Update.

CMakeLists.txt

@@ -236,6 +236,7 @@ target_link_libraries(pioneer3at
 	${catkin_LIBRARIES}
 )
 
+
 #############
 ## Install ##
 #############
@@ -249,7 +250,6 @@ install(TARGETS e_puck_line
 install(TARGETS complete_test
         RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
 
-
 install(TARGETS robot_information_parser
         RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
 
@@ -261,3 +261,6 @@ install(TARGETS panoramic_view_recorder
 
 install(TARGETS pioneer3at
         RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+
+install(DIRECTORY launch
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

launch/catch_the_bird.launch

@@ -0,0 +1,13 @@
+<?xml version="1.0"?>
+<launch>
+  <!-- start Webots -->
+  <arg name="no-gui" default="false," doc="Start Webots with minimal GUI"/>
+  <include file="$(find webots_ros)/launch/webots.launch">
+    <arg name="mode" value="realtime"/>
+    <arg name="no-gui" value="$(arg no-gui)"/>
+    <arg name="world" value="$(env WEBOTS_HOME)/projects/languages/ros/worlds/catch_the_bird.wbt"/>
+  </include>
+
+  <arg name="auto-close" default="false" doc="Startup mode"/>
+  <node name="catch_the_bird" pkg="webots_ros" type="catch_the_bird" required="$(arg auto-close)"/>
+</launch>

launch/complete_test.launch

@@ -0,0 +1,13 @@
+<?xml version="1.0"?>
+<launch>
+  <!-- start Webots -->
+  <arg name="no-gui" default="false," doc="Start Webots with minimal GUI"/>
+  <include file="$(find webots_ros)/launch/webots.launch">
+    <arg name="mode" value="realtime"/>
+    <arg name="no-gui" value="$(arg no-gui)"/>
+    <arg name="world" value="$(env WEBOTS_HOME)/projects/languages/ros/worlds/complete_test.wbt"/>
+  </include>
+
+  <arg name="auto-close" default="false" doc="Startup mode"/>
+  <node name="complete_test" pkg="webots_ros" type="complete_test" required="$(arg auto-close)"/>
+</launch>

launch/e_puck_line.launch

@@ -0,0 +1,14 @@
+<?xml version="1.0"?>
+<launch>
+  <!-- start Webots -->
+  <arg name="no-gui" default="false," doc="Start Webots with minimal GUI"/>
+  <include file="$(find webots_ros)/launch/webots.launch">
+    <arg name="mode" value="realtime"/>
+    <arg name="no-gui" value="$(arg no-gui)"/>
+    <arg name="world" value="$(env WEBOTS_HOME)/projects/languages/ros/worlds/e-puck_line.wbt"/>
+  </include>
+
+  <arg name="duration" default="20" doc="Duration in seconds"/>
+  <arg name="auto-close" default="false" doc="Startup mode"/>
+  <node name="epuck_line" pkg="webots_ros" type="e_puck_line" args="$(arg duration)" required="$(arg auto-close)"/>
+</launch>

launch/keyboard_teleop.launch

@@ -0,0 +1,13 @@
+<?xml version="1.0"?>
+<launch>
+  <!-- start Webots -->
+  <arg name="no-gui" default="false," doc="Start Webots with minimal GUI"/>
+  <include file="$(find webots_ros)/launch/webots.launch">
+    <arg name="mode" value="realtime"/>
+    <arg name="no-gui" value="$(arg no-gui)"/>
+    <arg name="world" value="$(env WEBOTS_HOME)/projects/languages/ros/worlds/keyboard_teleop.wbt"/>
+  </include>
+
+  <arg name="auto-close" default="false" doc="Startup mode"/>
+  <node name="keyboard_teleop" pkg="webots_ros" type="keyboard_teleop" required="$(arg auto-close)"/>
+</launch>

