Implementation of the interface for Webots and ROS 2

The main functionalities of the package:

• It automatically creates a ROS 2 interface out of a Webots robot model.
• It allows users to configure the ROS 2 interface in URDF files.
• It allows users to extend the interface using the pluginlib plugin mechanism.

Please use the following links for more details:

• Tutorial: Creating a Custom Package
• Tutorial: Creating a Custom Plugin

Changelog for package webots_ros2_driver

2023.1.3 (2024-08-07) ------------------* Make webots_ros2_driver scripts executable. * Fixed the produced URDF to also contain joint limits necessary for ros2_control.

2023.1.1 (2023-07-11) ------------------* Added component remapping parameter to rename PROTO components. * Added deprecation message when declaring driver node in launch file. * 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. * Fixed RangeFinder activation to also check for point cloud subscriptions.

2023.1.0 (2023-06-29) ------------------* Added Ros2Pen static plugin. * Added parameters to rename Camera and RangeFinder topics. * Added new WebotsController node to launch robot controller plugins. * Added compilation of the generic robot window library. * Default to canonical topic name and fix camera_info stamp in Ros2Camera, Ros2RangeFinder. * Added VacuumGripper device support.

2023.0.4 (2023-05-23) ------------------* Fixed vertical field of view in static RangeFinder plugin. * Added support for painted point clouds. * Added custom handler to start nodes when Webots is ready.

2023.0.3 (2023-04-12) ------------------* Adding port, stream type parameters to webots_laucher * Copying .wbproj when launching a webots world via webots_launcher * Added Emitter and Receiver support * Changed undefined Lidar frequency to the default from the .proto file * Added Compass support

2023.0.2 (2023-02-07) ------------------* Fixed the spawn of URDF robots in WSL and macOS when using full path. * Fixed relative assets in macOS. * Added Ros2Supervisor creation.

2023.0.1 (2023-01-05) ------------------* Fixed relative assets in WSL.

2023.0.0 (2022-11-30) ------------------* Add support for the new Python API of Webots R2023a * Convert C++ controller API functions to C * Replace libController submodule by commited source files

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

2022.1.3 (2022-11-02) ------------------* Added macOS support.

2022.1.2 (2022-10-21) ------------------* Fix issue where relatively defined PROTO were not found. * Added WSL support.

2022.1.1 (2022-10-11) ------------------* Simplified the detection of Webots installation folder.

2022.1.0 (2022-09-23) ------------------* Added an URDF importer feature to spawn robots from URDF files.

1.2.3 (2022-05-30)

• Add option to set 'robot_description' parameter for 'robot_state_publisher' node.
• Fix recognition camera.
• Add a 'PointCloud2' publisher for the 'RangeFinder' device.

1.2.2 (2022-01-19)

• Fix the Supervisor API access from plugins.

1.2.1 (2022-01-10)

• Fix link error for 'webots_ros2_control' on macOS.
• Fix lidar device according to FLU convention.

1.2.0 (2021-12-21)

• Adapt the worlds to the new R2022a FLU convention.
• Remove a double webots_ros2_driver header installation.
• Add the publication of the 'gps/speed_vector' topic to the GPS ROS 2 device.

1.1.2 (2021-11-03)

• Adapted the 'webots_ros2_driver' package to be also a python alternative to the 'webots_ros2_core' package.

1.1.0 (2021-07-19)

• Initial version