fix rosbot

docker/Dockerfile

@@ -19,8 +19,9 @@ RUN useradd -d /${DOCKERUSER} -m \
     usermod -a -G video ${DOCKERUSER} && \
     usermod -a -G dialout ${DOCKERUSER}
 
-RUN apt update && apt install -y wget && \
-    wget https://github.com/cyberbotics/webots/releases/download/nightly_25_12_2024/webots_2025a_amd64.deb -O /tmp/webots.deb && \
+RUN echo $WEBOTS_VERSION | grep -q "nigthly" && export WEBOTS_URL="https://github.com/cyberbotics/webots/releases/download/R${WEBOTS_VERSION}/webots_${WEBOTS_VERSION}_amd64.deb" || export WEBOTS_URL="https://github.com/cyberbotics/webots/releases/download/${WEBOTS_VERSION}_amd64.deb" && \
+    apt update && apt install -y wget && \
+    wget ${WEBOTS_URL} -O /tmp/webots.deb && \
     apt install -y /tmp/webots.deb && \
     rm /tmp/webots.deb
 
@@ -36,6 +37,8 @@ RUN apt-get update && apt-get install -y \
     ros-${ROS_DISTRO}-kinematics-interface \
     ros-${ROS_DISTRO}-kinematics-interface-kdl \
     ros-${ROS_DISTRO}-control-toolbox \
+    ros-${ROS_DISTRO}-robot-localization \
+    ros-${ROS_DISTRO}-laser-filters \
     gdb \
     git
 

docker/Makefile

@@ -12,7 +12,7 @@ build:
 	echo "ROS_TESTING=${ROS_TESTING}"
 	docker build ${ROOT_DIR} \
 		-f ${ROOT_DIR}/docker/Dockerfile \
-		-t ${BASENAME}-image ${DOCKER_ARGS} \
+		-t ${BASENAME} ${DOCKER_ARGS} \
 		--build-arg UID=${UID} \
 		--build-arg DOCKERUSER=${DOCKERUSER} \
 		--build-arg DOCKERUSERCOMMENT=${DOCKERUSERCOMMENT} \
@@ -21,12 +21,12 @@ build:
 		--build-arg ROS_DISTRO=${ROS_DISTRO}
 
 run:
-	@docker container rm -f ${BASENAME}-container
+	@docker container rm -f ${BASENAME}
 	docker run \
 		--net=host \
 		--ipc=host \
 		--cap-add SYS_ADMIN \
-		--name ${BASENAME}-container \
+		--name ${BASENAME} \
 		--privileged \
 		--restart unless-stopped \
 		-e NVIDIA_DRIVER_CAPABILITIES=all ${NVIDIA_GPU} \
@@ -37,8 +37,8 @@ run:
 		-v ${ROOT_DIR}:/${DOCKERUSER}/ros2_ws/src/${BASENAME} \
 		-v /dev:/dev:rw \
 		--entrypoint bash \
-		-d -it ${BASENAME}-image
+		-d -it ${BASENAME}
 
 
 exec:
-	docker exec -it ${BASENAME}-container bash
+	docker exec -it ${BASENAME} bash

docker/README.md

@@ -16,6 +16,11 @@ You need to build & run the container only the first time:
 ROS_DISTRO=jazzy ROS_TESTING=0 WEBOTS_VERSION=2025a make build run exec
 ```
 
+if you want to test a nightly build:
+```bash
+ROS_DISTRO=jazzy ROS_TESTING=0 WEBOTS_VERSION=nightly_25_12_2024/webots_2025a make build run exec
+```
+
 After that, you can just attach to the container with:
 ```bash
 make exec

scripts/ci_after_init.bash

@@ -46,12 +46,18 @@ if [[ "${ROS_DISTRO}" != "rolling" ]]; then
 fi
 
 # Setup Qt plugins for RViz (can be used once RViz does not randomly crash anymore in GitHub CI).
-#export QT_PLUGIN_PATH=/usr/lib/x86_64-linux-gnu/qt5/plugins
+# export QT_PLUGIN_PATH=/usr/lib/x86_64-linux-gnu/qt5/plugins
 
+# HOTFIX: https://github.com/ros-controls/ros2_control/pull/1960
+if [[ "${ROS_DISTRO}" == "humble" ]]; then
+    wget -O /tmp/hotfix.deb http://snapshots.ros.org/humble/2024-08-28/ubuntu/pool/main/r/ros-humble-hardware-interface/ros-humble-hardware-interface_2.43.0-1jammy.20240823.145349_amd64.deb && \
+        apt install -y --allow-downgrades /tmp/hotfix.deb && \
+        rm -f /tmp/hotfix.deb
+fi
 
 # Fixes:
 #   MESA: error: ZINK: failed to choose pdev
 #   2024-07-27T19:23:20.1063344Z [webots-4] glx: failed to create drisw screen
-if [[ "${ROS_DISTRO}" == "rolling" ]]; then
-    apt-get install -y libqt5quickcontrols2-5 qtquickcontrols2-5-dev
-fi
+apt-get install -y mesa-utils libgl1-mesa-dri
+export LIBGL_ALWAYS_SOFTWARE=1
+export MESA_GL_VERSION_OVERRIDE=3.3

webots_ros2_husarion/launch/rosbot_launch.py

@@ -72,6 +72,7 @@ def get_ros2_nodes(*args):
         ],
         remappings=[
             ('rosbot_base_controller/cmd_vel_unstamped', '/cmd_vel'),
+            ('rosbot_base_controller/cmd_vel', '/cmd_vel'),
             ('rosbot/laser', '/scan'),
             ('rosbot/rl_range', '/range/rl'),
             ('rosbot/rr_range', '/range/rr'),