launch/panoramic_view_recorder.launch

@@ -0,0 +1,13 @@
+<?xml version="1.0"?>
+<launch>
+  <!-- start Webots -->
+  <arg name="no-gui" default="false," doc="Start Webots with minimal GUI"/>
+  <include file="$(find webots_ros)/launch/webots.launch">
+    <arg name="mode" value="realtime"/>
+    <arg name="no-gui" value="$(arg no-gui)"/>
+    <arg name="world" value="$(env WEBOTS_HOME)/projects/languages/ros/worlds/panoramic_view_recorder.wbt"/>
+  </include>
+
+  <arg name="auto-close" default="false" doc="Startup mode"/>
+  <node name="panoramic_view_recorder" pkg="webots_ros" type="panoramic_view_recorder" required="$(arg auto-close)"/>
+</launch>

launch/pioneer3at.launch

@@ -0,0 +1,13 @@
+<?xml version="1.0"?>
+<launch>
+  <!-- start Webots -->
+  <arg name="no-gui" default="false," doc="Start Webots with minimal GUI"/>
+  <include file="$(find webots_ros)/launch/webots.launch">
+    <arg name="mode" value="realtime"/>
+    <arg name="no-gui" value="$(arg no-gui)"/>
+    <arg name="world" value="$(env WEBOTS_HOME)/projects/languages/ros/worlds/pioneer3at.wbt"/>
+  </include>
+
+  <arg name="auto-close" default="false" doc="Startup mode"/>
+  <node name="pioneer3at" pkg="webots_ros" type="pioneer3at" required="$(arg auto-close)"/>
+</launch>

launch/robot_information_parser.launch

@@ -0,0 +1,13 @@
+<?xml version="1.0"?>
+<launch>
+  <!-- start Webots -->
+  <arg name="no-gui" default="false," doc="Start Webots with minimal GUI"/>
+  <include file="$(find webots_ros)/launch/webots.launch">
+    <arg name="mode" value="realtime"/>
+    <arg name="no-gui" value="$(arg no-gui)"/>
+    <arg name="world" value="$(env WEBOTS_HOME)/projects/languages/ros/worlds/e-puck_line.wbt"/>
+  </include>
+
+  <arg name="auto-close" default="false" doc="Startup mode"/>
+  <node name="robot_information_parser" pkg="webots_ros" type="robot_information_parser" required="$(arg auto-close)"/>
+</launch>

launch/webots.launch

@@ -0,0 +1,7 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="world" default="" doc="Path to the world to load"/>
+  <arg name="mode" default="realtime," doc="Startup mode"/>
+  <arg name="no-gui" default="false," doc="Start Webots with minimal GUI"/>
+  <node name="webots" pkg="webots_ros" type="webots_launcher.py" args="--world=$(arg world) --mode=$(arg mode) --no-gui=$(arg no-gui)" required="true"/>
+</launch>

package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>webots_ros</name>
-  <version>2.0.3</version>
+  <version>2.0.4</version>
   <description>The ROS package containing examples for interfacing ROS with the standard ROS controller of Webots</description>
 
   <url>http://wiki.ros.org/webots_ros</url>

src/catch_the_bird.cpp

@@ -67,11 +67,6 @@ int main(int argc, char **argv) {
   float i, step;
   bool birdCatched = false;
 
-  if (argc != 1) {
-    ROS_INFO("Usage: $ example_catch_bird.");
-    return 1;
-  }
-
   // create a node named 'catch_the_bird' on ROS network
   ros::init(argc, argv, "catch_the_bird", ros::init_options::AnonymousName);
   ros::NodeHandle n;

src/complete_test.cpp

@@ -298,11 +298,6 @@ void quit(int sig) {
 int main(int argc, char **argv) {
   string model_name = "my_robot";
 
-  if (argc != 1) {
-    ROS_INFO("Usage: $ complete_test.");
-    return 1;
-  }
-
   ros::init(argc, argv, "complete_test", ros::init_options::AnonymousName);
   ros::NodeHandle n;
 

src/e_puck_line.cpp

@@ -426,7 +426,7 @@ int main(int argc, char **argv) {
   int nStep = 0;
 
