Merge branch 'develop' into sync-master-fdd04d5a4

Author: lukicdarkoo

.github/pull_request_template.md

@@ -6,7 +6,7 @@ This pull-request fixes issue #
 
 **Tasks**
 Add the list of tasks of this PR.
-  - [ ] Update the [changelog](https://github.com/cyberbotics/webots/blob/master/docs/reference/changelog-r2024.md)
+  - [ ] Update the [changelog](https://github.com/cyberbotics/webots/blob/master/docs/reference/changelog-r2025.md)
   - [ ] Update the documentation (if needed)
   - [ ] Task 1
   - [ ] Task 2

.github/workflows/test_suite_linux.yml

@@ -8,7 +8,7 @@ on:
   push:
     tags:
       - nightly_*
-      - R20*
+      - R22*
 
 concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}
@@ -23,7 +23,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        os: [ubuntu-20.04, ubuntu-22.04]
+        os: [ubuntu-22.04, ubuntu-24.04]
     runs-on: ${{ matrix.os }}
     steps:
     - uses: actions/checkout@v3
@@ -38,17 +38,16 @@ jobs:
         export LIBGL_ALWAYS_SOFTWARE=true
         xvfb-run --auto-servernum make webots_target -j4
   build:
-    if: ${{ github.event_name == 'push' || github.event_name == 'schedule' || contains(github.event.pull_request.labels.*.name, 'test distribution') || contains(github.event.pull_request.labels.*.name, 'test suite') || contains(github.event.pull_request.labels.*.name, 'test ros') || contains(github.event.pull_request.labels.*.name, 'test worlds') }}
+    if: ${{ github.event_name == 'push' || github.event_name == 'schedule' || contains(github.event.pull_request.labels.*.name, 'test distribution') || contains(github.event.pull_request.labels.*.name, 'test worlds') }}
     strategy:
       fail-fast: false
       matrix:
-        os: [ubuntu-20.04, ubuntu-22.04]
+        os: [ubuntu-22.04, ubuntu-24.04]
         include:
-          - os: ubuntu-20.04
-            JAVA_VERSION: "16"
-            ROS_DISTRO: "noetic"
           - os: ubuntu-22.04
             JAVA_VERSION: "18"
+          - os: ubuntu-24.04
+            JAVA_VERSION: "21"
     runs-on: ${{ matrix.os }}
     steps:
     - uses: actions/checkout@v3
@@ -66,23 +65,22 @@ jobs:
         export JAVA_HOME=/usr/lib/jvm/java-${{ matrix.JAVA_VERSION }}-openjdk-amd64
         export PATH=$JAVA_HOME/bin:$PATH
         export LIBGL_ALWAYS_SOFTWARE=true
-        export ROS_DISTRO=${{ matrix.ROS_DISTRO }}
         xvfb-run --auto-servernum make distrib -j4
     - name: Create/Update GitHub release
-      if: ${{ matrix.os == 'ubuntu-20.04' && (github.event_name == 'push' || github.event_name == 'schedule') }}
+      if: ${{ matrix.os == 'ubuntu-22.04' && (github.event_name == 'push' || github.event_name == 'schedule') }}
       run: |
         sudo python -m pip install requests PyGithub
         pip install pyopenssl --upgrade
         scripts/packaging/publish_release.py --key=${{ secrets.GITHUB_TOKEN }} --repo=${{ github.repository }} --branch=${{ github.ref }} --commit=$(git log -1 --format='%H') --tag=${{ github.ref }}
     - uses: actions/upload-artifact@v4
-      if: ${{ contains(github.event.pull_request.labels.*.name, 'test suite') || contains(github.event.pull_request.labels.*.name, 'test ros') || contains(github.event.pull_request.labels.*.name, 'test worlds') }}
+      if: ${{ contains(github.event.pull_request.labels.*.name, 'test suite') || contains(github.event.pull_request.labels.*.name, 'test worlds') }}
       with:
         name: build-${{ matrix.os }}
         path: |
           distribution/*.tar.bz2
           distribution/*.zip
     - uses: actions/upload-artifact@v4
-      if: ${{ !contains(github.event.pull_request.labels.*.name, 'test suite') && !contains(github.event.pull_request.labels.*.name, 'test ros') && !contains(github.event.pull_request.labels.*.name, 'test worlds') }}
