Remove SUMO from Webots package (cyberbotics#6245)

* Remove sumo from Webots package

* Update documentation

* Update the instructions

* Update instructions for macOS and Windows

* Remove code related to bundled sumo

* update sumo installation directory path

* Update the documentation

* Remove last occurrences of Webots sumo folder

* Remove references to deleted Makefile

* Update sumo-interface.md

* Update sumo_supervisor.py

* Update sumo-interface.md

---------

Co-authored-by: Olivier Michel <Olivier.Michel@cyberbotics.com>
Co-authored-by: Yannick Goumaz <61198661+ygoumaz@users.noreply.github.com>

Author: 3 people

docs/automobile/city-traffic.md

@@ -9,4 +9,4 @@
 This world is an extension of the `city` world.
 The road network was extended and some extra trees and buildings were added.
 Like in the `city` world, a vehicle is driving autonomously using the on-board camera to follow the central line of the road.
-In addition, sumo is used to generate some traffic on the road network.
+In addition, SUMO is used to generate some traffic on the road network.

docs/automobile/scenario-creation-tutorial.md

@@ -3,6 +3,8 @@
 This small tutorial explains step-by-step how to create a scenario inspired from a real world map and then add traffic using SUMO.
 This tutorial was written for `linux` and `macOS`, but the same can be achieved on `Windows` converting the following commands to `DOS`.
 
+Please refer to [these instructions](sumo-interface.md#dependencies) to install SUMO.
+
 ### Creation of the Webots Project Directory
 
 ```sh
@@ -67,7 +69,7 @@ Finally, you may add a [Fog](../reference/fog.md) node to make your world look n
 On Linux, the path to the SUMO binaries and to the Webots libraries directories should be added in your LD\_LIBRARY\_PATH environment variable in order to run the SUMO binaries:
 
 ```sh
-export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$WEBOTS_HOME/projects/default/resources/sumo/bin:$WEBOTS_HOME/lib
+export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$SUMO_HOME/bin:$WEBOTS_HOME/lib
 ```
 
 We can also use the previously generated Webots world to generate the SUMO network file.
@@ -80,7 +82,7 @@ You need to use the [netconvert](http://sumo.dlr.de/wiki/NETCONVERT) utility for
 ```sh
 cd $WEBOTS_HOME/resources/sumo_exporter
 python exporter.py --input=$WBT_PROJECT_PATH/worlds/myMap.wbt --output=$WBT_PROJECT_PATH/worlds/myMap_net
-$WEBOTS_HOME/projects/default/resources/sumo/bin/netconvert --node-files=$WBT_PROJECT_PATH/worlds/myMap_net/sumo.nod.xml --edge-files=$WBT_PROJECT_PATH/worlds/myMap_net/sumo.edg.xml --output-file=$WBT_PROJECT_PATH/worlds/myMap_net/sumo.net.xml
+$SUMO_HOME/bin/netconvert --node-files=$WBT_PROJECT_PATH/worlds/myMap_net/sumo.nod.xml --edge-files=$WBT_PROJECT_PATH/worlds/myMap_net/sumo.edg.xml --output-file=$WBT_PROJECT_PATH/worlds/myMap_net/sumo.net.xml
 ```
 
 %tab-end
@@ -90,7 +92,7 @@ $WEBOTS_HOME/projects/default/resources/sumo/bin/netconvert --node-files=$WBT_PR
 ```sh
 cd $WEBOTS_HOME/Contents/Resources/sumo_exporter
 python exporter.py --input=$WBT_PROJECT_PATH/worlds/myMap.wbt --output=$WBT_PROJECT_PATH/worlds/myMap_net
-$WEBOTS_HOME/Contents/projects/default/resources/sumo/bin/netconvert --node-files=$WBT_PROJECT_PATH/worlds/myMap_net/sumo.nod.xml --edge-files=$WBT_PROJECT_PATH/worlds/myMap_net/sumo.edg.xml --output-file=$WBT_PROJECT_PATH/worlds/myMap_net/sumo.net.xml
+$SUMO_HOME/bin/netconvert --node-files=$WBT_PROJECT_PATH/worlds/myMap_net/sumo.nod.xml --edge-files=$WBT_PROJECT_PATH/worlds/myMap_net/sumo.edg.xml --output-file=$WBT_PROJECT_PATH/worlds/myMap_net/sumo.net.xml
 ```
 
 %tab-end
@@ -107,15 +109,15 @@ To do this, open the `sumo.net.xml` file in SUMO `netedit`:
 %tab "Linux"
 
