webots 2022b + webots_ros2 + Ubuntu 22 + ROS2 Humble

[royito55]

Is your feature request related to a problem? Please describe.

I want to start working with webots and ROS2 Humble. Humble only works in Ubuntu 22, and it seems like the way things are going, I want to keep testing webots 2022b. I have already seen that I can install the Humble package from binaries (apt install ros-humble-webots-ros2) but it seems like there are issues with the example packages.

When I launch webots_ros2_turtlebot robot_launch.py, for example, I get this message in the console:

ERROR: Please adapt your project to R2022b following these instructions: https://github.com/cyberbotics/webots/wiki/How-to-adapt-your-world-or-PROTO-to-Webots-R2022b
ERROR: '/opt/ros/humble/share/webots_ros2_turtlebot/worlds/turtlebot3_burger_example.wbt' must be converted because EXTERNPROTO declarations are missing.
INFO: 'TurtleBot3Burger' extern controller: waiting for connection on ipc://1234/TurtleBot3Burger or on tcp://<ip_address>:1234/TurtleBot3Burger

and in the terminal, the controller spawner node dies:

[spawner-2] [ERROR] [1659808744.228981458] [spawner_diffdrive_controller]: Controller manager not available
[spawner-1] [ERROR] [1659808744.241016900] [spawner_joint_state_broadcaster]: Controller manager not available
[ERROR] [spawner-2]: process has died [pid 10986, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner diffdrive_controller --controller-manager-timeout 50 --ros-args'].
[ERROR] [spawner-1]: process has died [pid 10984, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner joint_state_broadcaster --controller-manager-timeout 50 --ros-args'].

I assume this is due to the new way extern controllers are handled in 2022b, explained here: https://cyberbotics.com/doc/guide/running-extern-robot-controllers?version=develop

Describe the solution you'd like Updating/adding to the getting started tutorials for them to work in ROS2 Humble and 2022b: https://github.com/cyberbotics/webots_ros2/wiki/Getting-Started

• How to add an extern controller in ROS2 Humble?
• Humble binary packages for Humble to work out of the box (adapting projects to 2022b, as the console error mentioned above suggests)

[sebastianohl]

+1

[lukicdarkoo]

The libController should be synced in the webots_ros2 develop branch: https://github.com/cyberbotics/webots_ros2/tree/develop/webots_ros2_driver

It's been a while since the last sync. The libController and Webots are probably not compatible anymore.

[sebastianohl]

@lukicdarkoo does that mean it should work now or it is still broken an libController need to be fixed?

[AlucardLO]

I've run into the same issue as described above.

After following the tutorial on Ros2 Robot Simulation (Webots), I had to rebuild the entire project in 2022b and after doing so was met by the same message.

@lukicdarkoo I see the changes in development, can I assume the changes work and will allow me to run an extern controller?

[ygoumaz]

webots_ros2 2022.1.0 and above versions compatible with Webots R2022b should be available soon. Currently you can use the package on Humble with Webots R2022b by building the package from sources. The instructions are here: https://github.com/cyberbotics/webots_ros2/wiki/Complete-Installation-Guide.

The last Humble sync took place 21 days ago, so the next one should happen very soon.