+      if: ${{ !contains(github.event.pull_request.labels.*.name, 'test suite') && !contains(github.event.pull_request.labels.*.name, 'test worlds') }}
       with:
         name: build-${{ matrix.os }}
         path: |
@@ -95,19 +93,19 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        os: [ubuntu-20.04, ubuntu-22.04]
+        os: [ubuntu-22.04, ubuntu-24.04]
     runs-on: ${{ matrix.os }}
     steps:
     - uses: actions/checkout@v3
     - name: Download Artifacts
       uses: actions/[email protected]
       with:
-        name: build-ubuntu-20.04
+        name: build-ubuntu-22.04
         path: artifact
     - name: Extract Webots
       run: tar xjf artifact/webots-*-x86-64*.tar.bz2 -C artifact
     - name: Install Webots Dependencies
-      run: sudo scripts/install/linux_test_dependencies.sh --exclude-ros
+      run: sudo scripts/install/linux_test_dependencies.sh
     - name: Set up Python 3.9
       uses: actions/setup-python@v4
       with:
@@ -127,48 +125,10 @@ jobs:
         name: test-results-${{ matrix.os }}
         path: |
           tests/
-  test-ros:
-    needs: build
-    if: ${{ contains(github.event.pull_request.labels.*.name, 'test ros') || github.event_name == 'schedule' }}
-    strategy:
-      fail-fast: false
-      matrix:
-        os: [ubuntu-20.04]
-        include:
-          - os: ubuntu-20.04
-            ROS_DISTRO: noetic
-            python: 3.8
-    runs-on: ${{ matrix.os }}
-    steps:
-    - uses: actions/checkout@v3
-      with:
-         submodules: true
-    - name: Download Artifacts
-      uses: actions/[email protected]
-      with:
-        name: build-${{ matrix.os }}
-        path: artifact
-    - name: Extract Webots
-      run: tar xjf artifact/webots-*-x86-64*.tar.bz2 -C artifact
-    - name: Install Webots Dependencies
-      run: sudo scripts/install/linux_test_dependencies.sh
-    - name: Set up Python ${{ matrix.python }}
-      uses: actions/setup-python@v4
-      with:
-        python-version: ${{ matrix.python }}
-    - name: Run Test
-      run: |
-        export WEBOTS_HOME=$PWD/artifact/webots
-        export ROS_DISTRO=${{ matrix.ROS_DISTRO }}
-        python -m pip install rospkg catkin_pkg empy==3.3.4 defusedxml netifaces
-        Xvfb :99 &
-        export DISPLAY=:99
-        ./tests/ros.sh
-      timeout-minutes: 15
   test-worlds:
     needs: build
     if: ${{ contains(github.event.pull_request.labels.*.name, 'test worlds') || github.event_name == 'schedule' }}
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
     steps:
     - name: Download Scripts
       uses: actions/checkout@v4
@@ -180,7 +140,7 @@ jobs:
     - name: Download Artifacts
       uses: actions/[email protected]
       with:
-        name: build-ubuntu-20.04
+        name: build-ubuntu-22.04
         path: artifact
     - name: Extract Webots and Cache
       run: |
@@ -201,11 +161,11 @@ jobs:
         xvfb-run --auto-servernum python3 tests/test_worlds.py
         if [[ "$(diff -qr artifact/ untouched-artifact/ | wc -l)" -ne "0" ]]; then echo Some world and/or wbproj files are not up to date: "$(diff -qr artifact/ untouched-artifact/)"; exit 1; fi
   delete-artifacts:
-    needs: [build, test-suite, test-ros, test-worlds]
+    needs: [build, test-suite, test-worlds]
     if: ${{ always() && !contains(github.event.pull_request.labels.*.name, 'test distribution')  && !contains(github.event.pull_request.labels.*.name, 'test webots build') }}
     strategy:
       matrix:
-        os: [ubuntu-20.04, ubuntu-22.04]
+        os: [ubuntu-22.04, ubuntu-24.04]
     runs-on: ubuntu-latest
     steps:
     - name: Delete artifacts

