cyberbotics · github-actions · Aug 21, 2024 · Aug 26, 2024 · Aug 26, 2024 · Sep 7, 2024
diff --git a/webots_ros2/CHANGELOG.rst b/webots_ros2/CHANGELOG.rst
@@ -2,7 +2,7 @@
 Changelog for package webots_ros2
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-2023.1.3 (2024-XX-XX)
+2023.1.3 (2024-08-07)
 ------------------
 * Added support for ROS 2 Jazzy.
 * Make webots_ros2_driver scripts executable.

diff --git a/webots_ros2/package.xml b/webots_ros2/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>webots_ros2</name>
-  <version>2023.1.2</version>
+  <version>2023.1.3</version>
   <description>Interface between Webots and ROS2</description>
 
   <maintainer email="[email protected]">Cyberbotics</maintainer>

diff --git a/webots_ros2/setup.py b/webots_ros2/setup.py
@@ -6,7 +6,7 @@
 
 setup(
     name=package_name,
-    version='2023.1.2',
+    version='2023.1.3',
     packages=[package_name],
     data_files=[
         ('share/' + package_name, ['package.xml']),

diff --git a/webots_ros2_control/CHANGELOG.rst b/webots_ros2_control/CHANGELOG.rst
@@ -2,7 +2,7 @@
 Changelog for package webots_ros2_control
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-2023.1.3 (2024-XX-XX)
+2023.1.3 (2024-08-07)
 ------------------
 * Added support for the new `ros2_control` API affecting resource_manager and controller_manager.
 

diff --git a/webots_ros2_control/package.xml b/webots_ros2_control/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>webots_ros2_control</name>
-  <version>2023.1.2</version>
+  <version>2023.1.3</version>
   <description>ros2_control plugin for Webots</description>
   <maintainer email="[email protected]">Cyberbotics</maintainer>
   <url type="website">http://wiki.ros.org/webots_ros2</url>

diff --git a/webots_ros2_driver/CHANGELOG.rst b/webots_ros2_driver/CHANGELOG.rst
@@ -2,7 +2,7 @@
 Changelog for package webots_ros2_driver
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-2023.1.3 (2024-XX-XX)
+2023.1.3 (2024-08-07)
 ------------------
 * Make webots_ros2_driver scripts executable.
 * Fixed the produced URDF to also contain joint limits necessary for ros2_control.

diff --git a/webots_ros2_driver/package.xml b/webots_ros2_driver/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>webots_ros2_driver</name>
-  <version>2023.1.2</version>
+  <version>2023.1.3</version>
   <description>Implementation of the Webots - ROS 2 interface</description>
   <maintainer email="[email protected]">Cyberbotics</maintainer>
   <license>Apache License 2.0</license>

diff --git a/webots_ros2_driver/webots/src/controller/c/robot.c b/webots_ros2_driver/webots/src/controller/c/robot.c
@@ -1081,21 +1081,33 @@ static void wb_robot_cleanup_devices() {
   }
 }
 
-static char *encode_robot_name(const char *robot_name) {
+static char *encode_robot_name(const char *robot_name, int chars_used) {
   if (!robot_name)
     return NULL;
 
   char *encoded_name = percent_encode(robot_name);
   int length = strlen(encoded_name);
   // the robot name is used to connect to the libController and in this process there are indirect
-  // limitations such as QLocalServer only accepting strings up to 106 characters for server names,
-  // for these reasons if the robot name is bigger than an arbitrary length, a hashed version is used instead
-  if (length > 70) {  // note: this threshold should be the same as in WbRobot.cpp
+  // limitations such as QLocalServer only accepting strings up to 91 characters long for server names
+  // on some platforms.
+  // Since the server name also contains the tmp path and that includes the user's username and,
+  // in the case of a Snap, the user's home directory, we need to limit the length of the encoded
+  // robot name based on the tmp path. If it is longer than that, then we compute a hashed version
+  // of the name and use as much of it as we can. If that would be less than 4 chars, we try to use
+  // 4 chars and hope we are on a platform where QLocalServer accepts longer names. 4 chars makes the
+  // chance of a name collision 1/65536.
+  // Note: It is critical that the same logic is used in WbRobot.cpp
+  int max_name_length = 91 - chars_used;
+  if (max_name_length < 4)
+    max_name_length = 4;
+  // Round down to the next multiple of 2 because it makes the code easier.
+  max_name_length = max_name_length / 2 * 2;
+  if (length > max_name_length) {
     char hash[21];
-    char *output = malloc(41);
+    char *output = malloc(max_name_length + 1);
     SHA1(hash, encoded_name, length);
     free(encoded_name);
-    for (size_t i = 0; i < 20; i++)
+    for (size_t i = 0; i < max_name_length / 2 && i < 20; i++)
       sprintf((output + (2 * i)), "%02x", hash[i] & 0xff);
     return output;
   }
@@ -1104,10 +1116,12 @@ static char *encode_robot_name(const char *robot_name) {
 }
 