 ```sh
-$WEBOTS_HOME/projects/default/resources/sumo/bin/netedit $WBT_PROJECT_PATH/worlds/myMap_net/sumo.net.xml
+$SUMO_HOME/netedit $WBT_PROJECT_PATH/worlds/myMap_net/sumo.net.xml
 ```
 
 %tab-end
 
 %tab "macOS"
 
 ```sh
-$WEBOTS_HOME/Contents/projects/default/resources/sumo/bin/netedit $WBT_PROJECT_PATH/worlds/myMap_net/sumo.net.xml
+$SUMO_HOME/bin/netedit $WBT_PROJECT_PATH/worlds/myMap_net/sumo.net.xml
 ```
 
 %tab-end
@@ -142,17 +144,17 @@ Here are the commands to do so:
 %tab "Linux"
 
 ```sh
-python $WEBOTS_HOME/projects/default/resources/sumo/tools/randomTrips.py -n $WBT_PROJECT_PATH/worlds/myMap_net/sumo.net.xml -o $WBT_PROJECT_PATH/worlds/myMap_net/sumo.trip.xml
-$WEBOTS_HOME/projects/default/resources/sumo/bin/duarouter --trip-files $WBT_PROJECT_PATH/worlds/myMap_net/sumo.trip.xml --net-file $WBT_PROJECT_PATH/worlds/myMap_net/sumo.net.xml --output-file $WBT_PROJECT_PATH/worlds/myMap_net/sumo.rou.xml --ignore-errors true
+python $SUMO_HOME/tools/randomTrips.py -n $WBT_PROJECT_PATH/worlds/myMap_net/sumo.net.xml -o $WBT_PROJECT_PATH/worlds/myMap_net/sumo.trip.xml
+$SUMO_HOME/bin/duarouter --trip-files $WBT_PROJECT_PATH/worlds/myMap_net/sumo.trip.xml --net-file $WBT_PROJECT_PATH/worlds/myMap_net/sumo.net.xml --output-file $WBT_PROJECT_PATH/worlds/myMap_net/sumo.rou.xml --ignore-errors true
 ```
 
 %tab-end
 
 %tab "macOS"
 
 ```sh
-python $WEBOTS_HOME/Contents/projects/default/resources/sumo/tools/randomTrips.py -n $WBT_PROJECT_PATH/worlds/myMap_net/sumo.net.xml -o $WBT_PROJECT_PATH/worlds/myMap_net/sumo.trip.xml
-$WEBOTS_HOME/Contents/projects/default/resources/sumo/bin/duarouter --trip-files $WBT_PROJECT_PATH/worlds/myMap_net/sumo.trip.xml --net-file $WBT_PROJECT_PATH/worlds/myMap_net/sumo.net.xml --output-file $WBT_PROJECT_PATH/worlds/myMap_net/sumo.rou.xml --ignore-errors true
+python $SUMO_HOME/tools/randomTrips.py -n $WBT_PROJECT_PATH/worlds/myMap_net/sumo.net.xml -o $WBT_PROJECT_PATH/worlds/myMap_net/sumo.trip.xml
+$SUMO_HOME/bin/duarouter --trip-files $WBT_PROJECT_PATH/worlds/myMap_net/sumo.trip.xml --net-file $WBT_PROJECT_PATH/worlds/myMap_net/sumo.net.xml --output-file $WBT_PROJECT_PATH/worlds/myMap_net/sumo.rou.xml --ignore-errors true
 ```
 
 %tab-end
@@ -173,15 +175,15 @@ Then use `SUMO duarouter` to create the target SUMO route file, like this:
 %tab "Linux"
 
 ```sh
-$WEBOTS_HOME/projects/default/resources/sumo/bin/duarouter --flows $WBT_PROJECT_PATH/worlds/myMap_net/sumo.flow.xml --net-file $WBT_PROJECT_PATH/worlds/myMap_net/sumo.net.xml --output-file $WBT_PROJECT_PATH/worlds/myMap_net/sumo.rou.xml
+$SUMO_HOME/bin/duarouter --flows $WBT_PROJECT_PATH/worlds/myMap_net/sumo.flow.xml --net-file $WBT_PROJECT_PATH/worlds/myMap_net/sumo.net.xml --output-file $WBT_PROJECT_PATH/worlds/myMap_net/sumo.rou.xml
 ```
 
 %tab-end
 
 %tab "macOS"
 