.gitmodules

@@ -4,6 +4,3 @@
 [submodule "src/stb"]
 	path = src/stb
 	url = https://github.com/nothings/stb.git
-[submodule "resources/webots_ros"]
-	path = resources/webots_ros
-	url = https://github.com/cyberbotics/webots_ros

Contents/Info.plist

@@ -35,7 +35,7 @@
 	<key>CFBundleExecutable</key>
 	<string>webots</string>
 	<key>CFBundleGetInfoString</key>
-	<string>Webots R2024a, Copyright 1998-2024 Cyberbotics Ltd.</string>
+	<string>Webots R2025a, Copyright 1998-2024 Cyberbotics Ltd.</string>
 	<key>CFBundleIconFile</key>
 	<string>webots_icon</string>
 	<key>CFBundleIdentifier</key>
@@ -47,11 +47,11 @@
 	<key>CFBundlePackageType</key>
 	<string>APPL</string>
 	<key>CFBundleShortVersionString</key>
-	<string>R2024a</string>
+	<string>R2025a</string>
 	<key>CFBundleSignature</key>
 	<string>wbt </string>
 	<key>CFBundleVersion</key>
-	<string>R2024a</string>
+	<string>R2025a</string>
 	<key>LSMinimumSystemVersion</key>
 	<string>10.14</string>
 	<key>CSResourcesFileMapped</key>

Makefile

@@ -1,4 +1,4 @@
-# Copyright 1996-2023 Cyberbotics Ltd.
+# Copyright 1996-2024 Cyberbotics Ltd.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.

dependencies/Makefile.linux

@@ -11,17 +11,12 @@ QT_PACKAGE = webots-qt-$(QT_VERSION)-linux64-release.tar.bz2
 OIS_PACKAGE = libOIS.1.4.tar.bz2
 ASSIMP_PACKAGE = libassimp-5.2.3.tar.bz2
 PICO_PACKAGE = libpico.tar.bz2
-LUA_PACKAGE = lua-5.2.3.tar.gz
 OPENSSL_VERSION=3.0.14
 OPENSSL_SRC_PACKAGE=openssl-$(OPENSSL_VERSION).tar.gz
 
-PACKAGES = qt open-al ois pico lua assimp
+PACKAGES = qt open-al ois pico assimp
 PACKAGES_CLEAN = $(addsuffix -clean, $(PACKAGES))
 
-ifeq ($(UBUNTU_VERSION), 20.04)
-	PACKAGES += open-ssl
-endif
-
 .PHONY: release debug distrib profile clean cleanse $(PACKAGES) $(PACKAGES_CLEAN)
 
 release debug distrib profile: ../.clang-format $(PACKAGES)
@@ -31,9 +26,7 @@ cleanse: $(PACKAGES_CLEAN)
 
 ../.clang-format:
 	@echo "# copying clang-format configuration file"
-ifeq ($(UBUNTU_VERSION), 22.04)
-	@cp .clang-format-9 $@
-else ifeq ($(UBUNTU_VERSION), 20.04)
+ifeq ($(filter $(UBUNTU_VERSION), 22.04 24.04), $(UBUNTU_VERSION))
 	@cp .clang-format-9 $@
 else
 	@cp .clang-format-6 $@
@@ -113,24 +106,6 @@ $(WEBOTS_DEPENDENCY_PATH)/$(PICO_PACKAGE):
 	@if [ "$$(md5sum $(PICO_PACKAGE) | awk '{print $$1;}')" != "13ce4d080f1db578cb2b73206b52e4cb" ]; then echo "MD5 checksum failed for $(PICO_PACKAGE)"; exit 1; fi
 	@touch $(WEBOTS_DEPENDENCY_PATH)/$(PICO_PACKAGE)
 
