.

0.0.1 (2019-08-09)

• Initial version