   // look if a limit time was given
-  if (argc != 2) {
+  if (argc < 2) {
     ROS_INFO("Usage: $ e_puck_line [duration(seconds)].");
     return 1;
   }

src/keyboard_teleop.cpp

@@ -108,11 +108,6 @@ void keyboardCallback(const webots_ros::Int32Stamped::ConstPtr &value) {
 }
 
 int main(int argc, char **argv) {
-  if (argc != 1) {
-    ROS_INFO("Keyboard_teleop doesn't take any arguments.");
-    return 1;
-  }
-
   // create a node named 'keyboard_teleop' on ROS network
   ros::init(argc, argv, "keyboard_teleop", ros::init_options::AnonymousName);
   ros::NodeHandle n;

src/panoramic_view_recorder.cpp

@@ -58,11 +58,6 @@ void quit(int sig) {
 int main(int argc, char **argv) {
   std::string controllerName;
 
-  if (argc != 1) {
-    ROS_INFO("Usage: $ panoramic_view_recorder.");
-    return 1;
-  }
-
   // create a node named 'panoramic_view_recorder' on ROS network
   ros::init(argc, argv, "panoramic_view_recorder", ros::init_options::AnonymousName);
   ros::NodeHandle n;

src/pioneer3at.cpp

@@ -169,12 +169,6 @@ void quit(int sig) {
 
 int main(int argc, char **argv) {
   std::string controllerName;
-
-  if (argc != 1) {
-    ROS_INFO("Usage: $ pioneer3at.");
-    return 1;
-  }
-
   // create a node named 'pioneer3at' on ROS network
   ros::init(argc, argv, "pioneer3at", ros::init_options::AnonymousName);
   n = new ros::NodeHandle;
@@ -207,7 +201,7 @@ int main(int argc, char **argv) {
       return 1;
     }
   }
-  ROS_INFO("Using controller: '%s'", controllerName);
+  ROS_INFO("Using controller: '%s'", controllerName.c_str());
   // leave topic once it is not necessary anymore
   nameSub.shutdown();
 

src/pr2_beer.cpp

@@ -275,11 +275,6 @@ void quit(int sig) {
 }
 
 int main(int argc, char **argv) {
-  if (argc != 1) {
-    ROS_INFO("pr2_beer doesn't take any arguments.");
-    return 1;
-  }
-
   // create a node named 'pr2_beer' on ROS network
   ros::init(argc, argv, "pr2_beer", ros::init_options::AnonymousName);
   ros::NodeHandle n;

src/robot_information_parser.cpp

@@ -49,12 +49,6 @@ void quit(int sig) {
 int main(int argc, char **argv) {
   std::string controllerName;
   std::vector<std::string> deviceList;
-
-  if (argc != 1) {
-    ROS_INFO("Usage: $ robot_information_parser.");
-    return 1;
-  }
-
   // create a node named 'robot_information_parser' on ROS network
   ros::init(argc, argv, "robot_information_parser", ros::init_options::AnonymousName);
   ros::NodeHandle n;

src/webots_launcher.py

@@ -0,0 +1,40 @@
+#!/usr/bin/env python
+
+# Copyright 1996-2019 Cyberbotics Ltd.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""This launcher simply start Webots."""
+
+import optparse
+import os
+import sys
+import subprocess
+
+optParser = optparse.OptionParser()
+optParser.add_option("--world", dest="world", default="", help="Path to the world to load.")
+optParser.add_option("--mode", dest="mode", default="realtime", help="Startup mode.")
+optParser.add_option("--no-gui", dest="noGui", default="false", help="Start Webots with minimal GUI.")
+options, args = optParser.parse_args()
+
+if 'WEBOTS_HOME' not in os.environ:
+    sys.exit('WEBOTS_HOME environment variable not defined.')
+command = [os.path.join(os.environ['WEBOTS_HOME'], 'webots'), '--mode=' + options.mode, options.world]
+if options.noGui == 'true':
+    command.append('--stdout')
+    command.append('--stderr')
+    command.append('--batch')
+    command.append('--no-sandbox')
+    command.append('--minimize')
+
+subprocess.call(command)