├── .clang-format ├── .github ├── FUNDING.yml ├── ISSUE_TEMPLATE │ ├── bug_report.md │ ├── documentation.md │ └── feature_request.md ├── pull_request_template.md └── workflows │ ├── libcontroller_updater.yml │ ├── sync_master_to_develop.yml │ ├── test.yml │ ├── test_develop.yml │ └── tests_sources.yml ├── .gitignore ├── .gitmodules ├── CODE_OF_CONDUCT.md ├── CONTRIBUTING.md ├── LICENSE ├── README.md ├── docker ├── Dockerfile ├── Makefile ├── README.md ├── bashrc └── webots.conf ├── images └── cover.png ├── scripts ├── ci_after_init.bash ├── ci_before_init_embed.bash ├── sync_controller_lib.sh └── version_increase.bash ├── tests ├── .gitignore ├── sources │ ├── requirements.txt │ ├── test_clang_format.py │ ├── test_cppcheck.py │ └── test_pep8.py └── test_sources.py ├── webots_ros2 ├── CHANGELOG.rst ├── README.md ├── package.xml ├── resource │ └── webots_ros2 ├── setup.cfg ├── setup.py ├── test │ └── test_copyright.py └── webots_ros2 │ ├── .gitignore │ └── __init__.py ├── webots_ros2_control ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── include │ └── webots_ros2_control │ │ ├── Ros2Control.hpp │ │ ├── Ros2ControlSystem.hpp │ │ └── Ros2ControlSystemInterface.hpp ├── package.xml ├── src │ ├── Ros2Control.cpp │ └── Ros2ControlSystem.cpp ├── webots_ros2_control.xml └── webots_ros2_control_system.xml ├── webots_ros2_crazyflie ├── launch │ └── robot_launch.py ├── package.xml ├── resource │ ├── crazyflie_webots.urdf │ └── webots_ros2_crazyflie ├── setup.cfg ├── setup.py ├── webots_ros2_crazyflie │ ├── __init__.py │ └── crazyflie_driver.py └── worlds │ ├── .crazyflie_apartment.wbproj │ └── crazyflie_apartment.wbt ├── webots_ros2_driver ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── include │ └── webots_ros2_driver │ │ ├── PluginInterface.hpp │ │ ├── PythonPlugin.hpp │ │ ├── WebotsNode.hpp │ │ ├── plugins │ │ ├── Ros2SensorPlugin.hpp │ │ ├── dynamic │ │ │ ├── Ros2IMU.hpp │ │ │ └── Ros2RGBD.hpp │ │ └── static │ │ │ ├── Ros2Camera.hpp │ │ │ ├── Ros2Compass.hpp │ │ │ ├── Ros2DistanceSensor.hpp │ │ │ ├── Ros2Emitter.hpp │ │ │ ├── Ros2GPS.hpp │ │ │ ├── Ros2LED.hpp │ │ │ ├── Ros2Lidar.hpp │ │ │ ├── Ros2LightSensor.hpp │ │ │ ├── Ros2Pen.hpp │ │ │ ├── Ros2RangeFinder.hpp │ │ │ ├── Ros2Receiver.hpp │ │ │ └── Ros2VacuumGripper.hpp │ │ └── utils │ │ ├── Math.hpp │ │ └── Utils.hpp ├── package.xml ├── scripts │ └── webots_tcp_client.py ├── src │ ├── Driver.cpp │ ├── PythonPlugin.cpp │ ├── WebotsNode.cpp │ ├── plugins │ │ ├── Ros2SensorPlugin.cpp │ │ ├── dynamic │ │ │ ├── Ros2IMU.cpp │ │ │ └── Ros2RGBD.cpp │ │ └── static │ │ │ ├── Ros2Camera.cpp │ │ │ ├── Ros2Compass.cpp │ │ │ ├── Ros2DistanceSensor.cpp │ │ │ ├── Ros2Emitter.cpp │ │ │ ├── Ros2GPS.cpp │ │ │ ├── Ros2LED.cpp │ │ │ ├── Ros2Lidar.cpp │ │ │ ├── Ros2LightSensor.cpp │ │ │ ├── Ros2Pen.cpp │ │ │ ├── Ros2RangeFinder.cpp │ │ │ ├── Ros2Receiver.cpp │ │ │ └── Ros2VacuumGripper.cpp │ └── utils │ │ ├── Math.cpp │ │ └── Utils.cpp ├── webots │ ├── .gitignore │ ├── README.md │ ├── include │ │ ├── controller │ │ │ ├── c │ │ │ │ └── webots │ │ │ │ │ ├── accelerometer.h │ │ │ │ │ ├── altimeter.h │ │ │ │ │ ├── brake.h │ │ │ │ │ ├── camera.h │ │ │ │ │ ├── camera_recognition_object.h │ │ │ │ │ ├── compass.h │ │ │ │ │ ├── connector.h │ │ │ │ │ ├── console.h │ │ │ │ │ ├── contact_point.h │ │ │ │ │ ├── device.h │ │ │ │ │ ├── display.h │ │ │ │ │ ├── distance_sensor.h │ │ │ │ │ ├── emitter.h │ │ │ │ │ ├── gps.h │ │ │ │ │ ├── gyro.h │ │ │ │ │ ├── inertial_unit.h │ │ │ │ │ ├── joystick.h │ │ │ │ │ ├── keyboard.h │ │ │ │ │ ├── led.h │ │ │ │ │ ├── lidar.h │ │ │ │ │ ├── lidar_point.h │ │ │ │ │ ├── light_sensor.h │ │ │ │ │ ├── microphone.h │ │ │ │ │ ├── motor.h │ │ │ │ │ ├── mouse.h │ │ │ │ │ ├── mouse_state.h │ │ │ │ │ ├── nodes.h │ │ │ │ │ ├── pen.h │ │ │ │ │ ├── plugins │ │ │ │ │ └── robot_window │ │ │ │ │ │ ├── default.h │ │ │ │ │ │ ├── generic_robot_window │ │ │ │ │ │ └── generic.h │ │ │ │ │ │ ├── robot_window.h │ │ │ │ │ │ └── robot_wwi.h │ │ │ │ │ ├── position_sensor.h │ │ │ │ │ ├── radar.h │ │ │ │ │ ├── radar_target.h │ │ │ │ │ ├── radio.h │ │ │ │ │ ├── range_finder.h │ │ │ │ │ ├── receiver.h │ │ │ │ │ ├── remote_control.h │ │ │ │ │ ├── robot.h │ │ │ │ │ ├── skin.h │ │ │ │ │ ├── speaker.h │ │ │ │ │ ├── supervisor.h │ │ │ │ │ ├── touch_sensor.h │ │ │ │ │ ├── types.h │ │ │ │ │ ├── utils │ │ │ │ │ ├── ansi_codes.h │ │ │ │ │ ├── motion.h │ │ │ │ │ ├── string.h │ │ │ │ │ └── system.h │ │ │ │ │ ├── vacuum_gripper.h │ │ │ │ │ └── vehicle │ │ │ │ │ ├── car.h │ │ │ │ │ └── driver.h │ │ │ └── cpp │ │ │ │ └── webots │ │ │ │ ├── Accelerometer.hpp │ │ │ │ ├── Altimeter.hpp │ │ │ │ ├── Brake.hpp │ │ │ │ ├── Camera.hpp │ │ │ │ ├── Compass.hpp │ │ │ │ ├── Connector.hpp │ │ │ │ ├── Device.hpp │ │ │ │ ├── Display.hpp │ │ │ │ ├── DistanceSensor.hpp │ │ │ │ ├── Emitter.hpp │ │ │ │ ├── Field.hpp │ │ │ │ ├── GPS.hpp │ │ │ │ ├── Gyro.hpp │ │ │ │ ├── ImageRef.hpp │ │ │ │ ├── InertialUnit.hpp │ │ │ │ ├── Joystick.hpp │ │ │ │ ├── Keyboard.hpp │ │ │ │ ├── LED.hpp │ │ │ │ ├── Lidar.hpp │ │ │ │ ├── LightSensor.hpp │ │ │ │ ├── Motor.hpp │ │ │ │ ├── Mouse.hpp │ │ │ │ ├── Node.hpp │ │ │ │ ├── Pen.hpp │ │ │ │ ├── PositionSensor.hpp │ │ │ │ ├── Proto.hpp │ │ │ │ ├── Radar.hpp │ │ │ │ ├── RangeFinder.hpp │ │ │ │ ├── Receiver.hpp │ │ │ │ ├── Robot.hpp │ │ │ │ ├── Skin.hpp │ │ │ │ ├── Speaker.hpp │ │ │ │ ├── Supervisor.hpp │ │ │ │ ├── TouchSensor.hpp │ │ │ │ ├── VacuumGripper.hpp │ │ │ │ ├── utils │ │ │ │ ├── AnsiCodes.hpp │ │ │ │ └── Motion.hpp │ │ │ │ └── vehicle │ │ │ │ ├── Car.hpp │ │ │ │ └── Driver.hpp │ │ ├── plugins │ │ │ ├── physics.h │ │ │ └── radio.h │ │ ├── robot_window.h │ │ └── robot_wwi.h │ ├── lib │ │ └── controller │ │ │ ├── .gitignore │ │ │ └── python │ │ │ ├── controller │ │ │ ├── __init__.py │ │ │ ├── accelerometer.py │ │ │ ├── altimeter.py │ │ │ ├── ansi_codes.py │ │ │ ├── brake.py │ │ │ ├── camera.py │ │ │ ├── compass.py │ │ │ ├── connector.py │ │ │ ├── constants.py │ │ │ ├── device.py │ │ │ ├── display.py │ │ │ ├── distance_sensor.py │ │ │ ├── emitter.py │ │ │ ├── field.py │ │ │ ├── gps.py │ │ │ ├── gyro.py │ │ │ ├── inertial_unit.py │ │ │ ├── joystick.py │ │ │ ├── keyboard.py │ │ │ ├── led.py │ │ │ ├── lidar.py │ │ │ ├── lidar_point.py │ │ │ ├── light_sensor.py │ │ │ ├── motion.py │ │ │ ├── motor.py │ │ │ ├── mouse.py │ │ │ ├── node.py │ │ │ ├── pen.py │ │ │ ├── position_sensor.py │ │ │ ├── proto.py │ │ │ ├── radar.py │ │ │ ├── radar_target.py │ │ │ ├── range_finder.py │ │ │ ├── receiver.py │ │ │ ├── robot.py │ │ │ ├── sensor.py │ │ │ ├── skin.py │ │ │ ├── speaker.py │ │ │ ├── supervisor.py │ │ │ ├── touch_sensor.py │ │ │ ├── vacuum_gripper.py │ │ │ └── wb.py │ │ │ └── vehicle │ │ │ ├── __init__.py │ │ │ ├── car.py │ │ │ └── driver.py │ ├── projects │ │ └── default │ │ │ └── libraries │ │ │ └── vehicle │ │ │ ├── Makefile │ │ │ ├── c │ │ │ ├── car │ │ │ │ ├── Makefile │ │ │ │ ├── car.def │ │ │ │ └── src │ │ │ │ │ ├── car.c │ │ │ │ │ └── car_private.h │ │ │ └── driver │ │ │ │ ├── Makefile │ │ │ │ ├── driver.def │ │ │ │ └── src │ │ │ │ └── driver.c │ │ │ ├── cpp │ │ │ ├── car │ │ │ │ ├── Makefile │ │ │ │ └── src │ │ │ │ │ └── Car.cpp │ │ │ └── driver │ │ │ │ ├── Makefile │ │ │ │ └── src │ │ │ │ └── Driver.cpp │ │ │ └── java │ │ │ ├── .gitignore │ │ │ ├── Makefile │ │ │ └── vehicle.i │ ├── resources │ │ ├── Makefile.include │ │ ├── Makefile.os.include │ │ ├── projects │ │ │ └── libraries │ │ │ │ └── generic_robot_window │ │ │ │ ├── Makefile │ │ │ │ └── generic.c │ │ └── version.txt │ └── src │ │ ├── controller │ │ ├── Makefile │ │ ├── c │ │ │ ├── Controller.def │ │ │ ├── Makefile │ │ │ ├── README.TXT │ │ │ ├── abstract_camera.c │ │ │ ├── abstract_camera.h │ │ │ ├── accelerometer.c │ │ │ ├── altimeter.c │ │ │ ├── ansi_codes.c │ │ │ ├── base64.c │ │ │ ├── base64.h │ │ │ ├── brake.c │ │ │ ├── camera.c │ │ │ ├── camera_private.h │ │ │ ├── compass.c │ │ │ ├── connector.c │ │ │ ├── console.c │ │ │ ├── default_robot_window.c │ │ │ ├── default_robot_window_private.h │ │ │ ├── device.c │ │ │ ├── device_private.h │ │ │ ├── display.c │ │ │ ├── display_private.h │ │ │ ├── distance_sensor.c │ │ │ ├── dynamic_library.c │ │ │ ├── dynamic_library.h │ │ │ ├── emitter.c │ │ │ ├── file.c │ │ │ ├── file.h │ │ │ ├── g_image.c │ │ │ ├── g_image.h │ │ │ ├── g_pipe.c │ │ │ ├── g_pipe.h │ │ │ ├── gps.c │ │ │ ├── gyro.c │ │ │ ├── html_robot_window.c │ │ │ ├── html_robot_window_private.h │ │ │ ├── image.c │ │ │ ├── image_private.h │ │ │ ├── inertial_unit.c │ │ │ ├── joystick.c │ │ │ ├── joystick_private.h │ │ │ ├── keyboard.c │ │ │ ├── keyboard_private.h │ │ │ ├── led.c │ │ │ ├── lidar.c │ │ │ ├── light_sensor.c │ │ │ ├── messages.h │ │ │ ├── microphone.c │ │ │ ├── motion.c │ │ │ ├── motion_private.h │ │ │ ├── motor.c │ │ │ ├── mouse.c │ │ │ ├── mouse_private.h │ │ │ ├── node.c │ │ │ ├── pen.c │ │ │ ├── percent.c │ │ │ ├── percent.h │ │ │ ├── position_sensor.c │ │ │ ├── radar.c │ │ │ ├── radio.c │ │ │ ├── range_finder.c │ │ │ ├── receiver.c │ │ │ ├── remote_control.c │ │ │ ├── remote_control_private.h │ │ │ ├── request.c │ │ │ ├── request.h │ │ │ ├── robot.c │ │ │ ├── robot_private.h │ │ │ ├── robot_window.c │ │ │ ├── robot_window_private.h │ │ │ ├── scheduler.c │ │ │ ├── scheduler.h │ │ │ ├── sha1.c │ │ │ ├── sha1.h │ │ │ ├── skin.c │ │ │ ├── speaker.c │ │ │ ├── string.c │ │ │ ├── supervisor.c │ │ │ ├── supervisor_private.h │ │ │ ├── system.c │ │ │ ├── tcp_client.c │ │ │ ├── tcp_client.h │ │ │ ├── touch_sensor.c │ │ │ └── vacuum_gripper.c │ │ ├── cpp │ │ │ ├── .gitignore │ │ │ ├── Accelerometer.cpp │ │ │ ├── Altimeter.cpp │ │ │ ├── Brake.cpp │ │ │ ├── Camera.cpp │ │ │ ├── Compass.cpp │ │ │ ├── Connector.cpp │ │ │ ├── Device.cpp │ │ │ ├── Display.cpp │ │ │ ├── DistanceSensor.cpp │ │ │ ├── Emitter.cpp │ │ │ ├── Field.cpp │ │ │ ├── GPS.cpp │ │ │ ├── Gyro.cpp │ │ │ ├── InertialUnit.cpp │ │ │ ├── Joystick.cpp │ │ │ ├── Keyboard.cpp │ │ │ ├── LED.cpp │ │ │ ├── Lidar.cpp │ │ │ ├── LightSensor.cpp │ │ │ ├── Makefile │ │ │ ├── Motion.cpp │ │ │ ├── Motor.cpp │ │ │ ├── Mouse.cpp │ │ │ ├── Node.cpp │ │ │ ├── Pen.cpp │ │ │ ├── PositionSensor.cpp │ │ │ ├── Proto.cpp │ │ │ ├── Radar.cpp │ │ │ ├── RangeFinder.cpp │ │ │ ├── Receiver.cpp │ │ │ ├── Robot.cpp │ │ │ ├── Skin.cpp │ │ │ ├── Speaker.cpp │ │ │ ├── Supervisor.cpp │ │ │ ├── TouchSensor.cpp │ │ │ └── VacuumGripper.cpp │ │ ├── java │ │ │ ├── .gitignore │ │ │ ├── Makefile │ │ │ └── controller.i │ │ ├── launcher │ │ │ ├── Makefile │ │ │ └── webots_controller.c │ │ └── matlab │ │ │ ├── Makefile │ │ │ └── mgenerate.py │ │ └── stb │ │ ├── README.md │ │ ├── data │ │ ├── atari_8bit_font_revised.png │ │ ├── easy_font_raw.png │ │ ├── herringbone │ │ │ ├── license.txt │ │ │ ├── template_caves_limit_connectivity.png │ │ │ ├── template_caves_tiny_corridors.png │ │ │ ├── template_corner_caves.png │ │ │ ├── template_horizontal_corridors_v1.png │ │ │ ├── template_horizontal_corridors_v2.png │ │ │ ├── template_horizontal_corridors_v3.png │ │ │ ├── template_limit_connectivity_fat.png │ │ │ ├── template_limited_connectivity.png │ │ │ ├── template_maze_2_wide.png │ │ │ ├── template_maze_plus_2_wide.png │ │ │ ├── template_open_areas.png │ │ │ ├── template_ref2_corner_caves.png │ │ │ ├── template_rooms_and_corridors.png │ │ │ ├── template_rooms_and_corridors_2_wide_diagonal_bias.png │ │ │ ├── template_rooms_limit_connectivity.png │ │ │ ├── template_round_rooms_diagonal_corridors.png │ │ │ ├── template_sean_dungeon.png │ │ │ ├── template_simple_caves_2_wide.png │ │ │ └── template_square_rooms_with_random_rects.png │ │ ├── map_01.png │ │ ├── map_02.png │ │ └── map_03.png │ │ ├── deprecated │ │ ├── rrsprintf.h │ │ ├── stb_image.c │ │ └── stretchy_buffer.txt │ │ ├── docs │ │ ├── other_libs.md │ │ ├── stb_howto.txt │ │ ├── stb_voxel_render_interview.md │ │ └── why_public_domain.md │ │ ├── stb.h │ │ ├── stb_c_lexer.h │ │ ├── stb_connected_components.h │ │ ├── stb_divide.h │ │ ├── stb_ds.h │ │ ├── stb_dxt.h │ │ ├── stb_easy_font.h │ │ ├── stb_herringbone_wang_tile.h │ │ ├── stb_image.h │ │ ├── stb_image_resize.h │ │ ├── stb_image_write.h │ │ ├── stb_include.h │ │ ├── stb_leakcheck.h │ │ ├── stb_perlin.h │ │ ├── stb_rect_pack.h │ │ ├── stb_sprintf.h │ │ ├── stb_textedit.h │ │ ├── stb_tilemap_editor.h │ │ ├── stb_truetype.h │ │ ├── stb_vorbis.c │ │ ├── stb_voxel_render.h │ │ ├── stretchy_buffer.h │ │ ├── tests │ │ ├── Makefile │ │ ├── c_lexer_test.c │ │ ├── c_lexer_test.dsp │ │ ├── caveview │ │ │ ├── README.md │ │ │ ├── cave_main.c │ │ │ ├── cave_mesher.c │ │ │ ├── cave_parse.c │ │ │ ├── cave_parse.h │ │ │ ├── cave_render.c │ │ │ ├── caveview.dsp │ │ │ ├── caveview.dsw │ │ │ ├── caveview.h │ │ │ ├── glext.h │ │ │ ├── glext_list.h │ │ │ ├── main.c │ │ │ ├── stb_gl.h │ │ │ ├── stb_glprog.h │ │ │ └── win32 │ │ │ │ └── SDL_windows_main.c │ │ ├── grid_reachability.c │ │ ├── herringbone.dsp │ │ ├── herringbone_generator.c │ │ ├── herringbone_map.c │ │ ├── herringbone_map.dsp │ │ ├── image_test.c │ │ ├── image_test.dsp │ │ ├── image_write_test.c │ │ ├── oversample │ │ │ ├── README.md │ │ │ ├── main.c │ │ │ ├── oversample.dsp │ │ │ ├── oversample.dsw │ │ │ └── stb_wingraph.h │ │ ├── pg_test │ │ │ └── pg_test.c │ │ ├── pngsuite │ │ │ ├── 16bit │ │ │ │ ├── basi0g16.png │ │ │ │ ├── basi2c16.png │ │ │ │ ├── basi4a16.png │ │ │ │ ├── basi6a16.png │ │ │ │ ├── basn0g16.png │ │ │ │ ├── basn2c16.png │ │ │ │ ├── basn4a16.png │ │ │ │ ├── basn6a16.png │ │ │ │ ├── bgai4a16.png │ │ │ │ ├── bgan6a16.png │ │ │ │ ├── bggn4a16.png │ │ │ │ ├── bgyn6a16.png │ │ │ │ ├── oi1n0g16.png │ │ │ │ ├── oi1n2c16.png │ │ │ │ ├── oi2n0g16.png │ │ │ │ ├── oi2n2c16.png │ │ │ │ ├── oi4n0g16.png │ │ │ │ ├── oi4n2c16.png │ │ │ │ ├── oi9n0g16.png │ │ │ │ ├── oi9n2c16.png │ │ │ │ ├── tbbn2c16.png │ │ │ │ ├── tbgn2c16.png │ │ │ │ └── tbwn0g16.png │ │ │ ├── PngSuite.LICENSE │ │ │ ├── corrupt │ │ │ │ ├── xc1n0g08.png │ │ │ │ ├── xc9n2c08.png │ │ │ │ ├── xcrn0g04.png │ │ │ │ ├── xcsn0g01.png │ │ │ │ ├── xd0n2c08.png │ │ │ │ ├── xd3n2c08.png │ │ │ │ ├── xd9n2c08.png │ │ │ │ ├── xdtn0g01.png │ │ │ │ ├── xhdn0g08.png │ │ │ │ ├── xlfn0g04.png │ │ │ │ ├── xs1n0g01.png │ │ │ │ ├── xs2n0g01.png │ │ │ │ ├── xs4n0g01.png │ │ │ │ └── xs7n0g01.png │ │ │ ├── primary │ │ │ │ ├── basi0g01.png │ │ │ │ ├── basi0g02.png │ │ │ │ ├── basi0g04.png │ │ │ │ ├── basi0g08.png │ │ │ │ ├── basi2c08.png │ │ │ │ ├── basi3p01.png │ │ │ │ ├── basi3p02.png │ │ │ │ ├── basi3p04.png │ │ │ │ ├── basi3p08.png │ │ │ │ ├── basi4a08.png │ │ │ │ ├── basi6a08.png │ │ │ │ ├── basn0g01.png │ │ │ │ ├── basn0g02.png │ │ │ │ ├── basn0g04.png │ │ │ │ ├── basn0g08.png │ │ │ │ ├── basn2c08.png │ │ │ │ ├── basn3p01.png │ │ │ │ ├── basn3p02.png │ │ │ │ ├── basn3p04.png │ │ │ │ ├── basn3p08.png │ │ │ │ ├── basn4a08.png │ │ │ │ ├── basn6a08.png │ │ │ │ ├── bgai4a08.png │ │ │ │ ├── bgan6a08.png │ │ │ │ ├── bgbn4a08.png │ │ │ │ ├── bgwn6a08.png │ │ │ │ ├── s01i3p01.png │ │ │ │ ├── s01n3p01.png │ │ │ │ ├── s02i3p01.png │ │ │ │ ├── s02n3p01.png │ │ │ │ ├── s03i3p01.png │ │ │ │ ├── s03n3p01.png │ │ │ │ ├── s04i3p01.png │ │ │ │ ├── s04n3p01.png │ │ │ │ ├── s05i3p02.png │ │ │ │ ├── s05n3p02.png │ │ │ │ ├── s06i3p02.png │ │ │ │ ├── s06n3p02.png │ │ │ │ ├── s07i3p02.png │ │ │ │ ├── s07n3p02.png │ │ │ │ ├── s08i3p02.png │ │ │ │ ├── s08n3p02.png │ │ │ │ ├── s09i3p02.png │ │ │ │ ├── s09n3p02.png │ │ │ │ ├── s32i3p04.png │ │ │ │ ├── s32n3p04.png │ │ │ │ ├── s33i3p04.png │ │ │ │ ├── s33n3p04.png │ │ │ │ ├── s34i3p04.png │ │ │ │ ├── s34n3p04.png │ │ │ │ ├── s35i3p04.png │ │ │ │ ├── s35n3p04.png │ │ │ │ ├── s36i3p04.png │ │ │ │ ├── s36n3p04.png │ │ │ │ ├── s37i3p04.png │ │ │ │ ├── s37n3p04.png │ │ │ │ ├── s38i3p04.png │ │ │ │ ├── s38n3p04.png │ │ │ │ ├── s39i3p04.png │ │ │ │ ├── s39n3p04.png │ │ │ │ ├── s40i3p04.png │ │ │ │ ├── s40n3p04.png │ │ │ │ ├── tbbn0g04.png │ │ │ │ ├── tbbn3p08.png │ │ │ │ ├── tbgn3p08.png │ │ │ │ ├── tbrn2c08.png │ │ │ │ ├── tbwn3p08.png │ │ │ │ ├── tbyn3p08.png │ │ │ │ ├── tm3n3p02.png │ │ │ │ ├── tp0n0g08.png │ │ │ │ ├── tp0n2c08.png │ │ │ │ ├── tp0n3p08.png │ │ │ │ ├── tp1n3p08.png │ │ │ │ ├── z00n2c08.png │ │ │ │ ├── z03n2c08.png │ │ │ │ ├── z06n2c08.png │ │ │ │ └── z09n2c08.png │ │ │ ├── primary_check │ │ │ │ ├── basi0g01.png │ │ │ │ ├── basi0g02.png │ │ │ │ ├── basi0g04.png │ │ │ │ ├── basi0g08.png │ │ │ │ ├── basi2c08.png │ │ │ │ ├── basi3p01.png │ │ │ │ ├── basi3p02.png │ │ │ │ ├── basi3p04.png │ │ │ │ ├── basi3p08.png │ │ │ │ ├── basi4a08.png │ │ │ │ ├── basi6a08.png │ │ │ │ ├── basn0g01.png │ │ │ │ ├── basn0g02.png │ │ │ │ ├── basn0g04.png │ │ │ │ ├── basn0g08.png │ │ │ │ ├── basn2c08.png │ │ │ │ ├── basn3p01.png │ │ │ │ ├── basn3p02.png │ │ │ │ ├── basn3p04.png │ │ │ │ ├── basn3p08.png │ │ │ │ ├── basn4a08.png │ │ │ │ ├── basn6a08.png │ │ │ │ ├── bgai4a08.png │ │ │ │ ├── bgan6a08.png │ │ │ │ ├── bgbn4a08.png │ │ │ │ ├── bgwn6a08.png │ │ │ │ ├── s01i3p01.png │ │ │ │ ├── s01n3p01.png │ │ │ │ ├── s02i3p01.png │ │ │ │ ├── s02n3p01.png │ │ │ │ ├── s03i3p01.png │ │ │ │ ├── s03n3p01.png │ │ │ │ ├── s04i3p01.png │ │ │ │ ├── s04n3p01.png │ │ │ │ ├── s05i3p02.png │ │ │ │ ├── s05n3p02.png │ │ │ │ ├── s06i3p02.png │ │ │ │ ├── s06n3p02.png │ │ │ │ ├── s07i3p02.png │ │ │ │ ├── s07n3p02.png │ │ │ │ ├── s08i3p02.png │ │ │ │ ├── s08n3p02.png │ │ │ │ ├── s09i3p02.png │ │ │ │ ├── s09n3p02.png │ │ │ │ ├── s32i3p04.png │ │ │ │ ├── s32n3p04.png │ │ │ │ ├── s33i3p04.png │ │ │ │ ├── s33n3p04.png │ │ │ │ ├── s34i3p04.png │ │ │ │ ├── s34n3p04.png │ │ │ │ ├── s35i3p04.png │ │ │ │ ├── s35n3p04.png │ │ │ │ ├── s36i3p04.png │ │ │ │ ├── s36n3p04.png │ │ │ │ ├── s37i3p04.png │ │ │ │ ├── s37n3p04.png │ │ │ │ ├── s38i3p04.png │ │ │ │ ├── s38n3p04.png │ │ │ │ ├── s39i3p04.png │ │ │ │ ├── s39n3p04.png │ │ │ │ ├── s40i3p04.png │ │ │ │ ├── s40n3p04.png │ │ │ │ ├── tbbn0g04.png │ │ │ │ ├── tbbn3p08.png │ │ │ │ ├── tbgn3p08.png │ │ │ │ ├── tbrn2c08.png │ │ │ │ ├── tbwn3p08.png │ │ │ │ ├── tbyn3p08.png │ │ │ │ ├── tm3n3p02.png │ │ │ │ ├── tp0n0g08.png │ │ │ │ ├── tp0n2c08.png │ │ │ │ ├── tp0n3p08.png │ │ │ │ ├── tp1n3p08.png │ │ │ │ ├── z00n2c08.png │ │ │ │ ├── z03n2c08.png │ │ │ │ ├── z06n2c08.png │ │ │ │ └── z09n2c08.png │ │ │ └── unused │ │ │ │ ├── ccwn2c08.png │ │ │ │ ├── ccwn3p08.png │ │ │ │ ├── cdfn2c08.png │ │ │ │ ├── cdhn2c08.png │ │ │ │ ├── cdsn2c08.png │ │ │ │ ├── cdun2c08.png │ │ │ │ ├── ch1n3p04.png │ │ │ │ ├── ch2n3p08.png │ │ │ │ ├── cm0n0g04.png │ │ │ │ ├── cm7n0g04.png │ │ │ │ ├── cm9n0g04.png │ │ │ │ ├── cs3n2c16.png │ │ │ │ ├── cs3n3p08.png │ │ │ │ ├── cs5n2c08.png │ │ │ │ ├── cs5n3p08.png │ │ │ │ ├── cs8n2c08.png │ │ │ │ ├── cs8n3p08.png │ │ │ │ ├── ct0n0g04.png │ │ │ │ ├── ct1n0g04.png │ │ │ │ ├── cten0g04.png │ │ │ │ ├── ctfn0g04.png │ │ │ │ ├── ctgn0g04.png │ │ │ │ ├── cthn0g04.png │ │ │ │ ├── ctjn0g04.png │ │ │ │ ├── ctzn0g04.png │ │ │ │ ├── f00n0g08.png │ │ │ │ ├── f00n2c08.png │ │ │ │ ├── f01n0g08.png │ │ │ │ ├── f01n2c08.png │ │ │ │ ├── f02n0g08.png │ │ │ │ ├── f02n2c08.png │ │ │ │ ├── f03n0g08.png │ │ │ │ ├── f03n2c08.png │ │ │ │ ├── f04n0g08.png │ │ │ │ ├── f04n2c08.png │ │ │ │ ├── f99n0g04.png │ │ │ │ ├── g03n0g16.png │ │ │ │ ├── g03n2c08.png │ │ │ │ ├── g03n3p04.png │ │ │ │ ├── g04n0g16.png │ │ │ │ ├── g04n2c08.png │ │ │ │ ├── g04n3p04.png │ │ │ │ ├── g05n0g16.png │ │ │ │ ├── g05n2c08.png │ │ │ │ ├── g05n3p04.png │ │ │ │ ├── g07n0g16.png │ │ │ │ ├── g07n2c08.png │ │ │ │ ├── g07n3p04.png │ │ │ │ ├── g10n0g16.png │ │ │ │ ├── g10n2c08.png │ │ │ │ ├── g10n3p04.png │ │ │ │ ├── g25n0g16.png │ │ │ │ ├── g25n2c08.png │ │ │ │ ├── g25n3p04.png │ │ │ │ ├── pp0n2c16.png │ │ │ │ ├── pp0n6a08.png │ │ │ │ ├── ps1n0g08.png │ │ │ │ ├── ps1n2c16.png │ │ │ │ ├── ps2n0g08.png │ │ │ │ └── ps2n2c16.png │ │ ├── prerelease │ │ │ └── stb_lib.h │ │ ├── resample_test.cpp │ │ ├── resample_test_c.c │ │ ├── resize.dsp │ │ ├── sdf │ │ │ ├── sdf_test.c │ │ │ ├── sdf_test_arial_16.png │ │ │ ├── sdf_test_times_16.png │ │ │ └── sdf_test_times_50.png │ │ ├── stb.c │ │ ├── stb.dsp │ │ ├── stb.dsw │ │ ├── stb_cpp.cpp │ │ ├── stb_cpp.dsp │ │ ├── stb_static.c │ │ ├── stblib.dsp │ │ ├── stblib_test.c │ │ ├── stblib_test_companion.c │ │ ├── stretch_test.c │ │ ├── stretch_test.dsp │ │ ├── stretchy_buffer_test.c │ │ ├── test.sbm │ │ ├── test_c_compilation.c │ │ ├── test_c_lexer.c │ │ ├── test_cpp_compilation.cpp │ │ ├── test_ds.c │ │ ├── test_ds_cpp.cpp │ │ ├── test_dxt.c │ │ ├── test_easyfont.c │ │ ├── test_image.c │ │ ├── test_image_write.c │ │ ├── test_perlin.c │ │ ├── test_siphash.c │ │ ├── test_sprintf.c │ │ ├── test_truetype.c │ │ ├── test_vorbis.c │ │ ├── test_voxel.c │ │ ├── textedit_sample.c │ │ ├── tilemap_editor_integration_example.c │ │ └── vorbseek │ │ │ ├── vorbseek.c │ │ │ └── vorbseek.dsp │ │ └── tools │ │ ├── README.footer.md │ │ ├── README.header.md │ │ ├── README.list │ │ ├── build_matrix.c │ │ ├── easy_font_maker.c │ │ ├── make_readme.c │ │ ├── make_readme.dsp │ │ ├── mr.bat │ │ ├── unicode.c │ │ └── unicode │ │ └── unicode.dsp ├── webots_ros2_driver │ ├── __init__.py │ ├── ros2_supervisor.py │ ├── urdf_spawner.py │ ├── utils.py │ ├── wait_for_controller_connection.py │ ├── webots_controller.py │ └── webots_launcher.py ├── webots_ros2_imu.xml └── webots_ros2_rgbd.xml ├── webots_ros2_epuck ├── CHANGELOG.rst ├── RATS_LIFE.md ├── README.md ├── assets │ ├── ground_sensors_webots.png │ ├── map_webots.png │ ├── mapping.gif │ ├── nav2.gif │ └── sensors_and_leds.png ├── launch │ ├── rats_life_launch.py │ ├── rats_life_waypoints_launch.py │ ├── robot_launch.py │ └── robot_tools_launch.py ├── package.xml ├── protos │ ├── LegoTallInterval.proto │ └── LegoTallWall.proto ├── resource │ ├── all.rviz │ ├── epuck_webots.urdf │ ├── epuck_world_map.pgm │ ├── epuck_world_map.yaml │ ├── map_rats_life.pgm │ ├── map_rats_life.yaml │ ├── nav2_params.yaml │ ├── nav2_params_iron.yaml │ ├── nav2_rats_life_waypoints.yaml │ ├── ros2_control.yml │ └── webots_ros2_epuck ├── setup.cfg ├── setup.py ├── test │ └── test_copyright.py ├── webots_ros2_epuck │ ├── .gitignore │ ├── __init__.py │ ├── drive_calibrator.py │ ├── epuck_node.py │ └── simple_mapper.py └── worlds │ ├── .epuck_world.wbproj │ ├── .rats_life_benchmark.wbproj │ ├── epuck_world.wbt │ └── rats_life_benchmark.wbt ├── webots_ros2_husarion ├── CHANGELOG.rst ├── launch │ ├── rosbot_launch.py │ └── rosbot_xl_launch.py ├── package.xml ├── resource │ ├── ekf.yaml │ ├── laser_filter.yaml │ ├── rosbot_controllers.yaml │ ├── rosbot_links_remappings.yaml │ ├── rosbot_webots.urdf │ ├── rosbot_xl_controllers.yaml │ └── webots_ros2_husarion ├── setup.py ├── webots_ros2_husarion │ └── __init__.py └── worlds │ ├── meshes │ └── husarion_world.dae │ ├── rosbot.wbt │ └── rosbot_xl.wbt ├── webots_ros2_importer ├── CHANGELOG.rst ├── README.md ├── package.xml ├── pytest.ini ├── resource │ └── webots_ros2_importer ├── setup.cfg ├── setup.py └── webots_ros2_importer │ ├── .gitignore │ ├── __init__.py │ ├── urdf2proto.py │ └── xacro2proto.py ├── webots_ros2_mavic ├── CHANGELOG.rst ├── README.md ├── launch │ └── robot_launch.py ├── package.xml ├── resource │ ├── mavic_webots.urdf │ └── webots_ros2_mavic ├── setup.cfg ├── setup.py ├── test │ └── test_copyright.py ├── webots_ros2_mavic │ ├── .gitignore │ ├── __init__.py │ └── mavic_driver.py └── worlds │ ├── .mavic_world.wbproj │ └── mavic_world.wbt ├── webots_ros2_msgs ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── msg │ ├── BoolStamped.msg │ ├── CameraRecognitionObject.msg │ ├── CameraRecognitionObjects.msg │ ├── FloatStamped.msg │ ├── PenInkProperties.msg │ ├── StringStamped.msg │ └── UrdfRobot.msg ├── package.xml └── srv │ ├── EmitterSendString.srv │ ├── GetBool.srv │ ├── SetString.srv │ ├── SpawnNodeFromString.srv │ └── SpawnUrdfRobot.srv ├── webots_ros2_tesla ├── CHANGELOG.rst ├── README.md ├── launch │ └── robot_launch.py ├── package.xml ├── resource │ ├── tesla_webots.urdf │ └── webots_ros2_tesla ├── setup.cfg ├── setup.py ├── test │ └── test_copyright.py ├── webots_ros2_tesla │ ├── .gitignore │ ├── __init__.py │ ├── lane_follower.py │ └── tesla_driver.py └── worlds │ ├── .tesla_world.wbproj │ └── tesla_world.wbt ├── webots_ros2_tests ├── CHANGELOG.rst ├── README.md ├── package.xml ├── resource │ ├── driver_test.urdf │ └── webots_ros2_tests ├── setup.cfg ├── setup.py ├── test │ ├── test_copyright.py │ ├── test_system_driver.py │ ├── test_system_epuck.py │ ├── test_system_epuck_with_tools.py │ ├── test_system_mavic.py │ ├── test_system_rosbot.py │ ├── test_system_rosbot_xl.py │ ├── test_system_tesla.py │ ├── test_system_tiago.py │ ├── test_system_turtlebot.py │ ├── test_system_turtlebot_tutorial_navigation.py │ ├── test_system_turtlebot_tutorial_slam.py │ └── test_system_universal_robot.py ├── webots_ros2_tests │ ├── __init__.py │ ├── plugin_test.py │ └── utils.py └── worlds │ ├── .driver_test.wbproj │ └── driver_test.wbt ├── webots_ros2_tiago ├── CHANGELOG.rst ├── README.md ├── launch │ ├── robot_bringup_launch.py │ └── robot_launch.py ├── package.xml ├── resource │ ├── cartographer.lua │ ├── default.rviz │ ├── default_bringup.rviz │ ├── map.pgm │ ├── map.yaml │ ├── nav2_params.yaml │ ├── nav2_params_iron.yaml │ ├── ros2_control.yml │ ├── ros2_control_bringup.yml │ ├── slam_toolbox_params.yaml │ ├── tiago_bringup_webots.urdf │ ├── tiago_webots.urdf │ └── webots_ros2_tiago ├── setup.cfg ├── setup.py ├── test │ └── test_copyright.py └── worlds │ ├── .default.wbproj │ ├── .default_bringup.wbproj │ ├── default.wbt │ └── default_bringup.wbt ├── webots_ros2_turtlebot ├── CHANGELOG.rst ├── README.md ├── launch │ └── robot_launch.py ├── package.xml ├── resource │ ├── nav2_params.yaml │ ├── ros2control.yml │ ├── turtlebot3_burger_example_map.pgm │ ├── turtlebot3_burger_example_map.yaml │ ├── turtlebot_webots.urdf │ └── webots_ros2_turtlebot ├── setup.cfg ├── setup.py ├── test │ └── test_copyright.py ├── webots_ros2_turtlebot │ ├── __init__.py │ └── plugin_example.py └── worlds │ ├── .turtlebot3_burger_example.wbproj │ └── turtlebot3_burger_example.wbt └── webots_ros2_universal_robot ├── CHANGELOG.rst ├── README.md ├── launch ├── multirobot_launch.py └── robot_launch │ ├── robot_moveit_nodes_launch.py │ ├── robot_nodes_launch.py │ └── robot_world_launch.py ├── package.xml ├── resource ├── Universal_Robots_ROS2_Driver │ └── ur_description │ │ ├── config │ │ ├── initial_positions.yaml │ │ └── ur5e │ │ │ ├── default_kinematics.yaml │ │ │ ├── joint_limits.yaml │ │ │ ├── physical_parameters.yaml │ │ │ └── visual_parameters.yaml │ │ ├── meshes │ │ └── ur5e │ │ │ ├── collision │ │ │ ├── base.stl │ │ │ ├── forearm.stl │ │ │ ├── shoulder.stl │ │ │ ├── upperarm.stl │ │ │ ├── wrist1.stl │ │ │ ├── wrist2.stl │ │ │ └── wrist3.stl │ │ │ └── visual │ │ │ ├── base.dae │ │ │ ├── forearm.dae │ │ │ ├── shoulder.dae │ │ │ ├── upperarm.dae │ │ │ ├── wrist1.dae │ │ │ ├── wrist2.dae │ │ │ └── wrist3.dae │ │ └── urdf │ │ ├── inc │ │ ├── ur_common.xacro │ │ └── ur_transmissions.xacro │ │ ├── ur.ros2_control.xacro │ │ ├── ur.urdf.xacro │ │ └── ur_macro.xacro ├── moveit_controllers.yaml ├── moveit_kinematics.yaml ├── moveit_movegroup.yaml ├── moveit_ur5e.srdf ├── moveit_visualization.rviz ├── robotiq │ └── robotiq_3f_gripper_visualization │ │ ├── cfg │ │ ├── robotiq-3f-gripper_articulated_macro.xacro │ │ └── robotiq-3f-gripper_finger_articulated_macro.xacro │ │ └── meshes │ │ └── robotiq-3f-gripper_articulated │ │ ├── collision │ │ ├── link_0.STL │ │ ├── link_1.STL │ │ ├── link_2.STL │ │ ├── link_3.STL │ │ └── palm.STL │ │ └── visual │ │ ├── link_0.dae │ │ ├── link_1.dae │ │ ├── link_2.dae │ │ ├── link_3.dae │ │ └── palm.dae ├── ros2_control_abb_config.yaml ├── ros2_control_config.yaml ├── ur5e_with_gripper.urdf ├── ur5e_with_gripper.urdf.xacro ├── webots_abb_description.urdf └── webots_ros2_universal_robot ├── setup.cfg ├── setup.py ├── test └── test_copyright.py ├── webots_ros2_universal_robot ├── __init__.py ├── abb_controller.py ├── follow_joint_trajectory_client.py └── ur5e_controller.py └── worlds ├── .robotic_arms.wbproj ├── .universal_robot.wbproj ├── robotic_arms.wbt └── universal_robot.wbt /.github/FUNDING.yml: -------------------------------------------------------------------------------- 1 | # These are supported funding model platforms 2 | 3 | github: [omichel, DavidMansolino, stefaniapedrazzi] # [fabienrohrer] # uncomment when we get enrolled in GitHub Sponsors 4 | patreon: # Replace with a single Patreon username 5 | open_collective: # Replace with a single Open Collective username 6 | ko_fi: # Replace with a single Ko-fi username 7 | tidelift: # Replace with a single Tidelift platform-name/package-name e.g., npm/babel 8 | community_bridge: # Replace with a single Community Bridge project-name e.g., cloud-foundry 9 | custom: https://cyberbotics.com/buy 10 | -------------------------------------------------------------------------------- /.github/ISSUE_TEMPLATE/bug_report.md: -------------------------------------------------------------------------------- 1 | --- 2 | name: Bug report 3 | about: Create a report to help us improve these components and systems 4 | 5 | --- 6 | 7 | **Describe the Bug** 8 | A clear and concise description of what the bug is. 9 | 10 | **Steps to Reproduce** 11 | 1. Go to '...' 12 | 2. Click on '....' 13 | 3. Scroll down to '....' 14 | 4. See error 15 | 16 | **Expected behavior** 17 | A clear and concise description of what you expected to happen. 18 | 19 | **Affected Packages** 20 | List of affected packages: 21 | - webots_ros2_A 22 | - webots_ros2_B 23 | 24 | **Screenshots** 25 | If applicable, add screenshots to help explain your problem. 26 | 27 | **System** 28 | - Webots Version: [e.g., R2019b, R2020a revision 1] 29 | - ROS Version: [e.g., Dashing, Eloquent] 30 | - Operating System: [e.g., Windows 10, Linux Ubuntu 18.04, macOS Mojave] 31 | - Graphics Card: [e.g., NVIDIA GeForce RTX 2080 11 GB, AMD Radeon RX 580 8GB, etc.] 32 | 33 | **Additional context** 34 | Add any other context about the problem here. 35 | -------------------------------------------------------------------------------- /.github/ISSUE_TEMPLATE/documentation.md: -------------------------------------------------------------------------------- 1 | --- 2 | name: Documentation 3 | about: Fix or improve the documentation 4 | 5 | --- 6 | 7 | **Documentation page(s) concerned** 8 | Link to the concerned page. 9 | 10 | **What is the problem with the current documentation?** 11 | A clear and concise description of what's wrong with the current documentation. 12 | 13 | **Describe how you would fix it** 14 | A clear and concise description of what need to be changed. 15 | -------------------------------------------------------------------------------- /.github/ISSUE_TEMPLATE/feature_request.md: -------------------------------------------------------------------------------- 1 | --- 2 | name: Feature request 3 | about: Suggest an idea 4 | 5 | --- 6 | 7 | **Is your feature request related to a problem? Please describe.** 8 | A clear and concise description of what the problem is. Ex. I'm always frustrated when [...] 9 | 10 | **Describe the solution you'd like** 11 | A clear and concise description of what you want to happen. 12 | 13 | **Describe alternatives you've considered** 14 | A clear and concise description of any alternative solutions or features you've considered. 15 | 16 | **Additional context** 17 | Add any other context or screenshots about the feature request here. 18 | -------------------------------------------------------------------------------- /.github/pull_request_template.md: -------------------------------------------------------------------------------- 1 | **Description** 2 | Describe the bug you are fixing, the new feature your are introducing or the enhancement you are proposing. 3 | 4 | **Related Issues** 5 | This pull-request fixes issue # 6 | 7 | **Affected Packages** 8 | List of affected packages: 9 | - webots_ros2_A 10 | - webots_ros2_B 11 | 12 | **Tasks** 13 | Add the list of tasks of this PR. 14 | - [ ] Task 1 15 | - [ ] Task 2 16 | 17 | **Additional context** 18 | Add any other context about the pull-request here. 19 | -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | /build 2 | /install 3 | /log 4 | .eggs/ 5 | 6 | *.pyc 7 | .vscode -------------------------------------------------------------------------------- /.gitmodules: -------------------------------------------------------------------------------- 1 | [submodule "webots_ros2_importer/webots_ros2_importer/urdf2webots"] 2 | path = webots_ros2_importer/webots_ros2_importer/urdf2webots 3 | url = https://github.com/cyberbotics/urdf2webots.git 4 | -------------------------------------------------------------------------------- /docker/README.md: -------------------------------------------------------------------------------- 1 | # Docker 2 | 3 | Development container for the project. 