 ```sh
-$WEBOTS_HOME/Contents/projects/default/resources/sumo/bin/duarouter --flows $WBT_PROJECT_PATH/worlds/myMap_net/sumo.flow.xml --net-file $WBT_PROJECT_PATH/worlds/myMap_net/sumo.net.xml --output-file $WBT_PROJECT_PATH/worlds/myMap_net/sumo.rou.xml
+$SUMO_HOME/bin/duarouter --flows $WBT_PROJECT_PATH/worlds/myMap_net/sumo.flow.xml --net-file $WBT_PROJECT_PATH/worlds/myMap_net/sumo.net.xml --output-file $WBT_PROJECT_PATH/worlds/myMap_net/sumo.rou.xml
 ```
 
 %tab-end

docs/automobile/sumo-exporter.md

@@ -1,11 +1,13 @@
 # SUMO Exporter
 
-In order to be able to simulate traffic in your simulation, it is required to have a SUMO network file (`sumo.net.xml`).
+In order to be able to simulate traffic in your simulation, it is required to have the SUMO package installed on the system and a SUMO network file (`sumo.net.xml`).
 The SUMO exporter can create SUMO network files from a Webots simulation.
 
 ## Dependencies
 
-The SUMO exporter is using the `shapely` Python module.
+Please refer to [these instructions](sumo-interface.md#dependencies) to install SUMO.
+
+The SUMO exporter is also using the `shapely` Python module.
 Please refer to [these instructions](openstreetmap-importer.md#dependencies) to install it.
 
 ## Expectations on the Webots Simulation
@@ -28,7 +30,7 @@ These files can be used by SUMO `netconvert` to generate the `sumo.net.xml` file
 cd $WEBOTS_HOME/resources/sumo_exporter
 mkdir myMap_net
 python exporter.py --input=myMap.wbt --output=myMap_net
-$WEBOTS_HOME/projects/default/resources/sumo/bin/netconvert --node-files=myMap_net/sumo.nod.xml --edge-files=myMap_net/sumo.edg.xml --output-file=myMap_net/sumo.net.xml
+$SUMO_HOME/bin/netconvert --node-files=myMap_net/sumo.nod.xml --edge-files=myMap_net/sumo.edg.xml --output-file=myMap_net/sumo.net.xml
 ```
 
