Drop Foxy support (#756)

* update to iron

* remove foxy

* Update lane_follower.py

* remove iron tests

* Update CHANGELOG.rst

.github/workflows/test.yml

@@ -16,7 +16,7 @@ jobs:
       fail-fast: false
       matrix:
         ROS_REPO: [main, testing]
-        ROS_DISTRO: [foxy, humble, rolling]
+        ROS_DISTRO: [humble, rolling]
     runs-on: ubuntu-latest
     env:
       AFTER_INIT: ./scripts/ci_after_init.bash ${ROS_DISTRO} ${ROS_REPO}

.github/workflows/test_develop.yml

@@ -14,7 +14,7 @@ jobs:
       fail-fast: false
       matrix:
         ROS_REPO: [main, testing]
-        ROS_DISTRO: [foxy, humble, rolling]
+        ROS_DISTRO: [humble, rolling]
     runs-on: ubuntu-latest
     env:
       AFTER_INIT: ./scripts/ci_after_init.bash ${ROS_DISTRO} ${ROS_REPO}

scripts/ci_after_init.bash

@@ -36,8 +36,8 @@ if [[ "${ROS_DISTRO}" != "rolling" ]]; then
 fi
 
 # TODO: Revert once the https://github.com/ros-planning/navigation2/issues/3033 issue is fixed.
-# Fast-DDS is not working properly with the Nav2 package on Humble. Using Cyclone DDS instead.
-if [[ "${ROS_DISTRO}" == "humble" ]]; then
+# Fast-DDS is not working properly with the Nav2 package on Humble and Iron. Using Cyclone DDS instead.
+if [[ "${ROS_DISTRO}" != "rolling" ]]; then
     apt install -y ros-${ROS_DISTRO}-rmw-cyclonedds-cpp
 fi
 

scripts/ci_before_init_embed.bash

@@ -14,6 +14,6 @@ fi
 
 # TODO: Revert once the https://github.com/ros-planning/navigation2/issues/3033 issue is fixed.
 # Fast-DDS is not working properly with the Nav2 package on Humble. Using Cyclone DDS instead.
-if [[ "${ROS_DISTRO}" == "humble" ]]; then
+if [[ "${ROS_DISTRO}" != "rolling" ]]; then
     export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 fi

webots_ros2/CHANGELOG.rst

@@ -4,6 +4,7 @@ Changelog for package webots_ros2
 
 2023.0.4 (2023-05-23)
 ------------------
+* Drop support for Foxy.
 * Fixed vertical field of view in static RangeFinder plugin.
 * Added support for painted point clouds
 * Fixed ability to launch RViz without other tools in e-puck example.

webots_ros2_control/CMakeLists.txt

@@ -2,10 +2,10 @@ cmake_minimum_required(VERSION 3.5)
 project(webots_ros2_control)
 
 # Check which ROS distribution is used, ros2control depends of that
-if($ENV{ROS_DISTRO} MATCHES "foxy")
-  add_compile_definitions(FOXY)
-elseif($ENV{ROS_DISTRO} MATCHES "humble")
+if($ENV{ROS_DISTRO} MATCHES "humble")
   add_compile_definitions(HUMBLE)
+elseif($ENV{ROS_DISTRO} MATCHES "iron")
+  add_compile_definitions(IRON)
 elseif($ENV{ROS_DISTRO} MATCHES "rolling")
   add_compile_definitions(ROLLING)
 endif()
@@ -36,7 +36,7 @@ find_package(webots_ros2_driver REQUIRED)
 add_compile_definitions(HARDWARE_INTERFACE_VERSION_MAJOR=${hardware_interface_VERSION_MAJOR})
 add_compile_definitions(HARDWARE_INTERFACE_VERSION_MINOR=${hardware_interface_VERSION_MINOR})
 
-if (MSVC OR MSYS OR MINGW OR WIN32)
+if(MSVC OR MSYS OR MINGW OR WIN32)
   set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
 endif()
 

webots_ros2_control/include/webots_ros2_control/Ros2Control.hpp

@@ -20,11 +20,6 @@
 #include <thread>
 #include <vector>
 
-#if FOXY
-#include "hardware_interface/base_interface.hpp"
-#include "hardware_interface/types/hardware_interface_status_values.hpp"
-#endif
-
 #include "controller_manager/controller_manager.hpp"
 #include "hardware_interface/handle.hpp"
 #include "hardware_interface/hardware_info.hpp"

webots_ros2_control/include/webots_ros2_control/Ros2ControlSystem.hpp

@@ -19,11 +19,6 @@
 #include <string>
 #include <vector>
 
-#if FOXY
-#include "hardware_interface/base_interface.hpp"
-#include "hardware_interface/types/hardware_interface_status_values.hpp"
-#endif
-
 #include "hardware_interface/handle.hpp"
 #include "hardware_interface/hardware_info.hpp"
 #include "hardware_interface/system_interface.hpp"
@@ -57,28 +52,17 @@ namespace webots_ros2_control {
     Ros2ControlSystem();
     void init(webots_ros2_driver::WebotsNode *node, const hardware_interface::HardwareInfo &info) override;
 
