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Enhancement Add PROTOSpawner #819

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Enhancement Add PROTOSpawner #819

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@ygoumaz ygoumaz commented Jul 7, 2023 •
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Resolves #818.

  • Remove spawn_urdf_robot service and its callback.
  • Remove URDFSpawner node.
  • Remove webots_ros2_importer module.
  • Refactor spawn_node_from_string callback to spawn_proto_robot callback (drafted in this PR):
    • The node string is now in request.robot.robot_string.
    • URLs of PROTOs are in request.robot.proto_paths and must be added to IMPORTABLE EXTERNPROTO (Add new elements to IMPORTABLE list from Supervisor API webots#6316).
    • Local PROTO URLs must be converted in function of the platform (WSL, macOS, Linux).
    • Local assets (textures, etc.) URLs contained in the node string should also be converted.
    • On macOS, local assets should be copied to the shared folder.
  • Add PROTOSpawner node (drafted in this PR).
  • Update webots_ros2_universal_robot to spawn UR5e from PROTO.
  • Official ROS 2 documentation:
    • Update Ros2Supervisor tutorial to the new service architecture.
    • Create new tutorial on how to spawn a PROTO using the launch file and the PROTOSpawner or directly via the service.

@ygoumaz ygoumaz added the enhancement New feature or request label Jul 7, 2023
@ygoumaz ygoumaz added this to the 2024.0.0 milestone Jul 7, 2023
@ygoumaz ygoumaz self-assigned this Jul 7, 2023
@ygoumaz ygoumaz mentioned this pull request Jul 10, 2023
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@ygoumaz ygoumaz linked an issue Jul 21, 2023 that may be closed by this pull request
New PROTOSpawner Feature #818
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@ygoumaz ygoumaz removed their assignment Jul 26, 2023
@IDavGal IDavGal mentioned this pull request Jul 31, 2023
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enhancement New feature or request
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2024.0.0
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New PROTOSpawner Feature
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@ygoumaz @IDavGal