 %tab-end
@@ -39,7 +41,7 @@ $WEBOTS_HOME/projects/default/resources/sumo/bin/netconvert --node-files=myMap_n
 cd $WEBOTS_HOME/Contents/Resources/sumo_exporter
 mkdir myMap_net
 python exporter.py --input=myMap.wbt --output=myMap_net
-$WEBOTS_HOME/Contents/projects/default/resources/sumo/bin/netconvert --node-files=myMap_net/sumo.nod.xml --edge-files=myMap_net/sumo.edg.xml --output-file=myMap_net/sumo.net.xml
+$SUMO_HOME/bin/netconvert --node-files=myMap_net/sumo.nod.xml --edge-files=myMap_net/sumo.edg.xml --output-file=myMap_net/sumo.net.xml
 ```
 
 %tab-end

docs/automobile/sumo-interface-example.md

@@ -13,3 +13,5 @@ When a priority vehicle arrives from the `vertical` road, it will be detected fr
 
 One of the vehicles moved by SUMO has a [Lidar](../reference/lidar.md) sensor on the front and displays the measured point cloud.
 This vehicle showcases the possibility of collecting sensor data for vehicles controlled by SUMO.
+
+> **Note**: SUMO should be installed on the system and the `SUMO_HOME` environment variable should be defined and point to the SUMO installation path.

docs/automobile/sumo-interface.md

@@ -8,6 +8,44 @@ This interface is written in Python in a [Supervisor](../reference/supervisor.md
 
 ![youtube video](https://www.youtube.com/watch?v=Mnwmo5ivGL0)
 
+### Dependencies
+
+In order to use the SUMO Interface, you have to install the SUMO package on your system.
+Please refer to the official [SUMO User Documentation](https://sumo.dlr.de/docs/Installing/index.html) for the complete installation instructions.
+
+#### Debian or Ubuntu
+
+```sh
+sudo apt install sumo sumo-tools sumo-doc
+```
+
+`SUMO_HOME` environment variable will be automatically set during the installation, but it may be necessary to logout and login, or even reboot, after the installation to correctly run the SUMO Interface.
+
+#### macOS
+
+Using [Homebrew](https://brew.sh), first install [XQuartz](https://www.xquartz.org) for the SUMO interface, that relies on X11, to work:
+```sh
+brew install --cask xquartz
+```
+
+It may be necessary to logout and login or even reboot to activate the XQuartz.
+Then, install the lastest stable version of SUMO:
+```sh
+brew tap dlr-ts/sumo
+brew install sumo
+```
+
+Finally, setup the `SUMO_HOME` environment variable to point to the directory of your SUMO installation by adding the following line at the end of the `~/.bashrc` file:
+```sh
+export SUMO_HOME=/your/path/to/sumo
+```
+
+The default installation directory is `/opt/homebrew/opt/sumo/share/sumo`.
+
+#### Windows
+
+Download and run the latest installer from the [SUMO documentation](https://sumo.dlr.de/docs/Installing/index.html#windows).
+
 ### How to Include the Interface
 
 In order to use this interface, a `SumoInterface` PROTO node should to be added to the world.
@@ -16,15 +54,12 @@ This folder should contain the usual files defining a network in SUMO (.edg.xml,
 The configuration files called `sumo.netccfg` and `sumo.sumocfg` will be loaded by default.
 If those configuration files do not exist, the interface will look for a configuration file with any other name (it is not recommended to have several configuration files for SUMO or NETCONVERT in the same folder as you don't know which one is going to be used).
 
-> **Note**: Currently version 0.30 of SUMO is distributed with Webots, but if the `SUMO_HOME` environment variable is defined, Webots will use the version of SUMO specified in this variable.
+> **Note**: SUMO should be installed on the system and the `SUMO_HOME` environment variable should be defined and point to the SUMO installation path.
 
 The interface will automatically start SUMO and run it in synchronization with Webots time.
 Each time a new vehicle enters the SUMO simulation, it will be created in Webots too and its position and orientation will be continually updated.
 The vehicle DEF name is set to `SUMO_VEHICLEX`, with `X` being the vehicle number (starting from 0).
 
-> **Note** [macOS]: On macOS, SUMO relies on X11.
-You need therefore to install [XQuartz](https://www.xquartz.org) (version 2.7.8 or later) for the interface to work.
-
 ### Use Vehicles Already Present in the World
 
 If some vehicles whose DEF name is `SUMO_VEHICLEX` are already present in the world at the simulation start, then the interface will automatically use them before creating new vehicles, this can be useful to avoid real-time addition of vehicles (which can make the simulation speed drop for a very short time).
@@ -158,9 +193,3 @@ The first function is called at initialization of the interface, the arguments a
 The second one is called at each SUMO step and the argument is the time step.
 
 Such a plugin can be used for example to change traffic light state in SUMO.
-
-### Using the SUMO Executables Distributed with Webots
-
-SUMO is distributed with Webots, it is located in `WEBOTS_HOME/projects/default/resources/sumo`, you can find all the executables in the `bin` folder.
-To be able to use these executables you need first to add `WEBOTS_HOME/projects/default/resources/sumo/bin` to your PATH.
-You will then for example be able to use `netedit` to edit your network files.

docs/guide/installation-procedure.md