4 | 5 | ## Dependencies 6 | 7 | ```bash 8 | sudo apt install git make curl 9 | curl -sSL https://get.docker.com | sh && sudo usermod -aG docker $USER 10 | ``` 11 | 12 | ## Usage 13 | 14 | You need to build & run the container only the first time: 15 | ```bash 16 | ROS_DISTRO=jazzy ROS_TESTING=0 WEBOTS_VERSION=2025a make build run exec 17 | ``` 18 | 19 | if you want to test a nightly build: 20 | ```bash 21 | ROS_DISTRO=jazzy ROS_TESTING=0 WEBOTS_VERSION=nightly_25_12_2024/webots_2025a make build run exec 22 | ``` 23 | 24 | After that, you can just attach to the container with: 25 | ```bash 26 | make exec 27 | ``` 28 | 29 | > [!NOTE] 30 | > In case you get an error something like `qt.qpa.xcb: could not connect to display :0` then please run `xhost local:root` on the host. 31 | -------------------------------------------------------------------------------- /docker/bashrc: -------------------------------------------------------------------------------- 1 | source /opt/ros/${ROS_DISTRO}/setup.bash 2 | source ~/ros2_libs_ws/install/local_setup.bash 3 | source ~/ros2_ws/install/local_setup.bash 4 | alias cb='colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Debug' 5 | alias teleop='ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -p stamped:=true' 6 | 7 | # For debugging 8 | export WEBOTS_HOME=/usr/local/webots 9 | export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:/cyberbotics/ros2_ws/src/webots_ros2/webots_ros2_driver/webots/lib/controller 10 | export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp 11 | -------------------------------------------------------------------------------- /docker/webots.conf: -------------------------------------------------------------------------------- 1 | [%General] 2 | checkWebotsUpdateOnStartup=false 3 | pythonCommand=python3 4 | rendering=true 5 | startupMode=Real-time 6 | telemetry=false 7 | theme=webots_night.qss 8 | 9 | [OpenGL] 10 | GTAO=0 11 | disableAntiAliasing=true 12 | disableShadows=true 13 | textureFiltering=1 14 | textureQuality=0 15 | 16 | [Internal] 17 | firstLaunch=false 18 | -------------------------------------------------------------------------------- /images/cover.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cyberbotics/webots_ros2/7435cfba110794900641cf57e5b33dfd07badaca/images/cover.png -------------------------------------------------------------------------------- /scripts/ci_before_init_embed.bash: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | 3 | ROS_DISTRO=$1 4 | 5 | export TEST_WITH_WEBOTS_NIGTHLY=1 6 | export WEBOTS_RELEASE_VERSION=2025a 7 | export WEBOTS_OFFSCREEN=1 8 | export CI=1 9 | export DEBIAN_FRONTEND=noninteractive 10 | # The upstream workspace allows to install packages from sources for the tests (Turtlebot3 here) 11 | if [[ "${ROS_DISTRO}" != "rolling" ]]; then 12 | export UPSTREAM_WORKSPACE=/root/turtlebot_ws/ 13 | fi 14 | 15 | 16 | # TODO: Revert once the https://github.com/ros-planning/navigation2/issues/3033 issue is fixed. 17 | # Fast-DDS is not working properly with the Nav2 package on Humble. Using Cyclone DDS instead. 18 | export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp 19 | -------------------------------------------------------------------------------- /scripts/version_increase.bash: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | 3 | # Please run the script from the repository root. 4 | 5 | 6 | NEW_VERSION=$(echo $1 | grep -E -o "[0-9]{1,}\.[0-9]{1,}\.[0-9]{1,}") 7 | if [ -z "${NEW_VERSION}" ]; then 8 | echo "Please run the script with a version number, e.g. './scripts/version_increase.bash 1.1.1'" 9 | exit 1 10 | fi 11 | 12 | # Upgrade the version in the Python setup.py files 13 | PYTHON_SETUP_FILES=$(find -maxdepth 2 -name setup.py) 14 | for file in ${PYTHON_SETUP_FILES}; do 15 | echo ${file} 16 | sed -i -E "s/version='[0-9]{1,}\.[0-9]{1,}\.[0-9]{1,}'/version='${NEW_VERSION}'/g" ${file} 17 | done 18 | 19 | # Upgrade the version in the XML package files 20 | XML_PACKAGE_FILES=$(find -maxdepth 2 -name package.xml) 21 | for file in ${XML_PACKAGE_FILES}; do 22 | echo ${file} 23 | sed -i -E "s/[0-9]{1,}\.[0-9]{1,}\.[0-9]{1,}<\/version>/${NEW_VERSION}<\/version>/g" ${file} 24 | done 25 | -------------------------------------------------------------------------------- /tests/.gitignore: -------------------------------------------------------------------------------- 1 | /cppcheck_report.txt 2 | -------------------------------------------------------------------------------- /tests/sources/requirements.txt: -------------------------------------------------------------------------------- 1 | pycodestyle 2 | pyflakes 3 | image 4 | -------------------------------------------------------------------------------- /tests/test_sources.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | 3 | # Copyright 1996-2023 Cyberbotics Ltd. 4 | # 5 | # Licensed under the Apache License, Version 2.0 (the "License"); 6 | # you may not use this file except in compliance with the License. 7 | # You may obtain a copy of the License at 8 | # 9 | # http://www.apache.org/licenses/LICENSE-2.0 10 | # 11 | # Unless required by applicable law or agreed to in writing, software 12 | # distributed under the License is distributed on an "AS IS" BASIS, 13 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 14 | # See the License for the specific language governing permissions and 15 | # limitations under the License. 16 | 17 | """Unit test.""" 18 | import sys 19 | import unittest 20 | 21 | # Run the sources tests 22 | test_suite = unittest.defaultTestLoader.discover('sources', '*.py') 23 | test_runner = unittest.TextTestRunner(verbosity=2, resultclass=unittest.TextTestResult) 24 | result = test_runner.run(test_suite) 25 | sys.exit(not result.wasSuccessful()) 26 | -------------------------------------------------------------------------------- /webots_ros2/README.md: -------------------------------------------------------------------------------- 1 | # Webots ROS2 Interface 2 | 3 | This package includes all `webots_ros2_*` packages. 4 | 5 | You can learn more about the package and about the Webots by visiting [our documentation](https://github.com/cyberbotics/webots_ros2/wiki). 6 | -------------------------------------------------------------------------------- /webots_ros2/resource/webots_ros2: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cyberbotics/webots_ros2/7435cfba110794900641cf57e5b33dfd07badaca/webots_ros2/resource/webots_ros2 -------------------------------------------------------------------------------- /webots_ros2/setup.cfg: -------------------------------------------------------------------------------- 1 | [develop] 2 | script_dir=$base/lib/webots_ros2 3 | [install] 4 | install_scripts=$base/lib/webots_ros2 5 | -------------------------------------------------------------------------------- /webots_ros2/test/test_copyright.py: -------------------------------------------------------------------------------- 1 | # Copyright 1996-2023 Cyberbotics Ltd. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | 15 | """Test licenses in files.""" 16 | 17 | from ament_copyright.main import main 18 | import pytest 19 | 20 | 21 | @pytest.mark.copyright 22 | @pytest.mark.linter 23 | def test_copyright(): 24 | rc = main(argv=['.', '--verbose']) 25 | assert rc == 0, 'Found errors' 26 | -------------------------------------------------------------------------------- /webots_ros2/webots_ros2/.gitignore: -------------------------------------------------------------------------------- 1 | /__pycache__ 2 | -------------------------------------------------------------------------------- /webots_ros2/webots_ros2/__init__.py: -------------------------------------------------------------------------------- 1 | # Copyright 1996-2023 Cyberbotics Ltd. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | -------------------------------------------------------------------------------- /webots_ros2_control/CHANGELOG.rst: -------------------------------------------------------------------------------- 1 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2 | Changelog for package webots_ros2_control 3 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 4 | 5 | 2023.1.3 (2024-08-07) 6 | ------------------ 7 | * Added support for the new `ros2_control` API affecting resource_manager and controller_manager. 8 | * Corrected the sign of the joint accelerations. 9 | 10 | 2023.1.0 (2023-06-29) 11 | ------------------ 12 | * Fixed component activation. 13 | 14 | 2023.0.0 (2022-11-30) 15 | ------------------ 16 | * Convert C++ controller API functions to C 17 | * Allow custom motor-encoder pair. 18 | 19 | 1.2.3 (2022-05-30) 20 | ------------------ 21 | * Fixed support for Humble and Rolling. 22 | 23 | 1.2.0 (2021-12-21) 24 | ------------------ 25 | * Fix the controller_manager update rate. 26 | 27 | 1.1.3 (2021-11-05) 28 | ------------------ 29 | * Added build dependency on 'ros_environment'. 30 | 31 | 1.1.2 (2021-11-03) 32 | ------------------ 33 | * Added code compliance for 'ROS Foxy'. 34 | 35 | 1.1.0 (2021-07-19) 36 | ------------------ 37 | * Initial version 38 | -------------------------------------------------------------------------------- /webots_ros2_control/README.md: -------------------------------------------------------------------------------- 1 | # ros2_control plugin for Webots 2 | -------------------------------------------------------------------------------- /webots_ros2_control/webots_ros2_control.xml: -------------------------------------------------------------------------------- 1 | 2 | 5 | 6 | webots_ros2 plugin to support ros2_control 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /webots_ros2_control/webots_ros2_control_system.xml: -------------------------------------------------------------------------------- 1 | 2 | 5 | 6 | Default ros2_control Hardware Component to interface with Webots. 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /webots_ros2_crazyflie/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | webots_ros2_crazyflie 5 | 2025.0.0 6 | ROS2 package for Crazyflie webots simulator 7 | Kimberly McGuire (Bitcraze AB) 8 | MIT 9 | 10 | rclpy 11 | builtin_interfaces 12 | webots_ros2_driver 13 | tf_transformations 14 | 15 | ament_copyright 16 | ament_flake8 17 | ament_pep257 18 | python3-pytest 19 | 20 | 21 | ament_python 22 | 23 | 24 | -------------------------------------------------------------------------------- /webots_ros2_crazyflie/resource/crazyflie_webots.urdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | true 7 | true 8 | 9 | 10 | 11 | 12 | /camera 13 | 14 | 15 | 16 | 17 | -------------------------------------------------------------------------------- /webots_ros2_crazyflie/resource/webots_ros2_crazyflie: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cyberbotics/webots_ros2/7435cfba110794900641cf57e5b33dfd07badaca/webots_ros2_crazyflie/resource/webots_ros2_crazyflie -------------------------------------------------------------------------------- /webots_ros2_crazyflie/setup.cfg: -------------------------------------------------------------------------------- 1 | [develop] 2 | script_dir=$base/lib/webots_ros2_crazyflie 3 | [install] 4 | install_scripts=$base/lib/webots_ros2_crazyflie 5 | -------------------------------------------------------------------------------- /webots_ros2_crazyflie/webots_ros2_crazyflie/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cyberbotics/webots_ros2/7435cfba110794900641cf57e5b33dfd07badaca/webots_ros2_crazyflie/webots_ros2_crazyflie/__init__.py -------------------------------------------------------------------------------- /webots_ros2_crazyflie/worlds/.crazyflie_apartment.wbproj: -------------------------------------------------------------------------------- 1 | Webots Project File version R2023b 2 | perspectives: 000000ff00000000fd0000000300000000000001ca0000039ffc0200000001fb00000012005300630065006e0065005400720065006501000000000000039f000000000000000000000001000002c100000341fc0200000001fb0000001400540065007800740045006400690074006f00720100000015000003410000003f00ffffff000000030000078000000039fc0100000002fb0000000e0043006f006e0073006f006c006501000001d0000005b00000000000000000fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c0100000000000007800000006900ffffff000004bd0000034100000004000000040000000100000008fc00000000 3 | simulationViewPerspectives: 000000ff000000010000000200000179000000c20100000002010000000101 4 | sceneTreePerspectives: 000000ff00000001000000030000001c000000c0000000fa0100000002010000000201 5 | maximizedDockId: -1 6 | centralWidgetVisible: 1 7 | orthographicViewHeight: 1 8 | textFiles: -1 9 | consoles: Console:All:All 10 | renderingDevicePerspectives: Crazyflie:camera;1;1;0;0 11 | -------------------------------------------------------------------------------- /webots_ros2_driver/README.md: -------------------------------------------------------------------------------- 1 | # Implementation of the interface for Webots and ROS 2 2 | 3 | The main functionalities of the package: 4 | - It automatically creates a ROS 2 interface out of a Webots robot model. 5 | - It allows users to configure the ROS 2 interface in URDF files. 6 | - It allows users to extend the interface using the pluginlib plugin mechanism. 7 | 8 | Please use the following links for more details: 9 | 10 | * [Tutorial: Creating a Custom Package](https://github.com/cyberbotics/webots_ros2/wiki/Tutorial-Creating-a-Custom-Package) 11 | * [Tutorial: Creating a Custom Plugin](https://github.com/cyberbotics/webots_ros2/wiki/Tutorial-Creating-a-Custom-Plugin) 12 | -------------------------------------------------------------------------------- /webots_ros2_driver/include/webots_ros2_driver/utils/Utils.hpp: -------------------------------------------------------------------------------- 1 | // Copyright 1996-2023 Cyberbotics Ltd. 2 | // 3 | // Licensed under the Apache License, Version 2.0 (the "License"); 4 | // you may not use this file except in compliance with the License. 5 | // You may obtain a copy of the License at 6 | // 7 | // http://www.apache.org/licenses/LICENSE-2.0 8 | // 9 | // Unless required by applicable law or agreed to in writing, software 10 | // distributed under the License is distributed on an "AS IS" BASIS, 11 | // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | // See the License for the specific language governing permissions and 13 | // limitations under the License. 14 | 15 | #ifndef UTILS_HPP 16 | #define UTILS_HPP 17 | 18 | #include 19 | 20 | namespace webots_ros2_driver { 21 | int getDeviceTimestepMsFromPublishTimestep(double publishTimestep, int basicTimestepMs); 22 | std::string getFixedNameString(const std::string &name); 23 | } // namespace webots_ros2_driver 24 | 25 | #endif 26 | -------------------------------------------------------------------------------- /webots_ros2_driver/webots/README.md: -------------------------------------------------------------------------------- 1 | # webots-libcontroller 2 | 3 | This branch is a subset of the Webots repository, containing the controller library only. 4 | It is primarily created to allow compilation of the [`webots_ros2`](https://github.com/cyberbotics/webots_ros2) interface without dependency on the complete Webots repository. -------------------------------------------------------------------------------- /webots_ros2_driver/webots/include/controller/c/webots/contact_point.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Copyright 1996-2024 Cyberbotics Ltd. 3 | * 4 | * Licensed under the Apache License, Version 2.0 (the "License"); 5 | * you may not use this file except in compliance with the License. 6 | * You may obtain a copy of the License at 7 | * 8 | * https://www.apache.org/licenses/LICENSE-2.0 9 | * 10 | * Unless required by applicable law or agreed to in writing, software 11 | * distributed under the License is distributed on an "AS IS" BASIS, 12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | * See the License for the specific language governing permissions and 14 | * limitations under the License. 15 | */ 16 | 17 | #ifndef WB_CONTACT_POINTS_H 18 | #define WB_CONTACT_POINTS_H 19 | 20 | typedef struct { 21 | double point[3]; 22 | int node_id; 23 | int padding; // this padding is anyhow added by the compiler, we make it explicit here 24 | } WbContactPoint; 25 | 26 | #endif 27 | -------------------------------------------------------------------------------- /webots_ros2_driver/webots/include/controller/c/webots/plugins/robot_window/robot_window.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Copyright 1996-2024 Cyberbotics Ltd. 3 | * 4 | * Licensed under the Apache License, Version 2.0 (the "License"); 5 | * you may not use this file except in compliance with the License. 6 | * You may obtain a copy of the License at 7 | * 8 | * https://www.apache.org/licenses/LICENSE-2.0 9 | * 10 | * Unless required by applicable law or agreed to in writing, software 11 | * distributed under the License is distributed on an "AS IS" BASIS, 12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | * See the License for the specific language governing permissions and 14 | * limitations under the License. 