-lua-clean:
-	@rm -rf $(WEBOTS_DEPENDENCY_PATH)/lua-5.2.3 $(WEBOTS_DEPENDENCY_PATH)/$(LUA_PACKAGE)
-
-lua: $(WEBOTS_DEPENDENCY_PATH)/lua-5.2.3/src/liblua.a
-
-$(WEBOTS_DEPENDENCY_PATH)/lua-5.2.3:
-	@echo "# downloading $(LUA_PACKAGE)"
-	@rm -f $(WEBOTS_DEPENDENCY_PATH)/$(LUA_PACKAGE)
-	@wget -qq https://www.lua.org/ftp/$(LUA_PACKAGE) -P $(WEBOTS_DEPENDENCY_PATH)
-	@if [ "$$(md5sum $(LUA_PACKAGE) | awk '{print $$1;}')" != "dc7f94ec6ff15c985d2d6ad0f1b35654" ]; then echo "MD5 checksum failed for $(LUA_PACKAGE)"; exit 1; fi
-	@echo "# uncompressing $(LUA_PACKAGE)"
-	@tar xfm $(WEBOTS_DEPENDENCY_PATH)/$(LUA_PACKAGE) -C $(WEBOTS_DEPENDENCY_PATH)
-	@rm -f $(WEBOTS_DEPENDENCY_PATH)/$(LUA_PACKAGE)
-
-$(WEBOTS_DEPENDENCY_PATH)/lua-5.2.3/src/liblua.a: $(WEBOTS_DEPENDENCY_PATH)/lua-5.2.3
-	@echo "# compiling lua"
-	+@make --silent -C $(WEBOTS_DEPENDENCY_PATH)/lua-5.2.3 linux 2> /dev/null
-
 open-ssl-clean:
 	@rm -rf $(WEBOTS_DEPENDENCY_PATH)/$(OPENSSL_SRC_PACKAGE) $(WEBOTS_DEPENDENCY_PATH)/openssl-$(OPENSSL_VERSION) $(WEBOTS_DEPENDENCY_PATH)/openssl-3.0 $(WEBOTS_HOME_LIB)/libcrypto.so* $(WEBOTS_HOME_LIB)/libssl.so*
 

dependencies/Makefile.mac

@@ -10,11 +10,10 @@ QT_PACKAGE = qt-6.5.3-release.tar.bz2
 ASSIMP_PACKAGE = assimp-5.2.3.tar.bz2
 FFMPEG_PACKAGE = ffmpeg.tar.bz2
 FREETYPE_PACKAGE = freetype2.tar.bz2
-LUA_PACKAGE = liblua-5.2.3.tar.bz2
 OIS_PACKAGE = libOIS-1.3.tar.bz2
 PICO_PACKAGE = libpico-1.0.tar.bz2
 
-PACKAGES = qt assimp ffmpeg freetype lua ois pico
+PACKAGES = qt assimp ffmpeg freetype ois pico
 PACKAGES_CLEAN = $(addsuffix -clean, $(PACKAGES))
 
 .PHONY: release debug distrib profile clean cleanse $(PACKAGES) $(PACKAGES_CLEAN)
@@ -126,30 +125,6 @@ freetype2:
 	@tar xfm $(FREETYPE_PACKAGE)
 	@rm -f $(FREETYPE_PACKAGE)
 