webots_ros2_husarion/launch/rosbot_xl_launch.py

@@ -70,6 +70,7 @@ def get_ros2_nodes(*args):
         ],
         remappings=[
             ('rosbot_xl_base_controller/cmd_vel_unstamped', '/cmd_vel'),
+            ('rosbot_xl_base_controller/cmd_vel', '/cmd_vel'),
             ('rosbot_xl/laser', '/scan')
         ]
     )

webots_ros2_tests/test/test_system_rosbot.py

@@ -24,7 +24,7 @@
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 import launch_testing.actions
 from launch.actions import IncludeLaunchDescription
-from geometry_msgs.msg import Twist
+from geometry_msgs.msg import Twist, TwistStamped
 from sensor_msgs.msg import LaserScan
 from ament_index_python.packages import get_package_share_directory
 from webots_ros2_tests.utils import TestWebots, initialize_webots_test
@@ -64,18 +64,34 @@ def setUp(self):
         self.__node = rclpy.create_node('driver_tester')
 
     def testMovement(self):
-        publisher = self.__node.create_publisher(Twist, '/cmd_vel', 1)
-
-        def on_position_message_received(message):
-            twist_message = Twist()
-            twist_message.linear.x = 0.5
-            twist_message.angular.z = 0.3
-            publisher.publish(twist_message)
-
-            # ROSbot should move in an arc to check the sensor fusion
-            if message.pose.pose.position.x > 0.5 and message.pose.pose.orientation.w < 0.9:
-                return True
-            return False
+        use_twist_stamped = 'ROS_DISTRO' in os.environ and (os.environ['ROS_DISTRO'] in ['rolling', 'jazzy'])
+
+        publisher = None
+        if use_twist_stamped:
+            publisher = self.__node.create_publisher(TwistStamped, '/cmd_vel', 1)
+
+            def on_position_message_received(message):
+                twist_message = TwistStamped()
+                twist_message.header.stamp = self.__node.get_clock().now().to_msg()
+                twist_message.twist.linear.x = 0.5
+                twist_message.twist.angular.z = 0.3
+                publisher.publish(twist_message)
+
+                if message.pose.pose.position.x > 0.5 and message.pose.pose.orientation.w < 0.9:
+                    return True
+                return False
+        else:
+            publisher = self.__node.create_publisher(Twist, '/cmd_vel', 1)
+
+            def on_position_message_received(message):
+                twist_message = Twist()
+                twist_message.linear.x = 0.5
+                twist_message.angular.z = 0.3
+                publisher.publish(twist_message)
+
+                if message.pose.pose.position.x > 0.5 and message.pose.pose.orientation.w < 0.9:
+                    return True
+                return False
 
         self.wait_for_messages(self.__node, Odometry, '/odometry/filtered', condition=on_position_message_received)
 

webots_ros2_tests/test/test_system_rosbot_xl.py

@@ -28,7 +28,7 @@
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 import launch_testing.actions
 from launch.actions import IncludeLaunchDescription
-from geometry_msgs.msg import Twist
+from geometry_msgs.msg import Twist, TwistStamped
 from sensor_msgs.msg import LaserScan
 from ament_index_python.packages import get_package_share_directory
 from webots_ros2_tests.utils import TestWebots, initialize_webots_test
@@ -68,20 +68,36 @@ def setUp(self):
         self.__node = rclpy.create_node('driver_tester')
 
     def testMovement(self):
-        publisher = self.__node.create_publisher(Twist, '/cmd_vel', 1)
-
-        def on_position_message_received(message):
-            twist_message = Twist()
-            twist_message.linear.x = 0.5
-            twist_message.angular.z = 0.3
-            publisher.publish(twist_message)
-            # ROSbot XL should move in an arc to check the sensor fusion
-            if message.pose.pose.position.x > 0.5 and message.pose.pose.orientation.w < 0.9:
-                return True
-            return False
-
-        self.wait_for_messages(
-            self.__node, Odometry, '/odometry/filtered', condition=on_position_message_received)
+        use_twist_stamped = 'ROS_DISTRO' in os.environ and (os.environ['ROS_DISTRO'] in ['rolling', 'jazzy'])
+
+        publisher = None
+        if use_twist_stamped:
+            publisher = self.__node.create_publisher(TwistStamped, '/cmd_vel', 1)
+
+            def on_position_message_received(message):
+                twist_message = TwistStamped()
+                twist_message.header.stamp = self.__node.get_clock().now().to_msg()
+                twist_message.twist.linear.x = 0.5
+                twist_message.twist.angular.z = 0.3
+                publisher.publish(twist_message)
+
+                if message.pose.pose.position.x > 0.5 and message.pose.pose.orientation.w < 0.9:
+                    return True
+                return False
+        else:
+            publisher = self.__node.create_publisher(Twist, '/cmd_vel', 1)
+
+            def on_position_message_received(message):
+                twist_message = Twist()
+                twist_message.linear.x = 0.5
+                twist_message.angular.z = 0.3
+                publisher.publish(twist_message)
+
+                if message.pose.pose.position.x > 0.5 and message.pose.pose.orientation.w < 0.9:
+                    return True
+                return False
+
+        self.wait_for_messages(self.__node, Odometry, '/odometry/filtered', condition=on_position_message_received)
 
     def testScan(self):
         def on_scan_message_received(message):