15 | */ 16 | 17 | #ifndef WB_ROBOT_WINDOW_H 18 | #define WB_ROBOT_WINDOW_H 19 | 20 | #ifdef __cplusplus 21 | extern "C" { 22 | #endif 23 | 24 | void *wb_robot_window_custom_function(void *); 25 | 26 | #ifdef __cplusplus 27 | } 28 | #endif 29 | 30 | #endif /* WB_ROBOT_WINDOW_H */ 31 | -------------------------------------------------------------------------------- /webots_ros2_driver/webots/include/robot_window.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Copyright 1996-2024 Cyberbotics Ltd. 3 | * 4 | * Licensed under the Apache License, Version 2.0 (the "License"); 5 | * you may not use this file except in compliance with the License. 6 | * You may obtain a copy of the License at 7 | * 8 | * https://www.apache.org/licenses/LICENSE-2.0 9 | * 10 | * Unless required by applicable law or agreed to in writing, software 11 | * distributed under the License is distributed on an "AS IS" BASIS, 12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | * See the License for the specific language governing permissions and 14 | * limitations under the License. 15 | */ 16 | 17 | #ifndef WB_ROBOT_WINDOW_H 18 | #define WB_ROBOT_WINDOW_H 19 | 20 | #ifdef __cplusplus 21 | extern "C" { 22 | #endif 23 | 24 | void *wb_robot_window_custom_function(void *); 25 | 26 | #ifdef __cplusplus 27 | } 28 | #endif 29 | 30 | #endif /* WB_ROBOT_WINDOW_H */ 31 | -------------------------------------------------------------------------------- /webots_ros2_driver/webots/lib/controller/.gitignore: -------------------------------------------------------------------------------- 1 | /java 2 | /python34 3 | /python35 4 | /python36 5 | /python37 6 | /python38 7 | /python39 8 | /python310 9 | /*.so.* 10 | -------------------------------------------------------------------------------- /webots_ros2_driver/webots/lib/controller/python/controller/constants.py: -------------------------------------------------------------------------------- 1 | # Copyright 1996-2024 Cyberbotics Ltd. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # https://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | 15 | import ctypes 16 | from .wb import wb 17 | 18 | 19 | def constant(name, type=int): 20 | if type == int: 21 | return ctypes.c_int.in_dll(wb, 'wb_' + name).value 22 | if type == str: 23 | return ctypes.c_char_p.in_dll(wb, 'wb_' + name).value.decode() 24 | -------------------------------------------------------------------------------- /webots_ros2_driver/webots/lib/controller/python/controller/lidar_point.py: -------------------------------------------------------------------------------- 1 | # Copyright 1996-2024 Cyberbotics Ltd. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # https://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | 15 | import struct 16 | 17 | 18 | class LidarPoint: 19 | def __init__(self, data: bytes, offset): 20 | t = struct.unpack_from('fffif', data, offset * 20) 21 | self.x = t[0] 22 | self.y = t[1] 23 | self.z = t[2] 24 | self.layer = t[3] 25 | self.time = t[4] 26 | -------------------------------------------------------------------------------- /webots_ros2_driver/webots/lib/controller/python/controller/radar_target.py: -------------------------------------------------------------------------------- 1 | # Copyright 1996-2024 Cyberbotics Ltd. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # https://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | 15 | 16 | class RadarTarget: 17 | def __init__(self, distance: float, receiver_power: float, speed: float, azimuth: float): 18 | self.distance = distance 19 | self.receiver_power = receiver_power 20 | self.speed = speed 21 | self.azimuth = azimuth 22 | -------------------------------------------------------------------------------- /webots_ros2_driver/webots/lib/controller/python/vehicle/__init__.py: -------------------------------------------------------------------------------- 1 | # Copyright 1996-2024 Cyberbotics Ltd. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # https://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | 15 | from vehicle.driver import Driver # noqa 16 | from vehicle.car import Car # noqa 17 | 18 | __all__ = [Car, Driver] 19 | -------------------------------------------------------------------------------- /webots_ros2_driver/webots/projects/default/libraries/vehicle/c/car/car.def: -------------------------------------------------------------------------------- 1 | EXPORTS 2 | wbu_car_init 3 | wbu_car_cleanup 4 | wbu_car_get_type 5 | wbu_car_get_engine_type 6 | wbu_car_set_indicator_period 7 | wbu_car_get_indicator_period 8 | wbu_car_get_backwards_lights 9 | wbu_car_get_brake_lights 10 | wbu_car_get_track_front 11 | wbu_car_get_track_rear 12 | wbu_car_get_wheelbase 13 | wbu_car_get_front_wheel_radius 14 | wbu_car_get_rear_wheel_radius 15 | wbu_car_get_wheel_encoder 16 | wbu_car_get_wheel_speed 17 | wbu_car_set_right_steering_angle 18 | wbu_car_get_right_steering_angle 19 | wbu_car_set_left_steering_angle 20 | wbu_car_get_left_steering_angle 21 | wbu_car_enable_limited_slip_differential 22 | wbu_car_enable_indicator_auto_disabling 23 | _wbu_car_get_instance 24 | _wbu_car_set_led_state_if_exist 25 | _wbu_car_get_led_state_if_exist 26 | _wbu_car_check_initialisation 27 | _wbu_car_initialization_is_possible 28 | 29 | -------------------------------------------------------------------------------- /webots_ros2_driver/webots/projects/default/libraries/vehicle/c/driver/driver.def: -------------------------------------------------------------------------------- 1 | EXPORTS 2 | wbu_driver_init 3 | wbu_driver_initialization_is_possible 4 | wbu_driver_cleanup 5 | wbu_driver_step 6 | wbu_driver_set_steering_angle 7 | wbu_driver_get_steering_angle 8 | wbu_driver_set_cruising_speed 9 | wbu_driver_get_target_cruising_speed 10 | wbu_driver_get_current_speed 11 | wbu_driver_set_throttle 12 | wbu_driver_get_throttle 13 | wbu_driver_set_brake_intensity 14 | wbu_driver_get_brake_intensity 15 | wbu_driver_set_indicator 16 | wbu_driver_set_hazard_flashers 17 | wbu_driver_get_indicator 18 | wbu_driver_get_hazard_flashers 19 | wbu_driver_set_dipped_beams 20 | wbu_driver_set_antifog_lights 21 | wbu_driver_get_dipped_beams 22 | wbu_driver_get_antifog_lights 23 | wbu_driver_get_rpm 24 | wbu_driver_get_gear 25 | wbu_driver_set_gear 26 | wbu_driver_get_gear_number 27 | wbu_driver_get_control_mode 28 | wbu_driver_set_wiper_mode 29 | wbu_driver_get_wiper_mode 30 | 31 | -------------------------------------------------------------------------------- /webots_ros2_driver/webots/projects/default/libraries/vehicle/java/.gitignore: -------------------------------------------------------------------------------- 1 | /vehicle.cpp 2 | /output 3 | /*jnilib 4 | 5 | -------------------------------------------------------------------------------- /webots_ros2_driver/webots/projects/default/libraries/vehicle/java/vehicle.i: -------------------------------------------------------------------------------- 1 | %module vehicle 2 | 3 | %pragma(java) jniclasscode=%{ 4 | static { 5 | try { 6 | System.loadLibrary("vehicle"); 7 | } catch (UnsatisfiedLinkError e) { 8 | System.err.println("Native code library failed to load. See the chapter on Dynamic Linking Problems in the SWIG Java documentation for help.\n" + e); 9 | System.exit(1); 10 | } 11 | } 12 | %} 13 | 14 | %include "enumsimple.swg" 15 | %javaconst(1); 16 | 17 | %{ 18 | #include 19 | #include 20 | %} 21 | 22 | %import "controller.i" 23 | 24 | %typemap(javaimports) SWIGTYPE %{ 25 | import com.cyberbotics.webots.controller.Supervisor; 26 | %} 27 | 28 | %include 29 | %include 30 | -------------------------------------------------------------------------------- /webots_ros2_driver/webots/resources/version.txt: -------------------------------------------------------------------------------- 1 | R2025a -------------------------------------------------------------------------------- /webots_ros2_driver/webots/src/controller/c/README.TXT: -------------------------------------------------------------------------------- 1 | api module 2 | 3 | This module contains all the controller API functions for controlling a robot 4 | and handling user interaction. Moreover, it contains networking and scene 5 | management stuff. 6 | -------------------------------------------------------------------------------- /webots_ros2_driver/webots/src/controller/c/base64.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Copyright 1996-2024 Cyberbotics Ltd. 3 | * 4 | * Licensed under the Apache License, Version 2.0 (the "License"); 5 | * you may not use this file except in compliance with the License. 6 | * You may obtain a copy of the License at 7 | * 8 | * https://www.apache.org/licenses/LICENSE-2.0 9 | * 10 | * Unless required by applicable law or agreed to in writing, software 11 | * distributed under the License is distributed on an "AS IS" BASIS, 12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | * See the License for the specific language governing permissions and 14 | * limitations under the License. 15 | */ 16 | 17 | #ifndef BASE64_H 18 | #define BASE64_H 19 | 20 | char *base64_encode(const unsigned char *data, size_t input_length, size_t *output_length); 21 | 22 | #endif 23 | -------------------------------------------------------------------------------- /webots_ros2_driver/webots/src/controller/c/console.c: -------------------------------------------------------------------------------- 1 | /* 2 | * Copyright 1996-2024 Cyberbotics Ltd. 3 | * 4 | * Licensed under the Apache License, Version 2.0 (the "License"); 5 | * you may not use this file except in compliance with the License. 6 | * You may obtain a copy of the License at 7 | * 8 | * https://www.apache.org/licenses/LICENSE-2.0 9 | * 10 | * Unless required by applicable law or agreed to in writing, software 11 | * distributed under the License is distributed on an "AS IS" BASIS, 12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | * See the License for the specific language governing permissions and 14 | * limitations under the License. 15 | */ 16 | 17 | #include 18 | 19 | #include "messages.h" 20 | #include "request.h" 21 | #include "robot_private.h" 22 | #include "scheduler.h" 23 | 24 | #include 25 | 26 | void wb_console_print(const char *text, int stream) { 27 | robot_console_print(text, stream); 28 | } 29 | -------------------------------------------------------------------------------- /webots_ros2_driver/webots/src/controller/c/default_robot_window_private.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Copyright 1996-2024 Cyberbotics Ltd. 3 | * 4 | * Licensed under the Apache License, Version 2.0 (the "License"); 5 | * you may not use this file except in compliance with the License. 6 | * You may obtain a copy of the License at 7 | * 8 | * https://www.apache.org/licenses/LICENSE-2.0 9 | * 10 | * Unless required by applicable law or agreed to in writing, software 11 | * distributed under the License is distributed on an "AS IS" BASIS, 12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | * See the License for the specific language governing permissions and 14 | * limitations under the License. 15 | */ 16 | 17 | #ifndef DEFAULT_ROBOT_WINDOW_PRIVATE_H 18 | #define DEFAULT_ROBOT_WINDOW_PRIVATE_H 19 | 20 | void default_robot_window_cleanup(); 21 | 22 | #endif 23 | -------------------------------------------------------------------------------- /webots_ros2_driver/webots/src/controller/c/display_private.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Copyright 1996-2024 Cyberbotics Ltd. 3 | * 4 | * Licensed under the Apache License, Version 2.0 (the "License"); 5 | * you may not use this file except in compliance with the License. 6 | * You may obtain a copy of the License at 7 | * 8 | * https://www.apache.org/licenses/LICENSE-2.0 9 | * 10 | * Unless required by applicable law or agreed to in writing, software 11 | * distributed under the License is distributed on an "AS IS" BASIS, 12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | * See the License for the specific language governing permissions and 14 | * limitations under the License. 15 | */ 16 | 17 | #ifndef DISPLAY_PRIVATE_H 18 | #define DISPLAY_PRIVATE_H 19 | 20 | int display_get_channel_number(int pixel_format); 21 | 22 | #endif // DISPLAY_PRIVATE_H 23 | -------------------------------------------------------------------------------- /webots_ros2_driver/webots/src/controller/c/file.c: -------------------------------------------------------------------------------- 1 | /* 2 | * Copyright 1996-2024 Cyberbotics Ltd. 3 | * 4 | * Licensed under the Apache License, Version 2.0 (the "License"); 5 | * you may not use this file except in compliance with the License. 6 | * You may obtain a copy of the License at 7 | * 8 | * https://www.apache.org/licenses/LICENSE-2.0 9 | * 10 | * Unless required by applicable law or agreed to in writing, software 11 | * distributed under the License is distributed on an "AS IS" BASIS, 12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | * See the License for the specific language governing permissions and 14 | * limitations under the License. 15 | */ 16 | 17 | #include "file.h" 18 | 19 | #include 20 | 21 | // src: http://stackoverflow.com/questions/5309471/getting-file-extension-in-c 22 | const char *wb_file_get_extension(const char *filename) { 23 | const char *dot = strrchr(filename, '.'); 24 | if (!dot || dot == filename) 25 | return ""; 26 | return dot + 1; 27 | } 28 | -------------------------------------------------------------------------------- /webots_ros2_driver/webots/src/controller/c/file.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Copyright 1996-2024 Cyberbotics Ltd. 3 | * 4 | * Licensed under the Apache License, Version 2.0 (the "License"); 5 | * you may not use this file except in compliance with the License. 6 | * You may obtain a copy of the License at 7 | * 8 | * https://www.apache.org/licenses/LICENSE-2.0 9 | * 10 | * Unless required by applicable law or agreed to in writing, software 11 | * distributed under the License is distributed on an "AS IS" BASIS, 12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | * See the License for the specific language governing permissions and 14 | * limitations under the License. 15 | */ 16 | 17 | #ifndef FILE_H 18 | #define FILE_H 19 | 20 | #include 21 | #include // for bool 22 | 23 | const char *wb_file_get_extension(const char *filename); // returns NULL in case of issues 24 | 25 | #endif 26 | -------------------------------------------------------------------------------- /webots_ros2_driver/webots/src/controller/c/html_robot_window_private.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Copyright 1996-2024 Cyberbotics Ltd. 3 | * 4 | * Licensed under the Apache License, Version 2.0 (the "License"); 5 | * you may not use this file except in compliance with the License. 6 | * You may obtain a copy of the License at 7 | * 8 | * https://www.apache.org/licenses/LICENSE-2.0 9 | * 10 | * Unless required by applicable law or agreed to in writing, software 11 | * distributed under the License is distributed on an "AS IS" BASIS, 12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | * See the License for the specific language governing permissions and 14 | * limitations under the License. 15 | */ 16 | 17 | #ifndef HTML_ROBOT_WINDOW_PRIVATE_H 18 | #define HTML_ROBOT_WINDOW_PRIVATE_H 19 | 20 | bool wb_robot_window_load_library(const char *name); 21 | void html_robot_window_init(); 22 | void html_robot_window_step(int step); 23 | void html_robot_window_cleanup(); 24 | 25 | #endif // HTML_ROBOT_WINDOW__PRIVATE_H 26 | -------------------------------------------------------------------------------- /webots_ros2_driver/webots/src/controller/c/motion_private.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Copyright 1996-2024 Cyberbotics Ltd. 3 | * 4 | * Licensed under the Apache License, Version 2.0 (the "License"); 5 | * you may not use this file except in compliance with the License. 6 | * You may obtain a copy of the License at 7 | * 8 | * https://www.apache.org/licenses/LICENSE-2.0 9 | * 10 | * Unless required by applicable law or agreed to in writing, software 11 | * distributed under the License is distributed on an "AS IS" BASIS, 12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | * See the License for the specific language governing permissions and 14 | * limitations under the License. 15 | */ 16 | 17 | #ifndef MOTION_PRIVATE_H 18 | #define MOTION_PRIVATE_H 19 | 20 | void motion_step_all(int step); 21 | void motion_cleanup(); 22 | 23 | #endif 24 | -------------------------------------------------------------------------------- /webots_ros2_driver/webots/src/controller/c/mouse_private.