 static char *compute_socket_filename(char *error_buffer) {
-  char *robot_name = encode_robot_name(wbu_system_getenv("WEBOTS_ROBOT_NAME"));
   const char *WEBOTS_INSTANCE_PATH = wbu_system_webots_instance_path(true);
+  char *robot_name = NULL;
+  const char *WEBOTS_ROBOT_NAME = wbu_system_getenv("WEBOTS_ROBOT_NAME");
   char *socket_filename;
-  if (robot_name && robot_name[0] && WEBOTS_INSTANCE_PATH && WEBOTS_INSTANCE_PATH[0]) {
+  if (WEBOTS_ROBOT_NAME && WEBOTS_ROBOT_NAME[0] && WEBOTS_INSTANCE_PATH && WEBOTS_INSTANCE_PATH[0]) {
+    robot_name = encode_robot_name(WEBOTS_ROBOT_NAME, strlen(WEBOTS_INSTANCE_PATH) + strlen("ipc//intern"));
 #ifndef _WIN32
     const int length = strlen(WEBOTS_INSTANCE_PATH) + strlen(robot_name) + 15;  // "%sintern/%s/socket"
     socket_filename = malloc(length);
@@ -1267,7 +1281,7 @@ static char *compute_socket_filename(char *error_buffer) {
 
   free(robot_name);
   const char *sub_string = strstr(&WEBOTS_CONTROLLER_URL[6], "/");
-  robot_name = encode_robot_name(sub_string ? sub_string + 1 : NULL);
+  robot_name = encode_robot_name(sub_string ? sub_string + 1 : NULL, strlen(ipc_folder) + strlen("//extern"));
   if (robot_name) {
 #ifndef _WIN32
     // socket file name is like: folder + robot_name + "/extern"
@@ -1370,7 +1384,7 @@ static void compute_remote_info(char **host, int *port, char **robot_name) {
   snprintf(*host, host_length, "%s", &WEBOTS_CONTROLLER_URL[6]);
   sscanf(url_suffix, ":%d", port);
   const char *rn = strstr(url_suffix, "/");
-  *robot_name = rn != NULL ? encode_robot_name(rn + 1) : NULL;
+  *robot_name = rn != NULL ? encode_robot_name(rn + 1, 0) : NULL;
 }
 
 int wb_robot_init() {  // API initialization
@@ -1462,11 +1476,11 @@ int wb_robot_init() {  // API initialization
         retry -= 5;
         fprintf(stderr, "%s, pending until loading is done...\n", error_message);
       } else if (socket_filename) {
+        fprintf(stderr,
+                "The specified robot (at %s) is not in the list of robots with <extern> controllers, retrying for another %d "
+                "seconds...\n",
+                socket_filename, 50 - retry);
         free(socket_filename);
-        fprintf(
-          stderr,
-          "The specified robot is not in the list of robots with <extern> controllers, retrying for another %d seconds...\n",
-          50 - retry);
       } else
         fprintf(stderr, "%s, retrying for another %d seconds...\n", error_message, 50 - retry);
     }

diff --git a/webots_ros2_driver/webots/src/controller/c/supervisor.c b/webots_ros2_driver/webots/src/controller/c/supervisor.c
@@ -2831,6 +2831,9 @@ const double *wb_supervisor_virtual_reality_headset_get_orientation() {
 }
 
 const char *wb_supervisor_field_get_name(WbFieldRef field) {
+  if (!check_field(field, __FUNCTION__, WB_NO_FIELD, false, NULL, false, false))
+    return "";
+
   return field->name;
 }
 

diff --git a/webots_ros2_epuck/package.xml b/webots_ros2_epuck/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>webots_ros2_epuck</name>
-  <version>2023.1.2</version>
+  <version>2023.1.3</version>
   <description>E-puck2 driver for Webots simulated robot</description>
 
   <maintainer email="[email protected]">Cyberbotics</maintainer>

diff --git a/webots_ros2_epuck/setup.py b/webots_ros2_epuck/setup.py
@@ -43,7 +43,7 @@
 
 setup(
     name=package_name,
-    version='2023.1.2',
+    version='2023.1.3',
     packages=[package_name],
     data_files=data_files,
     install_requires=['setuptools', 'launch'],

diff --git a/webots_ros2_importer/package.xml b/webots_ros2_importer/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>webots_ros2_importer</name>
-  <version>2023.1.2</version>
+  <version>2023.1.3</version>
   <description>This package allows to convert URDF and XACRO files into Webots PROTO files.</description>
 
   <maintainer email="[email protected]">Cyberbotics</maintainer>

diff --git a/webots_ros2_importer/setup.py b/webots_ros2_importer/setup.py
@@ -10,7 +10,7 @@
 
 setup(
     name=package_name,
-    version='2023.1.2',
+    version='2023.1.3',
     packages=[package_name, package_name + '.urdf2webots.urdf2webots'],
     data_files=data_files,
     install_requires=[

diff --git a/webots_ros2_mavic/package.xml b/webots_ros2_mavic/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>webots_ros2_mavic</name>
-  <version>2023.1.2</version>
+  <version>2023.1.3</version>
   <description>Mavic 2 Pro robot ROS2 interface for Webots.</description>
 