-#if FOXY
-    hardware_interface::return_type configure(const hardware_interface::HardwareInfo &info) override;
-    hardware_interface::return_type start() override;
-    hardware_interface::return_type stop() override;
-#else
     rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_init(
       const hardware_interface::HardwareInfo &info) override;
     rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_activate(
       const rclcpp_lifecycle::State & /*previous_state*/) override;
     rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_deactivate(
       const rclcpp_lifecycle::State & /*previous_state*/) override;
-#endif
 
     std::vector<hardware_interface::StateInterface> export_state_interfaces() override;
     std::vector<hardware_interface::CommandInterface> export_command_interfaces() override;
-#if FOXY
-    hardware_interface::return_type read() override;
-    hardware_interface::return_type write() override;
-#else  // HUMBLE, ROLLING
     hardware_interface::return_type read(const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) override;
     hardware_interface::return_type write(const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) override;
-#endif
 
   private:
     webots_ros2_driver::WebotsNode *mNode;

webots_ros2_control/include/webots_ros2_control/Ros2ControlSystemInterface.hpp

@@ -19,11 +19,6 @@
 #include <string>
 #include <vector>
 
-#if FOXY
-#include "hardware_interface/base_interface.hpp"
-#include "hardware_interface/types/hardware_interface_status_values.hpp"
-#endif
-
 #include <webots/supervisor.h>
 #include "hardware_interface/handle.hpp"
 #include "hardware_interface/hardware_info.hpp"
@@ -33,18 +28,10 @@
 #include "webots_ros2_driver/WebotsNode.hpp"
 
 namespace webots_ros2_control {
-#if FOXY
-  class Ros2ControlSystemInterface : public hardware_interface::BaseInterface<hardware_interface::SystemInterface> {
-  public:
-    virtual void init(webots_ros2_driver::WebotsNode *node, const hardware_interface::HardwareInfo &info) = 0;
-  };
-#else
   class Ros2ControlSystemInterface : public hardware_interface::SystemInterface {
   public:
     virtual void init(webots_ros2_driver::WebotsNode *node, const hardware_interface::HardwareInfo &info) = 0;
   };
-#endif
-
 }  // namespace webots_ros2_control
 
 #endif

webots_ros2_control/src/Ros2Control.cpp

@@ -42,25 +42,13 @@ namespace webots_ros2_control {
     const int nowMs = wb_robot_get_time() * 1000.0;
     const int periodMs = nowMs - mLastControlUpdateMs;
     if (periodMs >= mControlPeriodMs) {
-#if FOXY
-      mControllerManager->read();
-#else
       const rclcpp::Duration dt = rclcpp::Duration::from_seconds(mControlPeriodMs / 1000.0);
       mControllerManager->read(mNode->get_clock()->now(), dt);
-#endif
 
-#if FOXY
-      mControllerManager->update();
-#else
       mControllerManager->update(mNode->get_clock()->now(), dt);
       mLastControlUpdateMs = nowMs;
-#endif
 
-#if FOXY
-      mControllerManager->write();
-#else  // HUMBLE, ROLLING
       mControllerManager->write(mNode->get_clock()->now(), dt);
-#endif
     }
   }
   void Ros2Control::init(webots_ros2_driver::WebotsNode *node, std::unordered_map<std::string, std::string> &) {
@@ -98,15 +86,9 @@ namespace webots_ros2_control {
         mHardwareLoader->createUnmanagedInstance(hardwareType));
 #endif
       webotsSystem->init(mNode, controlHardware[i]);
-#if FOXY
-      resourceManager->import_component(std::move(webotsSystem));
-#else
       resourceManager->import_component(std::move(webotsSystem), controlHardware[i]);
-#endif
 
-#if HUMBLE || ROLLING
       resourceManager->activate_all_components();
-#endif
     }
 