-
-lua-clean:
-	@rm -rf $(WEBOTS_HOME_LIB)/liblua.dylib
-	@rm -rf $(WEBOTS_HOME)/dependencies/lua-*
-	@rm -rf $(WEBOTS_HOME)/dependencies/liblua-*.tar.bz2
-
-lua: $(WEBOTS_HOME_LIB)/liblua.dylib
-
-$(WEBOTS_HOME_LIB)/liblua.dylib: $(WEBOTS_DEPENDENCY_PATH)/$(LUA_PACKAGE)
-	@echo "# uncompressing $(LUA_PACKAGE)"
-	@tar xfm $(LUA_PACKAGE) -C $(WEBOTS_HOME)/Contents
-	@mv $(WEBOTS_HOME)/Contents/dependencies/lua-5.2.3 $(WEBOTS_HOME)/dependencies/
-	@rmdir $(WEBOTS_HOME)/Contents/dependencies
-	@install_name_tool -id @rpath/Contents/lib/webots/liblua.dylib $@
-	@codesign --force -s - $@
-
-
-$(WEBOTS_DEPENDENCY_PATH)/$(LUA_PACKAGE):
-	@echo "# downloading $(LUA_PACKAGE)"
-	@rm -f $(WEBOTS_DEPENDENCY_PATH)/$(LUA_PACKAGE)
-	@$(WGET) $(DEPENDENCIES_URL)/$(LUA_PACKAGE) -P $(WEBOTS_DEPENDENCY_PATH)
-	@if [ "b81047a7d382c1531b5b18530c6578ad" != `md5 -q $(LUA_PACKAGE)` ]; then echo "MD5 checksum failed for $(LUA_PACKAGE)"; exit 1; fi
-	@touch $@
-
 ois-clean:
 	@rm -rf $(WEBOTS_DEPENDENCY_PATH)/$(OIS_PACKAGE) $(WEBOTS_HOME_LIB)/*OIS.dylib $(WEBOTS_HOME)/include/libOIS
 

dependencies/Makefile.windows

@@ -7,12 +7,10 @@ DEPENDENCIES_URL = https://cyberbotics.com/files/repository/dependencies/windows
 
 ASSIMP_PACKAGE = assimp-5.2.3.zip
 OPEN_VR_PACKAGE = openvr-1.0.7.zip
-LUA_PACKAGE = lua-5.2.3.tar.gz
 OIS_PACKAGE = libOIS.zip
 PICO_PACKAGE = libpico-1.0.zip
-LUA_GD_PACKAGE = lua-gd-windows.zip
 
-PACKAGES = assimp open-vr lua ois pico lua-gd
+PACKAGES = assimp open-vr ois pico
 PACKAGES_CLEAN = $(addsuffix -clean, $(PACKAGES))
 null :=
 space := $(null) $(null)
@@ -99,30 +97,6 @@ $(WEBOTS_DEPENDENCY_PATH)/openvr-1.0.7:
 	@rm -f "$(WEBOTS_DEPENDENCY_PATH)/$(OPEN_VR_PACKAGE)"
 	@touch "$(WEBOTS_DEPENDENCY_PATH)/openvr-1.0.7"
 
-lua-clean:
-	@rm -rf $(TARGET_PATH)/lua52.dll "$(WEBOTS_DEPENDENCY_PATH)/lua-5.2.3"
-
-lua: $(TARGET_PATH)/lua52.dll
-
-$(TARGET_PATH)/lua52.dll: $(WEBOTS_DEPENDENCY_PATH)/lua-5.2.3/src/lua52.dll
-	@echo "# copying lua dll"
-	@mkdir -p $(TARGET_PATH)
-	@cp "$(WEBOTS_DEPENDENCY_PATH)/lua-5.2.3/src/lua52.dll" "$(TARGET_PATH)/"
-
-$(WEBOTS_DEPENDENCY_PATH)/lua-5.2.3:
-	@rm -f "$(WEBOTS_DEPENDENCY_PATH)/$(LUA_PACKAGE)"
-	@echo "# downloading $(LUA_PACKAGE)"
-	@wget -qq "https://www.lua.org/ftp/$(LUA_PACKAGE)" -P "$(WEBOTS_DEPENDENCY_PATH)"
-	@if [ "$$(md5sum $(LUA_PACKAGE) | awk '{print $$1;}')" != "dc7f94ec6ff15c985d2d6ad0f1b35654" ]; then echo "MD5 checksum failed for $(LUA_PACKAGE)"; exit 1; fi
-	@echo "# uncompressing $(LUA_PACKAGE)"
-	@cd "$(WEBOTS_DEPENDENCY_PATH)"; tar xfm $(LUA_PACKAGE) -C "$(WEBOTS_DEPENDENCY_PATH)"
-	@rm -f "$(WEBOTS_DEPENDENCY_PATH)/$(LUA_PACKAGE)"
-
-$(WEBOTS_DEPENDENCY_PATH)/lua-5.2.3/src/lua52.dll: $(WEBOTS_DEPENDENCY_PATH)/lua-5.2.3
-	@sed -i '/AR= ar rcu/c\AR= ar rc' lua-5.2.3/src/Makefile
-	@echo "# compiling lua"
-	+@make --silent -C "$(WEBOTS_DEPENDENCY_PATH)/lua-5.2.3" mingw
-
 ois-clean:
 	@rm -rf "$(WEBOTS_DEPENDENCY_PATH)/$(OIS_PACKAGE)" $(TARGET_PATH)/OIS.dll $(TARGET_PATH)/XInput9_1_0.dll "$(WEBOTS_HOME_PATH)/include/libOIS"
 