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Copyright 1996-2024 Cyberbotics Ltd. 3 | * 4 | * Licensed under the Apache License, Version 2.0 (the "License"); 5 | * you may not use this file except in compliance with the License. 6 | * You may obtain a copy of the License at 7 | * 8 | * https://www.apache.org/licenses/LICENSE-2.0 9 | * 10 | * Unless required by applicable law or agreed to in writing, software 11 | * distributed under the License is distributed on an "AS IS" BASIS, 12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | * See the License for the specific language governing permissions and 14 | * limitations under the License. 15 | */ 16 | 17 | #ifndef MOUSE_PRIVATE_H 18 | #define MOUSE_PRIVATE_H 19 | 20 | #include "request.h" 21 | 22 | void mouse_write_request(WbRequest *req); 23 | void mouse_set_sampling_period(int sampling_period); 24 | bool mouse_read_answer(int message, WbRequest *r); 25 | void wb_mouse_init(); 26 | 27 | #endif // MOUSE_PRIVATE_H 28 | -------------------------------------------------------------------------------- /webots_ros2_driver/webots/src/controller/c/percent.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Copyright 1996-2024 Cyberbotics Ltd. 3 | * 4 | * Licensed under the Apache License, Version 2.0 (the "License"); 5 | * you may not use this file except in compliance with the License. 6 | * You may obtain a copy of the License at 7 | * 8 | * https://www.apache.org/licenses/LICENSE-2.0 9 | * 10 | * Unless required by applicable law or agreed to in writing, software 11 | * distributed under the License is distributed on an "AS IS" BASIS, 12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | * See the License for the specific language governing permissions and 14 | * limitations under the License. 15 | */ 16 | 17 | #ifndef PERCENT_H 18 | #define PERCENT_H 19 | 20 | char *percent_encode(const char *source); // the resulting string should be free 21 | 22 | #endif // PERCENT_H 23 | -------------------------------------------------------------------------------- /webots_ros2_driver/webots/src/controller/c/sha1.h: -------------------------------------------------------------------------------- 1 | #ifndef SHA1_H 2 | #define SHA1_H 3 | 4 | /* 5 | SHA-1 in C 6 | By Steve Reid 7 | 100% Public Domain 8 | */ 9 | 10 | #include "stdint.h" 11 | 12 | #if defined(__cplusplus) 13 | extern "C" { 14 | #endif 15 | 16 | typedef struct 17 | { 18 | uint32_t state[5]; 19 | uint32_t count[2]; 20 | unsigned char buffer[64]; 21 | } SHA1_CTX; 22 | 23 | void SHA1Transform( 24 | uint32_t state[5], 25 | const unsigned char buffer[64] 26 | ); 27 | 28 | void SHA1Init( 29 | SHA1_CTX * context 30 | ); 31 | 32 | void SHA1Update( 33 | SHA1_CTX * context, 34 | const unsigned char *data, 35 | uint32_t len 36 | ); 37 | 38 | void SHA1Final( 39 | unsigned char digest[20], 40 | SHA1_CTX * context 41 | ); 42 | 43 | void SHA1( 44 | char *hash_out, 45 | const char *str, 46 | uint32_t len); 47 | 48 | #if defined(__cplusplus) 49 | } 50 | #endif 51 | 52 | #endif /* SHA1_H */ 53 | -------------------------------------------------------------------------------- /webots_ros2_driver/webots/src/controller/c/supervisor_private.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Copyright 1996-2024 Cyberbotics Ltd. 3 | * 4 | * Licensed under the Apache License, Version 2.0 (the "License"); 5 | * you may not use this file except in compliance with the License. 6 | * You may obtain a copy of the License at 7 | * 8 | * https://www.apache.org/licenses/LICENSE-2.0 9 | * 10 | * Unless required by applicable law or agreed to in writing, software 11 | * distributed under the License is distributed on an "AS IS" BASIS, 12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | * See the License for the specific language governing permissions and 14 | * limitations under the License. 15 | */ 16 | 17 | #ifndef SUPERVISOR_PRIVATE_H 18 | #define SUPERVISOR_PRIVATE_H 19 | 20 | #include "device_private.h" 21 | 22 | void wb_supervisor_init(WbDevice *d); 23 | 24 | #endif // SUPERVISOR_PRIVATE_H 25 | -------------------------------------------------------------------------------- /webots_ros2_driver/webots/src/controller/cpp/.gitignore: -------------------------------------------------------------------------------- 1 | /*.exp 2 | /*.def 3 | -------------------------------------------------------------------------------- /webots_ros2_driver/webots/src/controller/cpp/LED.cpp: -------------------------------------------------------------------------------- 1 | // Copyright 1996-2024 Cyberbotics Ltd. 2 | // 3 | // Licensed under the Apache License, Version 2.0 (the "License"); 4 | // you may not use this file except in compliance with the License. 5 | // You may obtain a copy of the License at 6 | // 7 | // https://www.apache.org/licenses/LICENSE-2.0 8 | // 9 | // Unless required by applicable law or agreed to in writing, software 10 | // distributed under the License is distributed on an "AS IS" BASIS, 11 | // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | // See the License for the specific language governing permissions and 13 | // limitations under the License. 14 | 15 | #define WB_ALLOW_MIXING_C_AND_CPP_API 16 | #include 17 | #include 18 | 19 | using namespace webots; 20 | 21 | void LED::set(int value) { 22 | wb_led_set(getTag(), value); 23 | } 24 | 25 | int LED::get() const { 26 | return wb_led_get(getTag()); 27 | } 28 | -------------------------------------------------------------------------------- /webots_ros2_driver/webots/src/controller/cpp/Pen.cpp: -------------------------------------------------------------------------------- 1 | // Copyright 1996-2024 Cyberbotics Ltd. 2 | // 3 | // Licensed under the Apache License, Version 2.0 (the "License"); 4 | // you may not use this file except in compliance with the License. 5 | // You may obtain a copy of the License at 6 | // 7 | // https://www.apache.org/licenses/LICENSE-2.0 8 | // 9 | // Unless required by applicable law or agreed to in writing, software 10 | // distributed under the License is distributed on an "AS IS" BASIS, 11 | // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | // See the License for the specific language governing permissions and 13 | // limitations under the License. 14 | 15 | #define WB_ALLOW_MIXING_C_AND_CPP_API 16 | #include 17 | #include 18 | 19 | using namespace webots; 20 | 21 | void Pen::write(bool write) { 22 | wb_pen_write(getTag(), write); 23 | } 24 | 25 | void Pen::setInkColor(int color, double density) { 26 | wb_pen_set_ink_color(getTag(), color, density); 27 | } 28 | -------------------------------------------------------------------------------- /webots_ros2_driver/webots/src/controller/java/.gitignore: -------------------------------------------------------------------------------- 1 | /SWIG_generated_files 2 | -------------------------------------------------------------------------------- /webots_ros2_driver/webots/src/stb/data/atari_8bit_font_revised.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cyberbotics/webots_ros2/7435cfba110794900641cf57e5b33dfd07badaca/webots_ros2_driver/webots/src/stb/data/atari_8bit_font_revised.png -------------------------------------------------------------------------------- /webots_ros2_driver/webots/src/stb/data/easy_font_raw.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cyberbotics/webots_ros2/7435cfba110794900641cf57e5b33dfd07badaca/webots_ros2_driver/webots/src/stb/data/easy_font_raw.png -------------------------------------------------------------------------------- /webots_ros2_driver/webots/src/stb/data/herringbone/license.txt: -------------------------------------------------------------------------------- 1 | All files in this directory are in the public domain. 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-------------------------------------------------------------------------------- /webots_ros2_driver/webots/src/stb/tests/stb_static.c: -------------------------------------------------------------------------------- 1 | #define STBI_WINDOWS_UTF8 2 | #define STB_IMAGE_STATIC 3 | #define STB_IMAGE_IMPLEMENTATION 4 | #include "stb_image.h" 5 | 6 | #define STB_IMAGE_WRITE_STATIC 7 | #define STB_IMAGE_WRITE_IMPLEMENTATION 8 | //#include "stb_image_write.h" 9 | 10 | #define STBTT_STATIC 11 | #define STB_TRUETYPE_IMPLEMENTATION 12 | #include "stb_truetype.h" 13 | -------------------------------------------------------------------------------- /webots_ros2_driver/webots/src/stb/tests/stblib_test.c: -------------------------------------------------------------------------------- 1 | #include "prerelease/stb_lib.h" 2 | #define STB_LIB_IMPLEMENTATION 3 | #include "prerelease/stb_lib.h" 4 | 5 | //#define STB_REGEX_IMPLEMENTATION 6 | //#include "stb_regex.h" 7 | 8 | int main(int argc, char **argv) 9 | { 10 | 11 | } -------------------------------------------------------------------------------- /webots_ros2_driver/webots/src/stb/tests/stblib_test_companion.c: -------------------------------------------------------------------------------- 1 | //#include "stb_regex.h" 2 | //#include "stb_regex.h" 3 | #include "prerelease/stb_lib.h" 4 | #include "prerelease/stb_lib.h" 5 | -------------------------------------------------------------------------------- /webots_ros2_driver/webots/src/stb/tests/stretch_test.c: -------------------------------------------------------------------------------- 1 | // check that stb_truetype compiles with no stb_rect_pack.h 2 | #define STB_TRUETYPE_IMPLEMENTATION 3 | #include "stb_truetype.h" 4 | 5 | #include "stretchy_buffer.h" 6 | #include 7 | 8 | int main(int arg, char **argv) 9 | { 10 | int i; 11 | int *arr = NULL; 12 | 13 | for (i=0; i < 1000000; ++i) 14 | sb_push(arr, i); 15 | 16 | assert(sb_count(arr) == 1000000); 17 | for (i=0; i < 1000000; ++i) 18 | assert(arr[i] == i); 19 | 20 | sb_free(arr); 21 | arr = NULL; 22 | 23 | for (i=0; i < 1000; ++i) 24 | sb_add(arr, 1000); 25 | assert(sb_count(arr) == 1000000); 26 | 27 | return 0; 28 | } -------------------------------------------------------------------------------- /webots_ros2_driver/webots/src/stb/tests/stretchy_buffer_test.c: -------------------------------------------------------------------------------- 1 | #include "stretchy_buffer.h" 2 | 3 | void test_sb(void) 4 | { 5 | char *x = NULL; 6 | sb_push(x, 'x'); 7 | } -------------------------------------------------------------------------------- /webots_ros2_driver/webots/src/stb/tests/test_c_lexer.c: -------------------------------------------------------------------------------- 1 | #include "stb_c_lexer.h" 2 | -------------------------------------------------------------------------------- /webots_ros2_driver/webots/src/stb/tests/test_dxt.c: -------------------------------------------------------------------------------- 1 | #include "stb_dxt.h" 2 | -------------------------------------------------------------------------------- /webots_ros2_driver/webots/src/stb/tests/test_easyfont.c: -------------------------------------------------------------------------------- 1 | #include "stb_easy_font.h" 2 | 3 | void ef_dummy(void) 4 | { 5 | // suppress unsused-function warning 6 | stb_easy_font_spacing(0); 7 | stb_easy_font_print(0,0,0,0,0,0); 8 | stb_easy_font_width(0); 9 | stb_easy_font_height(0); 10 | } -------------------------------------------------------------------------------- /webots_ros2_driver/webots/src/stb/tests/test_image.c: -------------------------------------------------------------------------------- 1 | #ifdef __clang__ 2 | #define STBIDEF static inline 3 | #endif 4 | 5 | #define STB_IMAGE_STATIC 6 | #define STB_IMAGE_IMPLEMENTATION 7 | #include "stb_image.h" -------------------------------------------------------------------------------- /webots_ros2_driver/webots/src/stb/tests/test_image_write.c: -------------------------------------------------------------------------------- 1 | #ifdef __clang__ 2 | #define STBIWDEF static inline 3 | #endif 4 | 5 | #define STB_IMAGE_WRITE_IMPLEMENTATION 6 | #define STB_IMAGE_WRITE_STATIC 7 | #include "stb_image_write.h" -------------------------------------------------------------------------------- /webots_ros2_driver/webots/src/stb/tests/test_perlin.c: -------------------------------------------------------------------------------- 1 | #include "stb_perlin.h" -------------------------------------------------------------------------------- /webots_ros2_driver/webots/src/stb/tests/test_siphash.c: -------------------------------------------------------------------------------- 1 | #include 2 | 3 | #define STB_DS_IMPLEMENTATION 4 | #define STBDS_SIPHASH_2_4 5 | #define STBDS_TEST_SIPHASH_2_4 6 | #include "../stb_ds.h" 7 | 8 | int main(int argc, char **argv) 9 | { 10 | unsigned char mem[64]; 11 | int i,j; 12 | for (i=0; i < 64; ++i) mem[i] = i; 13 | for (i=0; i < 64; ++i) { 14 | size_t hash = stbds_hash_bytes(mem, i, 0); 15 | printf(" { "); 16 | for (j=0; j < 8; ++j) 17 | printf("0x%02x, ", (unsigned char) ((hash >> (j*8)) & 255)); 18 | printf(" },\n"); 19 | } 20 | return 0; 21 | } -------------------------------------------------------------------------------- /webots_ros2_driver/webots/src/stb/tests/test_sprintf.c: -------------------------------------------------------------------------------- 1 | #include "stb_sprintf.h" -------------------------------------------------------------------------------- /webots_ros2_driver/webots/src/stb/tests/test_vorbis.c: -------------------------------------------------------------------------------- 1 | #define STB_VORBIS_HEADER_ONLY 2 | #include "stb_vorbis.c" 3 | #include "stb.h" 4 | 5 | extern void stb_vorbis_dumpmem(void); 6 | 7 | #ifdef VORBIS_TEST 8 | int main(int argc, char **argv) 9 | { 10 | size_t memlen; 11 | unsigned char *mem = stb_fileu("c:/x/sketch008.ogg", &memlen); 12 | int chan, samplerate; 13 | short *output; 14 | int samples = stb_vorbis_decode_memory(mem, memlen, &chan, &samplerate, &output); 15 | stb_filewrite("c:/x/sketch008.raw", output, samples*4); 16 | return 0; 17 | } 18 | #endif 19 | -------------------------------------------------------------------------------- /webots_ros2_driver/webots/src/stb/tests/test_voxel.c: -------------------------------------------------------------------------------- 1 | #include "stb_voxel_render.h" -------------------------------------------------------------------------------- /webots_ros2_driver/webots/src/stb/tools/README.header.md: -------------------------------------------------------------------------------- 1 | stb 2 | === 3 | 4 | single-file public domain (or MIT licensed) libraries for C/C++ 5 | 6 | Noteworthy: 7 | 8 | * image loader: stb_image.h 9 | * image writer: stb_image_write.h 10 | * image resizer: stb_image_resize.h> 11 | * font text rasterizer: stb_truetype.h 12 | * typesafe containers: stb_ds.h 13 | 14 | Most libraries by stb, except: stb_dxt by Fabian "ryg" Giesen, stb_image_resize 15 | by Jorge L. "VinoBS" Rodriguez, and stb_sprintf by Jeff Roberts. 16 | 17 | 18 | library | lastest version | category | LoC | description 19 | --------------------- | ---- | -------- | --- | -------------------------------- 20 | -------------------------------------------------------------------------------- /webots_ros2_driver/webots/src/stb/tools/mr.bat: -------------------------------------------------------------------------------- 1 | debug\make_readme 2 | -------------------------------------------------------------------------------- /webots_ros2_driver/webots_ros2_driver/__init__.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | 3 | # Copyright 1996-2023 Cyberbotics Ltd. 4 | # 5 | # Licensed under the Apache License, Version 2.0 (the "License"); 6 | # you may not use this file except in compliance with the License. 7 | # You may obtain a copy of the License at 8 | # 9 | # http://www.apache.org/licenses/LICENSE-2.0 10 | # 11 | # Unless required by applicable law or agreed to in writing, software 12 | # distributed under the License is distributed on an "AS IS" BASIS, 13 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 14 | # See the License for the specific language governing permissions and 15 | # limitations under the License. 16 | -------------------------------------------------------------------------------- /webots_ros2_driver/webots_ros2_imu.xml: -------------------------------------------------------------------------------- 1 | 2 | 5 | 6 | ROS 2 IMU plugin that fuses data from Webots Inertial Unit, Gyro, and Accelerometer. 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /webots_ros2_driver/webots_ros2_rgbd.xml: -------------------------------------------------------------------------------- 1 | 2 | 5 | 6 | ROS 2 RGBD plugin that fuses data from Webots Camera and Range Finder to create a point cloud. 