     // Controller Manager

webots_ros2_control/src/Ros2ControlSystem.cpp

@@ -82,15 +82,6 @@ namespace webots_ros2_control {
     }
   }
 
-#if FOXY
-  hardware_interface::return_type Ros2ControlSystem::configure(const hardware_interface::HardwareInfo &info) {
-    if (configure_default(info) != hardware_interface::return_type::OK) {
-      return hardware_interface::return_type::ERROR;
-    }
-    status_ = hardware_interface::status::CONFIGURED;
-    return hardware_interface::return_type::OK;
-  }
-#else
   rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn Ros2ControlSystem::on_init(
     const hardware_interface::HardwareInfo &info) {
     if (hardware_interface::SystemInterface::on_init(info) !=
@@ -99,7 +90,6 @@ namespace webots_ros2_control {
     }
     return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
   }
-#endif
 
   std::vector<hardware_interface::StateInterface> Ros2ControlSystem::export_state_interfaces() {
     std::vector<hardware_interface::StateInterface> interfaces;
@@ -133,17 +123,6 @@ namespace webots_ros2_control {
     return interfaces;
   }
 
-#if FOXY
-  hardware_interface::return_type Ros2ControlSystem::start() {
-    status_ = hardware_interface::status::STARTED;
-    return hardware_interface::return_type::OK;
-  }
-
-  hardware_interface::return_type Ros2ControlSystem::stop() {
-    status_ = hardware_interface::status::STOPPED;
-    return hardware_interface::return_type::OK;
-  }
-#else
   rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn Ros2ControlSystem::on_activate(
     const rclcpp_lifecycle::State & /*previous_state*/) {
     return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
@@ -153,14 +132,8 @@ namespace webots_ros2_control {
     const rclcpp_lifecycle::State & /*previous_state*/) {
     return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
   }
-#endif
-
-#if FOXY
-  hardware_interface::return_type Ros2ControlSystem::read()
-#else  // HUMBLE, ROLLING
-  hardware_interface::return_type Ros2ControlSystem::read(const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/)
-#endif
-  {
+
+  hardware_interface::return_type Ros2ControlSystem::read(const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) {
     static double lastReadTime = 0;
 
     const double deltaTime = wb_robot_get_time() - lastReadTime;
@@ -181,12 +154,7 @@ namespace webots_ros2_control {
     return hardware_interface::return_type::OK;
   }
 
-#if FOXY
-  hardware_interface::return_type Ros2ControlSystem::write()
-#else  // HUMBLE, ROLLING
-  hardware_interface::return_type Ros2ControlSystem::write(const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/)
-#endif
-  {
+  hardware_interface::return_type Ros2ControlSystem::write(const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) {
     for (Joint &joint : mJoints) {
       if (joint.motor) {
         if (joint.controlPosition && !std::isnan(joint.positionCommand))

webots_ros2_driver/CMakeLists.txt

@@ -1,20 +1,15 @@
 cmake_minimum_required(VERSION 3.10)
 project(webots_ros2_driver)
 
-# Check which ROS distribution is used, ros2control depends of that
-if($ENV{ROS_DISTRO} MATCHES "foxy")
-  add_compile_definitions(FOXY)
-endif()
-
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_BUILD_WITH_INSTALL_RPATH ON)
 
 # Check which ROS distribution is used, vision_msgs depends of that
-if($ENV{ROS_DISTRO} MATCHES "foxy")
-  add_compile_definitions(FOXY)
-elseif($ENV{ROS_DISTRO} MATCHES "humble")
+if($ENV{ROS_DISTRO} MATCHES "humble")
   add_compile_definitions(HUMBLE)
+elseif($ENV{ROS_DISTRO} MATCHES "iron")
+  add_compile_definitions(IRON)
 elseif($ENV{ROS_DISTRO} MATCHES "rolling")
   add_compile_definitions(ROLLING)
 endif()
@@ -33,12 +28,7 @@ find_package(vision_msgs REQUIRED)
 find_package(webots_ros2_msgs REQUIRED)
 find_package(tinyxml2_vendor REQUIRED)
 find_package(TinyXML2 REQUIRED)
-
-if($ENV{ROS_DISTRO} MATCHES "foxy")
-  find_package(PythonLibs 3.8 EXACT REQUIRED)
-else()
-  find_package(PythonLibs 3.10 EXACT REQUIRED)
-endif()
+find_package(PythonLibs 3.10 EXACT REQUIRED)
 