@@ -161,21 +135,3 @@ $(WEBOTS_DEPENDENCY_PATH)/$(PICO_PACKAGE):
 	@wget -qq "$(DEPENDENCIES_URL)/$(PICO_PACKAGE)" -P "$(WEBOTS_DEPENDENCY_PATH)"
 	@if [ "$$(md5sum $(PICO_PACKAGE) | awk '{print $$1;}')" != "78a74b1190eb3a75bc0ae5360c699517" ]; then echo "MD5 checksum failed for $(PICO_PACKAGE)"; exit 1; fi
 	@touch "$(WEBOTS_DEPENDENCY_PATH)/$(PICO_PACKAGE)"
-
-lua-gd-clean:
-	@rm -rf "$(WEBOTS_DEPENDENCY_PATH)/$(LUA_GD_PACKAGE)" $(TARGET_PATH)/gd.dll
-
-lua-gd: $(TARGET_PATH)/gd.dll
-
-$(TARGET_PATH)/gd.dll: $(WEBOTS_DEPENDENCY_PATH)/$(LUA_GD_PACKAGE)
-	@echo "# uncompressing $(LUA_GD_PACKAGE)"
-	@mkdir -p $(TARGET_PATH)
-	@unzip -q -o "$(WEBOTS_DEPENDENCY_PATH)/$(LUA_GD_PACKAGE)" -d "$(WEBOTS_HOME_PATH)/msys64/mingw64/bin"
-	@touch "$(TARGET_PATH)/gd.dll"
-
-$(WEBOTS_DEPENDENCY_PATH)/$(LUA_GD_PACKAGE):
-	@echo "# downloading $(LUA_GD_PACKAGE)"
-	@rm -f "$(WEBOTS_DEPENDENCY_PATH)/$(LUA_GD_PACKAGE)"
-	@wget -qq "$(DEPENDENCIES_URL)/$(LUA_GD_PACKAGE)" -P "$(WEBOTS_DEPENDENCY_PATH)"
-	@if [ "$$(md5sum $(LUA_GD_PACKAGE) | awk '{print $$1;}')" != "0a54dcc518d331a853f77fb66ebf75e9" ]; then echo "MD5 checksum failed for $(LUA_GD_PACKAGE)"; exit 1; fi
-	@touch "$(WEBOTS_DEPENDENCY_PATH)/$(LUA_GD_PACKAGE)"

dependencies/codesign.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python
 
-# Copyright 1996-2023 Cyberbotics Ltd.
+# Copyright 1996-2024 Cyberbotics Ltd.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.

docs/README.md

@@ -80,6 +80,6 @@ pip install pycodestyle
 2. Run the tests:
 
 ```sh
-cd $WEBOTS_HOME/docs
+cd $WEBOTS_HOME/docs/tests
 python -m unittest discover
 ```