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /webots_ros2_epuck/RATS_LIFE.md: -------------------------------------------------------------------------------- 1 | # Rat's Life 2 | 3 | Rat's Life is created to quantify the difference between e-puck physical and simulated in mapping, and navigation. 4 | This means you can replicate the map at your home with LEGO bricks and perform the experiment yourself. 5 | The benchmark is highly inspired by the [_The Rat's Life Benchmark: Competing Cognitive Robots_](http://www.vernon.eu/euCognition/NA045-3/PerMIS08_SS1-OMichel.pdf) paper . 6 | 7 | ![Webots Map](./assets/map_webots.png) 8 | 9 | 10 | ## Mapping 11 | Mapping is based on a custom node `simple_mapper,` which only relies on the odometry. 12 | You can launch the mapping with the following command: 13 | ```bash 14 | ros2 launch webots_ros2_epuck rats_life_waypoints_launch.py use_sim_time:=true 15 | ``` 16 | 17 | ## Navigation 18 | Navigation utilizes the `navigation2` package and pre-built map. 19 | To run the navigation, use the following command: 20 | ```bash 21 | ros2 launch webots_ros2_epuck rats_life_launch.py use_sim_time:=true 22 | ``` 23 | -------------------------------------------------------------------------------- /webots_ros2_epuck/README.md: -------------------------------------------------------------------------------- 1 | # E-Puck 2 | 3 | This package provides a ROS2 interface example of the simulated [e-puck](https://www.gctronic.com/doc/index.php/e-puck2) robot in Webots. 4 | 5 | Please use the following links for more details: 6 | 7 | * [Example: E-puck](https://github.com/cyberbotics/webots_ros2/wiki/Example-E-puck) 8 | * [Tutorial: E-puck for ROS2 Beginners](https://github.com/cyberbotics/webots_ros2/wiki/Tutorial-E-puck-for-ROS2-Beginners) 9 | * [ROS2 Driver for Physical E-puck](https://github.com/cyberbotics/epuck_ros2) 10 | -------------------------------------------------------------------------------- /webots_ros2_epuck/assets/ground_sensors_webots.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cyberbotics/webots_ros2/7435cfba110794900641cf57e5b33dfd07badaca/webots_ros2_epuck/assets/ground_sensors_webots.png -------------------------------------------------------------------------------- /webots_ros2_epuck/assets/map_webots.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cyberbotics/webots_ros2/7435cfba110794900641cf57e5b33dfd07badaca/webots_ros2_epuck/assets/map_webots.png -------------------------------------------------------------------------------- /webots_ros2_epuck/assets/mapping.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cyberbotics/webots_ros2/7435cfba110794900641cf57e5b33dfd07badaca/webots_ros2_epuck/assets/mapping.gif -------------------------------------------------------------------------------- /webots_ros2_epuck/assets/nav2.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cyberbotics/webots_ros2/7435cfba110794900641cf57e5b33dfd07badaca/webots_ros2_epuck/assets/nav2.gif -------------------------------------------------------------------------------- /webots_ros2_epuck/assets/sensors_and_leds.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cyberbotics/webots_ros2/7435cfba110794900641cf57e5b33dfd07badaca/webots_ros2_epuck/assets/sensors_and_leds.png -------------------------------------------------------------------------------- /webots_ros2_epuck/resource/epuck_world_map.pgm: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cyberbotics/webots_ros2/7435cfba110794900641cf57e5b33dfd07badaca/webots_ros2_epuck/resource/epuck_world_map.pgm -------------------------------------------------------------------------------- /webots_ros2_epuck/resource/epuck_world_map.yaml: -------------------------------------------------------------------------------- 1 | image: epuck_world_map.pgm 2 | mode: trinary 3 | resolution: 0.01 4 | origin: [-1.5, -1.5, 0] 5 | negate: 0 6 | occupied_thresh: 0.65 7 | free_thresh: 0.25 8 | -------------------------------------------------------------------------------- /webots_ros2_epuck/resource/map_rats_life.pgm: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cyberbotics/webots_ros2/7435cfba110794900641cf57e5b33dfd07badaca/webots_ros2_epuck/resource/map_rats_life.pgm -------------------------------------------------------------------------------- /webots_ros2_epuck/resource/map_rats_life.yaml: -------------------------------------------------------------------------------- 1 | image: map_rats_life.pgm 2 | mode: trinary 3 | resolution: 0.01 4 | origin: [-1.5, -1.5, 0] 5 | negate: 0 6 | occupied_thresh: 0.65 7 | free_thresh: 0.25 8 | -------------------------------------------------------------------------------- /webots_ros2_epuck/resource/ros2_control.yml: -------------------------------------------------------------------------------- 1 | controller_manager: 2 | ros__parameters: 3 | update_rate: 50 4 | 5 | diffdrive_controller: 6 | type: diff_drive_controller/DiffDriveController 7 | 8 | joint_state_broadcaster: 9 | type: joint_state_broadcaster/JointStateBroadcaster 10 | 11 | diffdrive_controller: 12 | ros__parameters: 13 | left_wheel_names: ["left wheel motor"] 14 | right_wheel_names: ["right wheel motor"] 15 | 16 | wheel_separation: 0.052 17 | wheel_radius: 0.02 18 | 19 | # The real separation between wheels is not resulting in a perfect odometry 20 | wheel_separation_multiplier: 1.095 21 | 22 | use_stamped_vel: false 23 | base_frame_id: "base_link" 24 | -------------------------------------------------------------------------------- /webots_ros2_epuck/resource/webots_ros2_epuck: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cyberbotics/webots_ros2/7435cfba110794900641cf57e5b33dfd07badaca/webots_ros2_epuck/resource/webots_ros2_epuck -------------------------------------------------------------------------------- /webots_ros2_epuck/setup.cfg: -------------------------------------------------------------------------------- 1 | [develop] 2 | script_dir=$base/lib/webots_ros2_epuck 3 | [install] 4 | install_scripts=$base/lib/webots_ros2_epuck 5 | -------------------------------------------------------------------------------- /webots_ros2_epuck/test/test_copyright.py: -------------------------------------------------------------------------------- 1 | # Copyright 1996-2023 Cyberbotics Ltd. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | 15 | """Test licenses in files.""" 16 | 17 | from ament_copyright.main import main 18 | import pytest 19 | 20 | 21 | @pytest.mark.copyright 22 | @pytest.mark.linter 23 | def test_copyright(): 24 | rc = main(argv=['.', '--verbose']) 25 | assert rc == 0, 'Found errors' 26 | -------------------------------------------------------------------------------- /webots_ros2_epuck/webots_ros2_epuck/.gitignore: -------------------------------------------------------------------------------- 1 | /__pycache__ 2 | -------------------------------------------------------------------------------- /webots_ros2_epuck/webots_ros2_epuck/__init__.py: -------------------------------------------------------------------------------- 1 | # Copyright 1996-2023 Cyberbotics Ltd. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | -------------------------------------------------------------------------------- /webots_ros2_epuck/worlds/.epuck_world.wbproj: -------------------------------------------------------------------------------- 1 | Webots Project File version R2021c 2 | perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000001fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000006900ffffff00000001000001780000039afc0200000001fb0000001400540065007800740045006400690074006f007200000000160000039a0000003f00ffffff000000030000075500000039fc0100000002fb0000000e0043006f006e0073006f006c00650100000000000004530000000000000000fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c010000000000000755000000000000000000000755000003d500000001000000020000000100000008fc00000000 3 | simulationViewPerspectives: 000000ff000000010000000200000000000007530100000002010000000100 4 | sceneTreePerspectives: 000000ff0000000100000002000000c0000000fa0100000002010000000200 5 | maximizedDockId: -1 6 | centralWidgetVisible: 1 7 | orthographicViewHeight: 1 8 | textFiles: -1 9 | globalOptionalRendering: DistanceSensorRays 10 | renderingDevicePerspectives: e-puck:camera;1;0.221875;0;0 11 | -------------------------------------------------------------------------------- /webots_ros2_husarion/CHANGELOG.rst: -------------------------------------------------------------------------------- 1 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2 | Changelog for package webots_ros2_husarion 3 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 4 | 5 | 2024.0.0 (2023-XX-XX) 6 | ------------------ 7 | * Created webots_ros2_husarion package. -------------------------------------------------------------------------------- /webots_ros2_husarion/resource/laser_filter.yaml: -------------------------------------------------------------------------------- 1 | scan_to_scan_filter_chain: 2 | ros__parameters: 3 | filter1: 4 | name: box_filter 5 | type: laser_filters/LaserScanBoxFilter 6 | params: 7 | box_frame: base_link 8 | 9 | max_x: 0.165 10 | min_x: -0.195 # 0.165 + 0.03 (wifi antenna) 11 | 12 | max_y: 0.145 13 | min_y: -0.145 14 | 15 | max_z: 0.5 16 | min_z: -0.5 17 | 18 | invert: false # activate to remove all points outside of the box 19 | -------------------------------------------------------------------------------- /webots_ros2_husarion/resource/rosbot_links_remappings.yaml: -------------------------------------------------------------------------------- 1 | imu: imu_link 2 | cover: cover_link 3 | front left wheel: fl_wheel_link 4 | front right wheel: fr_wheel_link 5 | rear left wheel: rl_wheel_link 6 | rear right wheel: rr_wheel_link 7 | camera: camera_link 8 | -------------------------------------------------------------------------------- /webots_ros2_husarion/resource/webots_ros2_husarion: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cyberbotics/webots_ros2/7435cfba110794900641cf57e5b33dfd07badaca/webots_ros2_husarion/resource/webots_ros2_husarion -------------------------------------------------------------------------------- /webots_ros2_husarion/webots_ros2_husarion/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cyberbotics/webots_ros2/7435cfba110794900641cf57e5b33dfd07badaca/webots_ros2_husarion/webots_ros2_husarion/__init__.py -------------------------------------------------------------------------------- /webots_ros2_importer/CHANGELOG.rst: -------------------------------------------------------------------------------- 1 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2 | Changelog for package webots_ros2_importer 3 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 4 | 5 | 2023.0.4 (2023-05-23) 6 | ------------------ 7 | * Fixed argument parsing 8 | 9 | 2022.1.4 (2022-11-18) 10 | ------------------ 11 | * Upgraded to urdf2webots 2.0.3 12 | 13 | 2022.1.1 (2022-10-11) 14 | ------------------ 15 | * Upgraded to urdf2webots 2.0.2 16 | 17 | 2022.1.0 (2022-09-23) 18 | ------------------ 19 | * Upgraded to urdf2webots 2.0.0 20 | 21 | 1.2.3 (2022-05-30) 22 | ------------------ 23 | * Upgraded to urdf2webots 1.0.18 24 | 25 | 1.1.0 (2021-07-19) 26 | ------------------ 27 | * Upgraded to urdf2webots 1.0.10 28 | 29 | 1.0.0 (2020-09-01) 30 | ------------------ 31 | * Added the '--multi-file', '--static-base', '--tool-slot' and '--rotation' arguments. 32 | 33 | 0.0.3 (2020-06-15) 34 | ------------------ 35 | * Initial version 36 | -------------------------------------------------------------------------------- /webots_ros2_importer/README.md: -------------------------------------------------------------------------------- 1 | # URDF and Xacro Importers 2 | 3 | This package allows URDF and Xacro robot models to be imported in Webots. 4 | 5 | Please use the following links for more details: 6 | 7 | * [Tutorial: Using URDF or Xacro](https://github.com/cyberbotics/webots_ros2/wiki/Using-URDF-or-Xacro) 8 | -------------------------------------------------------------------------------- /webots_ros2_importer/pytest.ini: -------------------------------------------------------------------------------- 1 | [pytest] 2 | # Ignore tests inside urdf2webots folder 3 | norecursedirs = webots_ros2_importer/urdf2webots/* 4 | -------------------------------------------------------------------------------- /webots_ros2_importer/resource/webots_ros2_importer: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cyberbotics/webots_ros2/7435cfba110794900641cf57e5b33dfd07badaca/webots_ros2_importer/resource/webots_ros2_importer -------------------------------------------------------------------------------- /webots_ros2_importer/setup.cfg: -------------------------------------------------------------------------------- 1 | [develop] 2 | script_dir=$base/lib/webots_ros2_importer 3 | [install] 4 | install_scripts=$base/lib/webots_ros2_importer 5 | -------------------------------------------------------------------------------- /webots_ros2_importer/webots_ros2_importer/.gitignore: -------------------------------------------------------------------------------- 1 | /__pycache__ 2 | -------------------------------------------------------------------------------- /webots_ros2_importer/webots_ros2_importer/__init__.py: -------------------------------------------------------------------------------- 1 | # Copyright 1996-2023 Cyberbotics Ltd. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | -------------------------------------------------------------------------------- /webots_ros2_mavic/CHANGELOG.rst: -------------------------------------------------------------------------------- 1 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2 | Changelog for package webots_ros2_mavic 3 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 4 | 5 | 2023.1.0 (2023-06-29) 6 | ------------------ 7 | * Clean simulation reset in launch file. 8 | * Update driver node to new WebotsController node. 9 | 10 | 2023.0.2 (2023-02-07) 11 | ------------------ 12 | * Updated supervisor launch. 13 | 14 | 2022.1.3 (2022-11-02) 15 | ------------------ 16 | * Added macOS support. 17 | * Added reset handler to support simulation reset from Webots. 18 | 19 | 2022.1.2 (2022-10-21) 20 | ------------------ 21 | * Added WSL support. 22 | 23 | 1.2.0 (2021-12-21) 24 | ------------------ 25 | * Adapt the worlds to the new R2022a FLU convention. 26 | 27 | 1.1.2 (2021-11-03) 28 | ------------------ 29 | * Utilize the 'webots_ros2_driver' instead of 'webots_ros2_core'. 30 | 31 | 1.1.0 (2021-07-19) 32 | ------------------ 33 | * Initial version 34 | -------------------------------------------------------------------------------- /webots_ros2_mavic/README.md: -------------------------------------------------------------------------------- 1 | # Mavic 2 Pro 2 | 3 | This package provides a ROS2 interface example for the simulated Mavic 2 Pro robot in Webots. 4 | 5 | Documentation is available [here](https://github.com/cyberbotics/webots_ros2/wiki/Example-Mavic-2-Pro). 6 | -------------------------------------------------------------------------------- /webots_ros2_mavic/resource/mavic_webots.urdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | true 7 | true 8 | 9 | 10 | 11 | 12 | true 13 | /imu 14 | true 15 | imu_link 16 | inertial unit 17 | gyro 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /webots_ros2_mavic/resource/webots_ros2_mavic: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cyberbotics/webots_ros2/7435cfba110794900641cf57e5b33dfd07badaca/webots_ros2_mavic/resource/webots_ros2_mavic -------------------------------------------------------------------------------- /webots_ros2_mavic/setup.cfg: -------------------------------------------------------------------------------- 1 | [develop] 2 | script_dir=$base/lib/webots_ros2_mavic 3 | [install] 4 | install_scripts=$base/lib/webots_ros2_mavic 5 | -------------------------------------------------------------------------------- /webots_ros2_mavic/test/test_copyright.py: -------------------------------------------------------------------------------- 1 | # Copyright 1996-2023 Cyberbotics Ltd. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | 15 | """Test licenses in files.""" 