 add_custom_target(compile-lib-controller ALL
   COMMAND ${CMAKE_COMMAND} -E env "WEBOTS_HOME=${CMAKE_CURRENT_SOURCE_DIR}/webots" make release -f Makefile > /dev/null 2>&1

webots_ros2_driver/include/webots_ros2_driver/plugins/static/Ros2Camera.hpp

@@ -22,16 +22,11 @@
 #include <geometry_msgs/msg/point.hpp>
 #include <geometry_msgs/msg/quaternion.hpp>
 #include <geometry_msgs/msg/transform_stamped.hpp>
-#if defined(HUMBLE) || defined(ROLLING)
-#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
-#else
-// Deprecated in Humble and Rolling
-#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
-#endif
 #include <sensor_msgs/image_encodings.hpp>
 #include <sensor_msgs/msg/camera_info.hpp>
 #include <sensor_msgs/msg/image.hpp>
 #include <std_msgs/msg/color_rgba.hpp>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 #include <vision_msgs/msg/detection2_d.hpp>
 #include <vision_msgs/msg/detection2_d_array.hpp>
 #include <vision_msgs/msg/object_hypothesis_with_pose.hpp>

webots_ros2_driver/src/Driver.cpp

@@ -29,11 +29,7 @@ int main(int argc, char **argv) {
   webots_ros2_driver::WebotsNode::handleSignals();
 
   rclcpp::InitOptions options{};
-#if FOXY
-  options.shutdown_on_sigint = false;
-#else
   options.shutdown_on_signal = false;
-#endif
   rclcpp::init(argc, argv, options);
 
   std::string robotName(wb_robot_get_name());

webots_ros2_driver/src/plugins/static/Ros2Camera.cpp

@@ -153,13 +153,8 @@ namespace webots_ros2_driver {
       vision_msgs::msg::ObjectHypothesisWithPose hypothesis;
       hypothesis.pose.pose = pose.pose;
       detection.results.push_back(hypothesis);
-#if FOXY
-      detection.bbox.center.x = objects[i].position_on_image[0];
-      detection.bbox.center.y = objects[i].position_on_image[1];
-#else
       detection.bbox.center.position.x = objects[i].position_on_image[0];
       detection.bbox.center.position.y = objects[i].position_on_image[1];
-#endif
       detection.bbox.size_x = objects[i].size_on_image[0];
       detection.bbox.size_y = objects[i].size_on_image[1];
       mRecognitionMessage.detections.push_back(detection);
@@ -169,13 +164,8 @@ namespace webots_ros2_driver {
       recognitionWebotsObject.id = objects[i].id;
       recognitionWebotsObject.model = std::string(objects[i].model);
       recognitionWebotsObject.pose = pose;
-#if FOXY
-      recognitionWebotsObject.bbox.center.x = objects[i].position_on_image[0];
-      recognitionWebotsObject.bbox.center.y = objects[i].position_on_image[1];
-#else
       recognitionWebotsObject.bbox.center.position.x = objects[i].position_on_image[0];
       recognitionWebotsObject.bbox.center.position.y = objects[i].position_on_image[1];
-#endif
       recognitionWebotsObject.bbox.size_x = objects[i].size_on_image[0];
       recognitionWebotsObject.bbox.size_y = objects[i].size_on_image[1];
       for (size_t j = 0; j < objects[i].number_of_colors; j++) {

webots_ros2_epuck/launch/robot_launch.py

@@ -45,10 +45,9 @@ def get_ros2_nodes(*args):
     # ROS control spawners
     controller_manager_timeout = ['--controller-manager-timeout', '50']
     controller_manager_prefix = 'python.exe' if os.name == 'nt' else ''
-    use_deprecated_spawner_py = 'ROS_DISTRO' in os.environ and os.environ['ROS_DISTRO'] == 'foxy'
     diffdrive_controller_spawner = Node(
         package='controller_manager',
-        executable='spawner' if not use_deprecated_spawner_py else 'spawner.py',
+        executable='spawner',
         output='screen',
         prefix=controller_manager_prefix,
         arguments=['diffdrive_controller'] + controller_manager_timeout,
@@ -58,7 +57,7 @@ def get_ros2_nodes(*args):
     )
     joint_state_broadcaster_spawner = Node(
         package='controller_manager',
-        executable='spawner' if not use_deprecated_spawner_py else 'spawner.py',
+        executable='spawner',
         output='screen',
         prefix=controller_manager_prefix,
         arguments=['joint_state_broadcaster'] + controller_manager_timeout,