Update launch files to declare WebotsController node (#11) (#3763)

* change launch files

* Update Setting-Up-Simulation-Webots-Basic.rst

* update minimal version tutorial 2

* add upcoming versions

source/Tutorials/Advanced/Simulators/Webots/Code/robot_launch.py

@@ -1,28 +1,23 @@
 import os
-import pathlib
 import launch
-from launch_ros.actions import Node
 from launch import LaunchDescription
 from ament_index_python.packages import get_package_share_directory
 from webots_ros2_driver.webots_launcher import WebotsLauncher
-from webots_ros2_driver.utils import controller_url_prefix
+from webots_ros2_driver.webots_controller import WebotsController
 
 
 def generate_launch_description():
     package_dir = get_package_share_directory('my_package')
-    robot_description = pathlib.Path(os.path.join(package_dir, 'resource', 'my_robot.urdf')).read_text()
+    robot_description_path = os.path.join(package_dir, 'resource', 'my_robot.urdf')
 
     webots = WebotsLauncher(
         world=os.path.join(package_dir, 'worlds', 'my_world.wbt')
     )
 
-    my_robot_driver = Node(
-        package='webots_ros2_driver',
-        executable='driver',
-        output='screen',
-        additional_env={'WEBOTS_CONTROLLER_URL': controller_url_prefix() + 'my_robot'},
+    my_robot_driver = WebotsController(
+        robot_name='my_robot',
         parameters=[
-            {'robot_description': robot_description},
+            {'robot_description': robot_description_path},
         ]
     )
 

source/Tutorials/Advanced/Simulators/Webots/Code/robot_launch_sensor.py

@@ -1,28 +1,24 @@
 import os
-import pathlib
 import launch
 from launch_ros.actions import Node
 from launch import LaunchDescription
 from ament_index_python.packages import get_package_share_directory
-from webots_ros2_driver.webots_launcher import WebotsLauncher, Ros2SupervisorLauncher
-from webots_ros2_driver.utils import controller_url_prefix
+from webots_ros2_driver.webots_launcher import WebotsLauncher
+from webots_ros2_driver.webots_controller import WebotsController
 
 
 def generate_launch_description():
     package_dir = get_package_share_directory('my_package')
-    robot_description = pathlib.Path(os.path.join(package_dir, 'resource', 'my_robot.urdf')).read_text()
+    robot_description_path = os.path.join(package_dir, 'resource', 'my_robot.urdf')
 
     webots = WebotsLauncher(
         world=os.path.join(package_dir, 'worlds', 'my_world.wbt')
     )
 
-    my_robot_driver = Node(
-        package='webots_ros2_driver',
-        executable='driver',
-        output='screen',
-        additional_env={'WEBOTS_CONTROLLER_URL': controller_url_prefix() + 'my_robot'},
+    my_robot_driver = WebotsController(
+        robot_name='my_robot',
         parameters=[
-            {'robot_description': robot_description},
+            {'robot_description': robot_description_path},
         ]
     )
 

source/Tutorials/Advanced/Simulators/Webots/Setting-Up-Simulation-Webots-Advanced.rst

@@ -24,6 +24,8 @@ Prerequisites
 This is a continuation of the first part of the tutorial: :doc:`./Setting-Up-Simulation-Webots-Basic`.
 It is mandatory to start with the first part to set up the custom packages and necessary files.
 
+This tutorial is compatible with version 2023.1.0 of ``webots_ros2`` and Webots R2023b, as well as upcoming versions.
+
 Tasks
 -----
 
@@ -153,7 +155,7 @@ Go to the file ``robot_launch.py`` and replace ``def generate_launch_description
 
 .. literalinclude:: Code/robot_launch_sensor.py
     :language: python
-    :lines: 11-44
+    :lines: 10-40
 
 This will create an ``obstacle_avoider`` node that will be included in the ``LaunchDescription``.
 

source/Tutorials/Advanced/Simulators/Webots/Setting-Up-Simulation-Webots-Basic.rst

@@ -49,6 +49,8 @@ In particular, :doc:`../../../Beginner-CLI-Tools/Introducing-Turtlesim/Introduci
         The Linux and ROS commands of this tutorial must be run in a pre-configured Linux Virtual Machine (VM).
         The following page :doc:`./Installation-MacOS` explains how to install the ``webots_ros2`` package on macOS.
 
+This tutorial is compatible with version 2023.1.0 of ``webots_ros2`` and Webots R2023b, as well as upcoming versions.
+
 Tasks
 -----
 
@@ -344,10 +346,10 @@ You have to specify in the constructor which world file the simulator will open.
 .. literalinclude:: Code/robot_launch.py
     :language: python
     :dedent: 4
-    :lines: 15-17
+    :lines: 13-15
 
 Then, the ROS node interacting with the simulated robot is created.
-This node, named ``driver``, is located in the ``webots_ros2_driver`` package.
+This node, named ``WebotsController``, is located in the ``webots_ros2_driver`` package.
 
 .. tabs::
 
@@ -366,33 +368,32 @@ This node, named ``driver``, is located in the ``webots_ros2_driver`` package.
 
 In your case, you need to run a single instance of this node, because you have a single robot in the simulation.
 But if you had more robots in the simulation, you would have to run one instance of this node per robot.
-``WEBOTS_CONTROLLER_URL`` is used to define the name of the robot the driver should connect to.
-The ``controller_url_prefix()`` method is mandatory, as it allows ``webots_ros2_driver`` to add the correct protocol prefix depending on your platform.
-The ``robot_description`` parameter holds the contents of the URDF file which refers to the ``MyRobotDriver`` plugin.
-You can see the ``driver`` node as the interface that connects your controller plugin to the target robot.
+The ``robot_name`` parameter is used to define the name of the robot the driver should connect to.
+The ``robot_description`` parameter holds the path to the URDF file which refers to the ``MyRobotDriver`` plugin.
+You can see the ``WebotsController`` node as the interface that connects your controller plugin to the target robot.
 
 .. literalinclude:: Code/robot_launch.py
     :language: python
     :dedent: 4
-    :lines: 19-27
+    :lines: 17-22
 
 After that, the two nodes are set to be launched in the ``LaunchDescription`` constructor:
 
 .. literalinclude:: Code/robot_launch.py
     :language: python
     :dedent: 4
-    :lines: 29-31
+    :lines: 24-26
 
 Finally, an optional part is added in order to shutdown all the nodes once Webots terminates (e.g., when it gets closed from the graphical user interface).
 
 .. literalinclude:: Code/robot_launch.py
     :language: python
     :dedent: 8
-    :lines: 32-37
+    :lines: 27-32
 
 .. note::
 
-    More details on ``webots_ros2_driver`` and ``WebotsLauncher`` arguments can be found `on the nodes reference page <https://github.com/cyberbotics/webots_ros2/wiki/References-Nodes>`_.
+    More details on ``WebotsController`` and ``WebotsLauncher`` arguments can be found `on the nodes reference page <https://github.com/cyberbotics/webots_ros2/wiki/References-Nodes>`_.
 
 6 Edit additional files
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