16 | 17 | from ament_copyright.main import main 18 | import pytest 19 | 20 | 21 | @pytest.mark.copyright 22 | @pytest.mark.linter 23 | def test_copyright(): 24 | rc = main(argv=['.', '--verbose']) 25 | assert rc == 0, 'Found errors' 26 | -------------------------------------------------------------------------------- /webots_ros2_mavic/webots_ros2_mavic/.gitignore: -------------------------------------------------------------------------------- 1 | /__pycache__ 2 | -------------------------------------------------------------------------------- /webots_ros2_mavic/webots_ros2_mavic/__init__.py: -------------------------------------------------------------------------------- 1 | # Copyright 1996-2019 Cyberbotics Ltd. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | -------------------------------------------------------------------------------- /webots_ros2_mavic/worlds/.mavic_world.wbproj: -------------------------------------------------------------------------------- 1 | Webots Project File version R2021c 2 | perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000001fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000000000140000006900ffffff000000010000011c0000038ffc0200000001fb0000001400540065007800740045006400690074006f007200000000160000038f0000003f00ffffff00000003000007800000003bfc0100000001fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c0100000000000007800000006900ffffff000007800000038f00000001000000020000000100000008fc00000000 3 | simulationViewPerspectives: 000000ff000000010000000200000000000000eb01ffffffff010000000100 4 | sceneTreePerspectives: 000000ff0000000100000002000000c0000000ce01ffffffff010000000200 5 | maximizedDockId: -1 6 | centralWidgetVisible: 1 7 | orthographicViewHeight: 1 8 | textFiles: -1 9 | consoles: Console:All:All 10 | renderingDevicePerspectives: Mavic 2 PRO:camera;0;1;0;0 11 | -------------------------------------------------------------------------------- /webots_ros2_msgs/CHANGELOG.rst: -------------------------------------------------------------------------------- 1 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2 | Changelog for package webots_ros2_msgs 3 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 4 | 5 | 2023.1.0 (2023-06-29) 6 | ------------------ 7 | * Added BoolStamped message 8 | * Added GetBool message 9 | * Added pen ink properties message. 10 | 11 | 2022.1.0 (2022-09-23) 12 | ------------------ 13 | * Added URDF robot messages 14 | 15 | 1.1.0 (2021-07-19) 16 | ------------------ 17 | * Added camera recognition object messages 18 | 19 | 0.0.2 (2019-09-23) 20 | ------------------ 21 | * Initial version 22 | -------------------------------------------------------------------------------- /webots_ros2_msgs/README.md: -------------------------------------------------------------------------------- 1 | # Webots Messages 2 | 3 | This package contains custom ROS2 message definitions used across `webots_ros2_*` packages. 4 | -------------------------------------------------------------------------------- /webots_ros2_msgs/msg/BoolStamped.msg: -------------------------------------------------------------------------------- 1 | std_msgs/Header header 2 | bool data 3 | -------------------------------------------------------------------------------- /webots_ros2_msgs/msg/CameraRecognitionObject.msg: -------------------------------------------------------------------------------- 1 | int32 id 2 | geometry_msgs/PoseStamped pose 3 | vision_msgs/BoundingBox2D bbox 4 | std_msgs/ColorRGBA[] colors 5 | string model 6 | -------------------------------------------------------------------------------- /webots_ros2_msgs/msg/CameraRecognitionObjects.msg: -------------------------------------------------------------------------------- 1 | std_msgs/Header header 2 | CameraRecognitionObject[] objects 3 | -------------------------------------------------------------------------------- /webots_ros2_msgs/msg/FloatStamped.msg: -------------------------------------------------------------------------------- 1 | std_msgs/Header header 2 | float64 data 3 | -------------------------------------------------------------------------------- /webots_ros2_msgs/msg/PenInkProperties.msg: -------------------------------------------------------------------------------- 1 | # Set the ink properties of a pen device. 2 | # See https://www.cyberbotics.com/doc/reference/pen#wb_pen_set_ink_color for more details 3 | 4 | # Ink color in hexadecimal format 5 | int32 color 6 | 7 | # Ink density (similar in context to alpha of rgba) 8 | float32 density 9 | -------------------------------------------------------------------------------- /webots_ros2_msgs/msg/StringStamped.msg: -------------------------------------------------------------------------------- 1 | std_msgs/Header header 2 | string data 3 | -------------------------------------------------------------------------------- /webots_ros2_msgs/msg/UrdfRobot.msg: -------------------------------------------------------------------------------- 1 | string name 2 | string urdf_path 3 | string robot_description 4 | string relative_path_prefix 5 | string translation 6 | string rotation 7 | bool normal 8 | bool box_collision 9 | string init_pos 10 | -------------------------------------------------------------------------------- /webots_ros2_msgs/srv/EmitterSendString.srv: -------------------------------------------------------------------------------- 1 | string value 2 | --- 3 | int64 result 4 | -------------------------------------------------------------------------------- /webots_ros2_msgs/srv/GetBool.srv: -------------------------------------------------------------------------------- 1 | bool ask 2 | --- 3 | bool value 4 | -------------------------------------------------------------------------------- /webots_ros2_msgs/srv/SetString.srv: -------------------------------------------------------------------------------- 1 | string value 2 | --- 3 | bool success 4 | -------------------------------------------------------------------------------- /webots_ros2_msgs/srv/SpawnNodeFromString.srv: -------------------------------------------------------------------------------- 1 | string data 2 | --- 3 | bool success 4 | -------------------------------------------------------------------------------- /webots_ros2_msgs/srv/SpawnUrdfRobot.srv: -------------------------------------------------------------------------------- 1 | UrdfRobot robot 2 | --- 3 | bool success 4 | -------------------------------------------------------------------------------- /webots_ros2_tesla/CHANGELOG.rst: -------------------------------------------------------------------------------- 1 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2 | Changelog for package webots_ros2_tesla 3 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 4 | 5 | 2023.1.0 (2023-06-29) 6 | ------------------ 7 | * Clean simulation reset in launch file. 8 | * Update driver node to new WebotsController node. 9 | 10 | 2023.0.2 (2023-02-07) 11 | ------------------ 12 | * Updated supervisor launch. 13 | 14 | 2022.1.3 (2022-11-02) 15 | ------------------ 16 | * Added macOS support. 17 | * Added reset handler to support simulation reset from Webots. 18 | 19 | 2022.1.2 (2022-10-21) 20 | ------------------ 21 | * Added WSL support. 22 | 23 | 1.2.3 (2022-06-01) 24 | ------------------ 25 | * Fixed support for Humble and Rolling. 26 | 27 | 1.2.0 (2021-12-21) 28 | ------------------ 29 | * Adapt the worlds to the new R2022a FLU convention. 30 | 31 | 1.1.2 (2021-11-03) 32 | ------------------ 33 | * Utilize the 'webots_ros2_driver' instead of 'webots_ros2_core'. 34 | * Added code compliance for 'ROS Foxy'. 35 | 36 | 1.0.6 (2021-04-10) 37 | ------------------ 38 | * Initial version 39 | -------------------------------------------------------------------------------- /webots_ros2_tesla/README.md: -------------------------------------------------------------------------------- 1 | # Tesla 2 | 3 | This package provides a ROS2 interface example for the simulated Tesla in Webots. 4 | 5 | Documentation is available [here](https://github.com/cyberbotics/webots_ros2/wiki/Example-Tesla-Model-3). 6 | -------------------------------------------------------------------------------- /webots_ros2_tesla/resource/tesla_webots.urdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | -------------------------------------------------------------------------------- /webots_ros2_tesla/resource/webots_ros2_tesla: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cyberbotics/webots_ros2/7435cfba110794900641cf57e5b33dfd07badaca/webots_ros2_tesla/resource/webots_ros2_tesla -------------------------------------------------------------------------------- /webots_ros2_tesla/setup.cfg: -------------------------------------------------------------------------------- 1 | [develop] 2 | script_dir=$base/lib/webots_ros2_tesla 3 | [install] 4 | install_scripts=$base/lib/webots_ros2_tesla 5 | -------------------------------------------------------------------------------- /webots_ros2_tesla/test/test_copyright.py: -------------------------------------------------------------------------------- 1 | # Copyright 1996-2023 Cyberbotics Ltd. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | 15 | """Test licenses in files.""" 16 | 17 | from ament_copyright.main import main 18 | import pytest 19 | 20 | 21 | @pytest.mark.copyright 22 | @pytest.mark.linter 23 | def test_copyright(): 24 | rc = main(argv=['.', '--verbose']) 25 | assert rc == 0, 'Found errors' 26 | -------------------------------------------------------------------------------- /webots_ros2_tesla/webots_ros2_tesla/.gitignore: -------------------------------------------------------------------------------- 1 | /__pycache__ 2 | -------------------------------------------------------------------------------- /webots_ros2_tesla/webots_ros2_tesla/__init__.py: -------------------------------------------------------------------------------- 1 | # Copyright 1996-2019 Cyberbotics Ltd. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | -------------------------------------------------------------------------------- /webots_ros2_tesla/worlds/.tesla_world.wbproj: -------------------------------------------------------------------------------- 1 | Webots Project File version R2021c 2 | perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000001fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000006900ffffff000000010000011c000002f1fc0200000001fb0000001400540065007800740045006400690074006f00720000000016000002f10000003f00ffffff0000000300000780000000d9fc0100000001fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c010000000000000780000000000000000000000780000003cc00000001000000020000000100000008fc00000000 3 | simulationViewPerspectives: 000000ff0000000100000002000000000000077e0100000002010000000100 4 | sceneTreePerspectives: 000000ff0000000100000002000001e8000000fa0100000002010000000200 5 | maximizedDockId: -1 6 | centralWidgetVisible: 1 7 | orthographicViewHeight: 1 8 | textFiles: -1 9 | renderingDevicePerspectives: vehicle:camera;0;1;0;0 10 | -------------------------------------------------------------------------------- /webots_ros2_tests/README.md: -------------------------------------------------------------------------------- 1 | # System Tests for `webots_ros2` packages 2 | -------------------------------------------------------------------------------- /webots_ros2_tests/resource/webots_ros2_tests: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cyberbotics/webots_ros2/7435cfba110794900641cf57e5b33dfd07badaca/webots_ros2_tests/resource/webots_ros2_tests -------------------------------------------------------------------------------- /webots_ros2_tests/setup.cfg: -------------------------------------------------------------------------------- 1 | [develop] 2 | script_dir=$base/lib/webots_ros2_tests 3 | [install] 4 | install_scripts=$base/lib/webots_ros2_tests 5 | -------------------------------------------------------------------------------- /webots_ros2_tests/test/test_copyright.py: -------------------------------------------------------------------------------- 1 | # Copyright 1996-2023 Cyberbotics Ltd. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | 15 | from ament_copyright.main import main 16 | import pytest 17 | 18 | 19 | @pytest.mark.copyright 20 | @pytest.mark.linter 21 | def test_copyright(): 22 | rc = main(argv=['.', 'test']) 23 | assert rc == 0, 'Found errors' 24 | -------------------------------------------------------------------------------- /webots_ros2_tests/webots_ros2_tests/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cyberbotics/webots_ros2/7435cfba110794900641cf57e5b33dfd07badaca/webots_ros2_tests/webots_ros2_tests/__init__.py -------------------------------------------------------------------------------- /webots_ros2_tests/worlds/.driver_test.wbproj: -------------------------------------------------------------------------------- 1 | Webots Project File version R2021b 2 | perspectives: 000000ff00000000fd000000030000000000000069000003ccfc0100000001fb0000001e00480074006d006c0052006f0062006f007400570069006e0064006f00770000000000000000690000000000000000000000010000011c000002f1fc0200000001fb0000001400540065007800740045006400690074006f00720000000016000002f10000003f00ffffff000000030000078000000087fc0100000001fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c0100000000000007800000006900ffffff000007800000034300000001000000020000000100000008fc00000000 3 | simulationViewPerspectives: 000000ff000000010000000200000100000002c40100000002010000000100 4 | sceneTreePerspectives: 000000ff00000001000000020000007d000000fa0100000002010000000200 5 | maximizedDockId: -1 6 | centralWidgetVisible: 1 7 | orthographicViewHeight: 1 8 | textFiles: -1 9 | consoles: Console:All:All 10 | renderingDevicePerspectives: Pioneer 3-AT:kinect color;1;1;0;0 11 | renderingDevicePerspectives: Pioneer 3-AT:kinect range;1;1;0;0 12 | renderingDevicePerspectives: Pioneer 3-AT:camera;0;1;0;0 13 | -------------------------------------------------------------------------------- /webots_ros2_tiago/README.md: -------------------------------------------------------------------------------- 1 | # TIAGo 2 | 3 | This package provides a ROS2 interface example for the simulated TIAGo robot in Webots. 4 | 5 | Documentation is available [here](https://github.com/cyberbotics/webots_ros2/wiki/Example-TIAGo). 6 | -------------------------------------------------------------------------------- /webots_ros2_tiago/resource/map.pgm: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cyberbotics/webots_ros2/7435cfba110794900641cf57e5b33dfd07badaca/webots_ros2_tiago/resource/map.pgm -------------------------------------------------------------------------------- /webots_ros2_tiago/resource/map.yaml: -------------------------------------------------------------------------------- 1 | image: map.pgm 2 | mode: trinary 3 | resolution: 0.05 4 | origin: [-12.2, -4.96, 0] 5 | negate: 0 6 | occupied_thresh: 0.65 7 | free_thresh: 0.25 8 | -------------------------------------------------------------------------------- /webots_ros2_tiago/resource/ros2_control_bringup.yml: -------------------------------------------------------------------------------- 1 | controller_manager: 2 | ros__parameters: 3 | update_rate: 50 4 | -------------------------------------------------------------------------------- /webots_ros2_tiago/resource/webots_ros2_tiago: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cyberbotics/webots_ros2/7435cfba110794900641cf57e5b33dfd07badaca/webots_ros2_tiago/resource/webots_ros2_tiago -------------------------------------------------------------------------------- /webots_ros2_tiago/setup.cfg: -------------------------------------------------------------------------------- 1 | [develop] 2 | script_dir=$base/lib/webots_ros2_tiago 3 | [install] 4 | install_scripts=$base/lib/webots_ros2_tiago 5 | -------------------------------------------------------------------------------- /webots_ros2_tiago/test/test_copyright.py: -------------------------------------------------------------------------------- 1 | # Copyright 1996-2023 Cyberbotics Ltd. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | 15 | """Test licenses in files.""" 