@@ -123,11 +123,6 @@ Execute the following command to install *ffmpeg* with *x264* support:
 ```bash
 conda install x264 ffmpeg -c conda-forge
 ```
-For SUMO, you will need to install libxerces-c-devel, libproj-devel, libgdal-devel, and fox16-devel.
-Execute the following commands to enable SUMO on Debian / Ubuntu based distributions:
-```bash
-sudo apt-get install libxerces-c-dev libfox-1.6-dev libgdal-dev libproj-dev libgl2ps-dev
-```
 
 #### Installing the Snap Package
 

docs/reference/changelog-r2023.md

@@ -39,6 +39,7 @@ Released on June 27th, 2023.
     - Added a model of suction cup ([#6165](https://github.com/cyberbotics/webots/pull/6165)).
   - Cleanup
     - Deprecated the C and MATLAB API functions `wb_supervisor_node_enable/disable_contact_point_tracking` in favor of `wb_supervisor_node_enable/disable_contact_points_tracking` to be more consistent with other APIs ([#5633](https://github.com/cyberbotics/webots/pull/5633)).
+    - Remove SUMO dependency from Webots package ([#6245](https://github.com/cyberbotics/webots/pull/6245)).
   - Bug Fixes
     - Fixed random crashes while creating [Skin](skin.md) and [Mesh](mesh.md) nodes ([#6218](https://github.com/cyberbotics/webots/pull/6218)).
     - Windows: fixed compilation of controller programs located in paths with non-ASCII characters ([#6235](https://github.com/cyberbotics/webots/pull/6235)).
@@ -100,7 +101,6 @@ Released on June 27th, 2023.
     - Fixed crash when deleting a [Group](group.md) or a [Pose](pose.md) in a [Led](led.md) or [Charger](charger.md) ([#6226](https://github.com/cyberbotics/webots/pull/6226)).
     - Fixed duplicate [Lidar](lidar.md) rotatingHead when exporting to URDF ([#6233](https://github.com/cyberbotics/webots/pull/6233)).
   - Dependency Updates
-    - Change the Windows version of SUMO to 1.13 to match the one used on Linux and macOS and avoid a potiental Log4J vulnerability ([#6010](https://github.com/cyberbotics/webots/pull/6010)).
     - Upgraded to Qt6.4.3 on Ubuntu ([#6065](https://github.com/cyberbotics/webots/pull/6065)) and macOS ([#6157](https://github.com/cyberbotics/webots/pull/6157)).
   - Cleanup
     - Deprecated the C and MATLAB API functions `wb_supervisor_node_enable/disable_contact_point_tracking` in favor of `wb_supervisor_node_enable/disable_contact_points_tracking` to be more consistent with other APIs ([#5633](https://github.com/cyberbotics/webots/pull/5633)).

projects/default/Makefile

@@ -18,7 +18,7 @@ include $(WEBOTS_HOME_PATH)/resources/Makefile.os.include
 
 .PHONY: release debug profile clean
 
-TARGETS = controllers/braitenberg.Makefile libraries/vehicle.Makefile resources.Makefile
+TARGETS = controllers/braitenberg.Makefile libraries/vehicle.Makefile
 
 ifeq ($(OSTYPE),linux)
 TARGETS += controllers/ros.Makefile
@@ -35,8 +35,3 @@ clean: $(TARGETS)
 controllers/%.Makefile libraries/%.Makefile:
 	+@echo "# make" $(MAKECMDGOALS) $(@:.Makefile=)
 	+@make -s -C $(@:.Makefile=) $(MAKECMDGOALS)
-
-
-resources.Makefile:
-	@echo "#"; echo "# *** resources ***"
-	+@make -s -C resources $(MAKECMDGOALS)

projects/default/controllers/sumo_supervisor/sumo_supervisor.py

@@ -24,31 +24,28 @@
 import sys
 import tempfile
 
+
+def sumoImportError():
+    sys.stderr.write("SUMO not found.\n")
+    if sys.platform.startswith('linux'):
+        sys.stderr.write("Please install it with `sudo apt install sumo sumo-tools` and reboot.\n")
+    else:
+        sys.stderr.write("Please install it following the instructions at https://sumo.dlr.de/docs/Installing/.\n")
+        pass
+    sys.exit("Or check that the SUMO_HOME environment variable points to the directory of your SUMO installation.")
+
+
 # we need to import python modules from the $SUMO_HOME/tools directory
 try:
     WEBOTS_HOME = os.path.normpath(os.environ.get('WEBOTS_HOME'))
     if 'SUMO_HOME' in os.environ:
         sumoPath = os.environ['SUMO_HOME']
         print('Using SUMO from %s' % sumoPath)
-        print('This might cause version conflicts, unset the "SUMO_HOME" environment variable to use the one from Webots')
     else:
-        sumoPath = WEBOTS_HOME
-        if sys.platform.startswith('darwin'):
-            sumoPath = os.path.join(sumoPath, 'Contents')
-        sumoPath = os.path.join(sumoPath, 'projects', 'default', 'resources', 'sumo')
-        os.putenv("SUMO_HOME", sumoPath)
+        sumoImportError()
+
     if sys.platform.startswith('darwin'):
         libraryVariablePath = 'DYLD_LIBRARY_PATH'
-
-        # Fix the following error (shown on "El Capitan"):
-        #    ./projects/default/resources/sumo/sumo-gui
-        #    Fontconfig error: Cannot load default config file
-        #    Quitting (on unknown error).
-        if os.path.exists('/opt/local/etc/fonts/fonts.conf'):
-            os.putenv('FONTCONFIG_PATH', '/opt/local/etc/fonts/')
-        elif os.path.exists('/opt/X11/lib/X11/fontconfig/fonts.conf'):
-            os.putenv('FONTCONFIG_PATH', '/opt/X11/lib/X11/fontconfig/')
-
     elif sys.platform.startswith('linux'):
         libraryVariablePath = 'LD_LIBRARY_PATH'
     else:
@@ -65,7 +62,7 @@
     import traci
     import sumolib
 except ImportError:
-    sys.exit("Can't find SUMO.")
+    sumoImportError()
 
 
 def get_options():