   <maintainer email="[email protected]">Cyberbotics</maintainer>

diff --git a/webots_ros2_mavic/setup.py b/webots_ros2_mavic/setup.py
@@ -18,7 +18,7 @@
 
 setup(
     name=package_name,
-    version='2023.1.2',
+    version='2023.1.3',
     packages=[package_name],
     data_files=data_files,
     install_requires=['setuptools', 'launch'],

diff --git a/webots_ros2_msgs/package.xml b/webots_ros2_msgs/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>webots_ros2_msgs</name>
-  <version>2023.1.2</version>
+  <version>2023.1.3</version>
   <description>Services and Messages of the webots_ros2 packages.</description>
 
   <maintainer email="[email protected]">Cyberbotics</maintainer>

diff --git a/webots_ros2_tesla/package.xml b/webots_ros2_tesla/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>webots_ros2_tesla</name>
-  <version>2023.1.2</version>
+  <version>2023.1.3</version>
   <description>Tesla ROS2 interface for Webots.</description>
 
   <maintainer email="[email protected]">Cyberbotics</maintainer>

diff --git a/webots_ros2_tesla/setup.py b/webots_ros2_tesla/setup.py
@@ -18,7 +18,7 @@
 
 setup(
     name=package_name,
-    version='2023.1.2',
+    version='2023.1.3',
     packages=[package_name],
     data_files=data_files,
     install_requires=['setuptools', 'launch'],

diff --git a/webots_ros2_tests/package.xml b/webots_ros2_tests/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>webots_ros2_tests</name>
-  <version>2023.1.2</version>
+  <version>2023.1.3</version>
   <description>System tests for `webots_ros2` packages.</description>
 
   <maintainer email="[email protected]">Cyberbotics</maintainer>

diff --git a/webots_ros2_tests/setup.py b/webots_ros2_tests/setup.py
@@ -11,7 +11,7 @@
 
 setup(
     name=package_name,
-    version='2023.1.2',
+    version='2023.1.3',
     packages=[package_name],
     data_files=data_files,
     install_requires=['setuptools', 'launch'],

diff --git a/webots_ros2_tiago/package.xml b/webots_ros2_tiago/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>webots_ros2_tiago</name>
-  <version>2023.1.2</version>
+  <version>2023.1.3</version>
   <description>TIAGo robots ROS2 interface for Webots.</description>
 
   <maintainer email="[email protected]">Cyberbotics</maintainer>

diff --git a/webots_ros2_tiago/setup.py b/webots_ros2_tiago/setup.py
@@ -32,7 +32,7 @@
 
 setup(
     name=package_name,
-    version='2023.1.2',
+    version='2023.1.3',
     packages=[],
     data_files=data_files,
     install_requires=['setuptools', 'launch'],

diff --git a/webots_ros2_turtlebot/package.xml b/webots_ros2_turtlebot/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>webots_ros2_turtlebot</name>
-  <version>2023.1.2</version>
+  <version>2023.1.3</version>
   <description>TurtleBot3 Burger robot ROS2 interface for Webots.</description>
 
   <maintainer email="[email protected]">Cyberbotics</maintainer>

diff --git a/webots_ros2_turtlebot/setup.py b/webots_ros2_turtlebot/setup.py
@@ -23,7 +23,7 @@
 
 setup(
     name=package_name,
-    version='2023.1.2',
+    version='2023.1.3',
     packages=[package_name],
     data_files=data_files,
     install_requires=['setuptools', 'launch'],

diff --git a/webots_ros2_universal_robot/CHANGELOG.rst b/webots_ros2_universal_robot/CHANGELOG.rst
@@ -2,7 +2,7 @@
 Changelog for package webots_ros2_universal_robot
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-2023.1.3 (2024-XX-XX)
+2023.1.3 (2024-08-07)
 ------------------
 * Fixed passing the `robot_description` parameter to ros2_control.
 

diff --git a/webots_ros2_universal_robot/package.xml b/webots_ros2_universal_robot/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>webots_ros2_universal_robot</name>
-  <version>2023.1.2</version>
+  <version>2023.1.3</version>
   <description>Universal Robot ROS2 interface for Webots.</description>
 
   <maintainer email="[email protected]">Cyberbotics</maintainer>

diff --git a/webots_ros2_universal_robot/setup.py b/webots_ros2_universal_robot/setup.py
@@ -30,7 +30,7 @@
 
 setup(
     name=package_name,
-    version='2023.1.2',
+    version='2023.1.3',
     packages=['webots_ros2_universal_robot'],
     data_files=data_files,
     install_requires=['setuptools', 'launch'],