16 | 17 | from ament_copyright.main import main 18 | import pytest 19 | 20 | 21 | @pytest.mark.copyright 22 | @pytest.mark.linter 23 | def test_copyright(): 24 | rc = main(argv=['.', '--verbose']) 25 | assert rc == 0, 'Found errors' 26 | -------------------------------------------------------------------------------- /webots_ros2_tiago/worlds/.default.wbproj: -------------------------------------------------------------------------------- 1 | Webots Project File version R2023b 2 | perspectives: 000000ff00000000fd00000002000000010000011c000002f0fc0200000001fb0000001400540065007800740045006400690074006f00720000000016000002f00000003f00ffffff00000003000004e200000039fc0100000001fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c0100000000000004e20000006900ffffff000004e20000015700000001000000020000000100000008fc00000000 3 | simulationViewPerspectives: 000000ff0000000100000002000000000000077e0100000002010000000100 4 | sceneTreePerspectives: 000000ff00000001000000020000007d000000fa0100000002010000000200 5 | maximizedDockId: -1 6 | centralWidgetVisible: 1 7 | orthographicViewHeight: 1 8 | textFiles: -1 9 | globalOptionalRendering: LidarPointClouds::LidarRaysPaths 10 | consoles: Console:All:All 11 | renderingDevicePerspectives: Tiago_Lite:Astra depth;0;1;0;0 12 | renderingDevicePerspectives: Tiago_Lite:Astra rgb;0;0.856848;0.41929;0.334482 13 | -------------------------------------------------------------------------------- /webots_ros2_tiago/worlds/.default_bringup.wbproj: -------------------------------------------------------------------------------- 1 | Webots Project File version R2023b 2 | perspectives: 000000ff00000000fd00000002000000010000011c000002f0fc0200000001fb0000001400540065007800740045006400690074006f00720000000016000002f00000003f00ffffff00000003000004e200000039fc0100000001fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c0100000000000004e20000006900ffffff000004e20000015700000001000000020000000100000008fc00000000 3 | simulationViewPerspectives: 000000ff0000000100000002000000000000077e0100000002010000000100 4 | sceneTreePerspectives: 000000ff00000001000000020000007d000000fa0100000002010000000200 5 | maximizedDockId: -1 6 | centralWidgetVisible: 1 7 | orthographicViewHeight: 1 8 | textFiles: -1 9 | globalOptionalRendering: LidarPointClouds::LidarRaysPaths 10 | consoles: Console:All:All 11 | -------------------------------------------------------------------------------- /webots_ros2_turtlebot/README.md: -------------------------------------------------------------------------------- 1 | # TurtleBot3 Burger 2 | 3 | This package provides a ROS2 interface example for the simulated TurtleBot3 Burger robot in Webots. 4 | 5 | Documentation is available [here](https://github.com/cyberbotics/webots_ros2/wiki/Example-TurtleBot3-Burger). 6 | -------------------------------------------------------------------------------- /webots_ros2_turtlebot/resource/ros2control.yml: -------------------------------------------------------------------------------- 1 | controller_manager: 2 | ros__parameters: 3 | update_rate: 50 4 | 5 | diffdrive_controller: 6 | type: diff_drive_controller/DiffDriveController 7 | 8 | joint_state_broadcaster: 9 | type: joint_state_broadcaster/JointStateBroadcaster 10 | 11 | diffdrive_controller: 12 | ros__parameters: 13 | left_wheel_names: ["left wheel motor"] 14 | right_wheel_names: ["right wheel motor"] 15 | 16 | wheel_separation: 0.16 17 | wheel_radius: 0.033 18 | 19 | # The real separation between wheels is not resulting in a perfect odometry 20 | wheel_separation_multiplier: 1.112 21 | 22 | use_stamped_vel: false 23 | base_frame_id: "base_link" 24 | 25 | linear: 26 | x: 27 | max_velocity: 0.2 # Maximal speed of turtlebot 28 | 29 | joint_state_broadcaster: 30 | ros__parameters: 31 | extra_joints: 32 | - LDS-01_secondary_motor 33 | - LDS-01_main_motor 34 | -------------------------------------------------------------------------------- /webots_ros2_turtlebot/resource/turtlebot3_burger_example_map.pgm: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cyberbotics/webots_ros2/7435cfba110794900641cf57e5b33dfd07badaca/webots_ros2_turtlebot/resource/turtlebot3_burger_example_map.pgm -------------------------------------------------------------------------------- /webots_ros2_turtlebot/resource/turtlebot3_burger_example_map.yaml: -------------------------------------------------------------------------------- 1 | image: turtlebot3_burger_example_map.pgm 2 | mode: trinary 3 | resolution: 0.05 4 | origin: [-2.06, -6.84, 0] 5 | negate: 0 6 | occupied_thresh: 0.65 7 | free_thresh: 0.25 8 | -------------------------------------------------------------------------------- /webots_ros2_turtlebot/resource/webots_ros2_turtlebot: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cyberbotics/webots_ros2/7435cfba110794900641cf57e5b33dfd07badaca/webots_ros2_turtlebot/resource/webots_ros2_turtlebot -------------------------------------------------------------------------------- /webots_ros2_turtlebot/setup.cfg: -------------------------------------------------------------------------------- 1 | [develop] 2 | script_dir=$base/lib/webots_ros2_turtlebot 3 | [install] 4 | install_scripts=$base/lib/webots_ros2_turtlebot 5 | -------------------------------------------------------------------------------- /webots_ros2_turtlebot/test/test_copyright.py: -------------------------------------------------------------------------------- 1 | # Copyright 1996-2023 Cyberbotics Ltd. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | 15 | """Test licenses in files.""" 16 | 17 | from ament_copyright.main import main 18 | import pytest 19 | 20 | 21 | @pytest.mark.copyright 22 | @pytest.mark.linter 23 | def test_copyright(): 24 | rc = main(argv=['.', '--verbose']) 25 | assert rc == 0, 'Found errors' 26 | -------------------------------------------------------------------------------- /webots_ros2_turtlebot/webots_ros2_turtlebot/__init__.py: -------------------------------------------------------------------------------- 1 | # Copyright 1996-2019 Cyberbotics Ltd. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | -------------------------------------------------------------------------------- /webots_ros2_turtlebot/worlds/.turtlebot3_burger_example.wbproj: -------------------------------------------------------------------------------- 1 | Webots Project File version R2021c 2 | perspectives: 000000ff00000000fd000000030000000000000192000003e7fc0100000002fb0000001e00480074006d006c0052006f0062006f007400570069006e0064006f00770000000000000001920000000000000000fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000006900ffffff00000001000001b000000356fc0200000001fb0000001400540065007800740045006400690074006f00720000000016000003560000003f00ffffff000000030000078000000039fc0100000002fb0000000e0043006f006e0073006f006c006501000000000000073d0000000000000000fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c0100000000000007800000006900ffffff00000780000003ac00000001000000020000000100000008fc00000000 3 | simulationViewPerspectives: 000000ff0000000100000002000001000000067e0100000002010000000100 4 | sceneTreePerspectives: 000000ff0000000100000002000000c0000000fa0100000002010000000200 5 | maximizedDockId: -1 6 | centralWidgetVisible: 1 7 | orthographicViewHeight: 1 8 | textFiles: -1 9 | consoles: Console:All:All 10 | -------------------------------------------------------------------------------- /webots_ros2_universal_robot/resource/Universal_Robots_ROS2_Driver/ur_description/config/initial_positions.yaml: -------------------------------------------------------------------------------- 1 | shoulder_pan_joint: 0.0 2 | shoulder_lift_joint: -1.57 3 | elbow_joint: 0.0 4 | wrist_1_joint: -1.57 5 | wrist_2_joint: 0.0 6 | wrist_3_joint: 0.0 7 | -------------------------------------------------------------------------------- /webots_ros2_universal_robot/resource/Universal_Robots_ROS2_Driver/ur_description/config/ur5e/default_kinematics.yaml: -------------------------------------------------------------------------------- 1 | kinematics: 2 | shoulder: 3 | x: 0 4 | y: 0 5 | z: 0.1625 6 | roll: 0 7 | pitch: 0 8 | yaw: 0 9 | upper_arm: 10 | x: 0 11 | y: 0 12 | z: 0 13 | roll: 1.570796327 14 | pitch: 0 15 | yaw: 0 16 | forearm: 17 | x: -0.425 18 | y: 0 19 | z: 0 20 | roll: 0 21 | pitch: 0 22 | yaw: 0 23 | wrist_1: 24 | x: -0.3922 25 | y: 0 26 | z: 0.1333 27 | roll: 0 28 | pitch: 0 29 | yaw: 0 30 | wrist_2: 31 | x: 0 32 | y: -0.0997 33 | z: -2.044881182297852e-11 34 | roll: 1.570796327 35 | pitch: 0 36 | yaw: 0 37 | wrist_3: 38 | x: 0 39 | y: 0.09959999999999999 40 | z: -2.042830148012698e-11 41 | roll: 1.570796326589793 42 | pitch: 3.141592653589793 43 | yaw: 3.141592653589793 44 | hash: calib_12788084448423163542 45 | -------------------------------------------------------------------------------- /webots_ros2_universal_robot/resource/Universal_Robots_ROS2_Driver/ur_description/meshes/ur5e/collision/base.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cyberbotics/webots_ros2/7435cfba110794900641cf57e5b33dfd07badaca/webots_ros2_universal_robot/resource/Universal_Robots_ROS2_Driver/ur_description/meshes/ur5e/collision/base.stl -------------------------------------------------------------------------------- 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/webots_ros2_universal_robot/resource/moveit_controllers.yaml: -------------------------------------------------------------------------------- 1 | controller_names: 2 | - ur5e/ur_joint_trajectory_controller 3 | 4 | ur5e/ur_joint_trajectory_controller: 5 | action_ns: follow_joint_trajectory 6 | type: FollowJointTrajectory 7 | default: true 8 | joints: 9 | - shoulder_pan_joint 10 | - shoulder_lift_joint 11 | - elbow_joint 12 | - wrist_1_joint 13 | - wrist_2_joint 14 | - wrist_3_joint 15 | -------------------------------------------------------------------------------- /webots_ros2_universal_robot/resource/moveit_kinematics.yaml: -------------------------------------------------------------------------------- 1 | ur5e_arm: 2 | kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin 3 | kinematics_solver_search_resolution: 0.5 4 | kinematics_solver_timeout: 0.5 5 | -------------------------------------------------------------------------------- /webots_ros2_universal_robot/resource/moveit_movegroup.yaml: -------------------------------------------------------------------------------- 1 | planning_plugin: ompl_interface/OMPLPlanner 2 | request_adapters: 3 | default_planner_request_adapters/AddTimeOptimalParameterization 4 | default_planner_request_adapters/ResolveConstraintFrames 5 | default_planner_request_adapters/FixWorkspaceBounds 6 | default_planner_request_adapters/FixStartStateBounds 7 | default_planner_request_adapters/FixStartStateCollision 8 | default_planner_request_adapters/FixStartStatePathConstraints 9 | -------------------------------------------------------------------------------- /webots_ros2_universal_robot/resource/robotiq/robotiq_3f_gripper_visualization/meshes/robotiq-3f-gripper_articulated/collision/link_0.STL: -------------------------------------------------------------------------------- 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/webots_ros2_universal_robot/resource/robotiq/robotiq_3f_gripper_visualization/meshes/robotiq-3f-gripper_articulated/collision/palm.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cyberbotics/webots_ros2/7435cfba110794900641cf57e5b33dfd07badaca/webots_ros2_universal_robot/resource/robotiq/robotiq_3f_gripper_visualization/meshes/robotiq-3f-gripper_articulated/collision/palm.STL -------------------------------------------------------------------------------- /webots_ros2_universal_robot/resource/ros2_control_abb_config.yaml: -------------------------------------------------------------------------------- 1 | abb/controller_manager: 2 | ros__parameters: 3 | update_rate: 50 4 | 5 | abb_joint_trajectory_controller: 6 | type: joint_trajectory_controller/JointTrajectoryController 7 | 8 | abb_joint_state_broadcaster: 9 | type: joint_state_broadcaster/JointStateBroadcaster 10 | 11 | abb/abb_joint_trajectory_controller: 12 | ros__parameters: 13 | joints: 14 | - A motor 15 | - B motor 16 | - C motor 17 | - D motor 18 | - E motor 19 | - F motor 20 | - finger_1_joint_1 21 | - finger_2_joint_1 22 | - finger_middle_joint_1 23 | command_interfaces: 24 | - position 25 | state_interfaces: 26 | - position 27 | 28 | allow_partial_joints_goal: true 29 | -------------------------------------------------------------------------------- /webots_ros2_universal_robot/resource/ros2_control_config.yaml: -------------------------------------------------------------------------------- 1 | ur5e/controller_manager: 2 | ros__parameters: 3 | update_rate: 50 4 | 5 | ur_joint_trajectory_controller: 6 | type: joint_trajectory_controller/JointTrajectoryController 7 | 8 | ur_joint_state_broadcaster: 9 | type: joint_state_broadcaster/JointStateBroadcaster 10 | 11 | ur5e/ur_joint_trajectory_controller: 12 | ros__parameters: 13 | joints: 14 | - shoulder_pan_joint 15 | - shoulder_lift_joint 16 | - elbow_joint 17 | - wrist_1_joint 18 | - wrist_2_joint 19 | - wrist_3_joint 20 | - finger_1_joint_1 21 | - finger_2_joint_1 22 | - finger_middle_joint_1 23 | command_interfaces: 24 | - position 25 | state_interfaces: 26 | - position 27 | 28 | allow_partial_joints_goal: true 29 | -------------------------------------------------------------------------------- /webots_ros2_universal_robot/resource/ur5e_with_gripper.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | -------------------------------------------------------------------------------- /webots_ros2_universal_robot/resource/webots_ros2_universal_robot: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cyberbotics/webots_ros2/7435cfba110794900641cf57e5b33dfd07badaca/webots_ros2_universal_robot/resource/webots_ros2_universal_robot -------------------------------------------------------------------------------- /webots_ros2_universal_robot/setup.cfg: -------------------------------------------------------------------------------- 1 | [develop] 2 | script_dir=$base/lib/webots_ros2_universal_robot 3 | [install] 4 | install_scripts=$base/lib/webots_ros2_universal_robot 5 | -------------------------------------------------------------------------------- /webots_ros2_universal_robot/test/test_copyright.py: -------------------------------------------------------------------------------- 1 | # Copyright 1996-2023 Cyberbotics Ltd. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | 15 | """Test licenses in files.""" 16 | 17 | from ament_copyright.main import main 18 | import pytest 19 | 20 | 21 | @pytest.mark.copyright 22 | @pytest.mark.linter 23 | def test_copyright(): 24 | rc = main(argv=['.', '--verbose']) 25 | assert rc == 0, 'Found errors' 26 | -------------------------------------------------------------------------------- /webots_ros2_universal_robot/webots_ros2_universal_robot/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/cyberbotics/webots_ros2/7435cfba110794900641cf57e5b33dfd07badaca/webots_ros2_universal_robot/webots_ros2_universal_robot/__init__.py -------------------------------------------------------------------------------- /webots_ros2_universal_robot/worlds/.robotic_arms.wbproj: -------------------------------------------------------------------------------- 1 | Webots Project File version R2023a 2 | perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000001fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000000000140000000000000000000000010000011c0000038ffc0200000001fb0000001400540065007800740045006400690074006f007200000000160000038f0000003f00ffffff000000030000068c0000003bfc0100000001fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c01000000000000068c0000006900ffffff0000068c000002d100000001000000020000000100000008fc00000000 3 | simulationViewPerspectives: 000000ff000000010000000200000000000000eb0100000002010000000100 4 | sceneTreePerspectives: 000000ff0000000100000002000000c0000000fa0100000002010000000200 5 | maximizedDockId: -1 6 | centralWidgetVisible: 1 7 | orthographicViewHeight: 1 8 | textFiles: -1 9 | consoles: Console:All:All 10 | -------------------------------------------------------------------------------- /webots_ros2_universal_robot/worlds/.universal_robot.wbproj: -------------------------------------------------------------------------------- 1 | Webots Project File version R2023a 2 | perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000001fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000000000140000000000000000000000010000011c0000038ffc0200000001fb0000001400540065007800740045006400690074006f007200000000160000038f0000003f00ffffff000000030000068c0000003bfc0100000001fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c01000000000000068c0000006900ffffff0000068c000002d100000001000000020000000100000008fc00000000 3 | simulationViewPerspectives: 000000ff000000010000000200000000000000eb0100000002010000000100 4 | sceneTreePerspectives: 000000ff0000000100000002000000c0000000fa0100000002010000000200 5 | maximizedDockId: -1 6 | centralWidgetVisible: 1 7 | orthographicViewHeight: 1 8 | textFiles: -1 9 | consoles: Console:All:All 10 | --------------------------------------------------------------------------------