diff --git a/scripts/ci_before_init_embed.bash b/scripts/ci_before_init_embed.bash index dbcc2563f..32ff96758 100755 --- a/scripts/ci_before_init_embed.bash +++ b/scripts/ci_before_init_embed.bash @@ -2,7 +2,7 @@ ROS_DISTRO=$1 -export WEBOTS_RELEASE_VERSION=2023b-rev1 +export WEBOTS_RELEASE_VERSION=2024a export WEBOTS_OFFSCREEN=1 export CI=1 export DEBIAN_FRONTEND=noninteractive diff --git a/tests/sources/test_clang_format.py b/tests/sources/test_clang_format.py index 9d21390c2..931aeeab0 100755 --- a/tests/sources/test_clang_format.py +++ b/tests/sources/test_clang_format.py @@ -56,6 +56,7 @@ def test_sources_are_clang_format_compliant(self): 'webots_ros2_control', 'webots_ros2_driver', 'webots_ros2_epuck', + 'webots_ros2_husarion', 'webots_ros2_importer', 'webots_ros2_mavic', 'webots_ros2_msgs', diff --git a/tests/sources/test_pep8.py b/tests/sources/test_pep8.py index 71b0dabf3..6e32dac2c 100755 --- a/tests/sources/test_pep8.py +++ b/tests/sources/test_pep8.py @@ -31,7 +31,10 @@ skippedDirectories = [ '.git', 'webots_ros2_importer/webots_ros2_importer/urdf2webots/', - 'webots_ros2_driver/webots/lib' + 'webots_ros2_driver/webots/lib', + 'webots_ros2_husarion/rosbot_ros', + 'webots_ros2_husarion/rosbot_xl_ros', + 'webots_ros2_husarion/ros_components_description' ] skippedDirectoriesFull = [os.path.join(ROOT_FOLDER, os.path.normpath(path)) for path in skippedDirectories] diff --git a/webots_ros2/CHANGELOG.rst b/webots_ros2/CHANGELOG.rst index 43a4e4f02..c876edfb3 100644 --- a/webots_ros2/CHANGELOG.rst +++ b/webots_ros2/CHANGELOG.rst @@ -2,6 +2,10 @@ Changelog for package webots_ros2 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2024.0.0 (2023-XX-XX) +------------------ +* Created webots_ros2_husarion package. + 2023.1.1 (2023-07-11) ------------------ * Added deprecation message when declaring driver node in launch file. diff --git a/webots_ros2_driver/CHANGELOG.rst b/webots_ros2_driver/CHANGELOG.rst index 473ba67b6..3618ae6e7 100644 --- a/webots_ros2_driver/CHANGELOG.rst +++ b/webots_ros2_driver/CHANGELOG.rst @@ -4,12 +4,12 @@ Changelog for package webots_ros2_driver 2023.1.1 (2023-07-11) ------------------ -* Fixed RangeFinder activation to also check for point cloud subscriptions. * Added component remapping parameter to rename PROTO components. * Added deprecation message when declaring driver node in launch file. * Added animation_{start,stop}_recording services to Ros2Supervisor node. * Added /Ros2Supervisor namespace to Ros2Supervisor node. * Fixed Python plugin termination on SIGINT call or simulation ends. +* Fixed RangeFinder activation to also check for point cloud subscriptions. 2023.1.0 (2023-06-29) ------------------ diff --git a/webots_ros2_driver/webots/resources/version.txt b/webots_ros2_driver/webots/resources/version.txt index 0b9133bdf..51fc7befd 100644 --- a/webots_ros2_driver/webots/resources/version.txt +++ b/webots_ros2_driver/webots/resources/version.txt @@ -1 +1 @@ -R2023b revision 1 +R2024a \ No newline at end of file diff --git a/webots_ros2_epuck/worlds/epuck_world.wbt b/webots_ros2_epuck/worlds/epuck_world.wbt index 21a4356b0..6e4af1360 100644 --- a/webots_ros2_epuck/worlds/epuck_world.wbt +++ b/webots_ros2_epuck/worlds/epuck_world.wbt @@ -1,11 +1,11 @@ #VRML_SIM R2023b utf8 -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/backgrounds/protos/TexturedBackground.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/floors/protos/RectangleArena.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/factory/containers/protos/WoodenBox.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/robots/gctronic/e-puck/protos/E-puck.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/robots/gctronic/e-puck/protos/Pi-puck.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/backgrounds/protos/TexturedBackground.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/floors/protos/RectangleArena.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/factory/containers/protos/WoodenBox.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/robots/gctronic/e-puck/protos/E-puck.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/robots/gctronic/e-puck/protos/Pi-puck.proto" WorldInfo { info [ diff --git a/webots_ros2_epuck/worlds/rats_life_benchmark.wbt b/webots_ros2_epuck/worlds/rats_life_benchmark.wbt index e23fa7374..bdcd40a61 100644 --- a/webots_ros2_epuck/worlds/rats_life_benchmark.wbt +++ b/webots_ros2_epuck/worlds/rats_life_benchmark.wbt @@ -1,13 +1,13 @@ #VRML_SIM R2023b utf8 -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/backgrounds/protos/TexturedBackground.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/backgrounds/protos/TexturedBackground.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto" EXTERNPROTO "../protos/LegoTallWall.proto" EXTERNPROTO "../protos/LegoTallInterval.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/floors/protos/Floor.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/appearances/protos/Parquetry.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/robots/gctronic/e-puck/protos/E-puck.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/robots/gctronic/e-puck/protos/Pi-puck.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/floors/protos/Floor.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/appearances/protos/Parquetry.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/robots/gctronic/e-puck/protos/E-puck.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/robots/gctronic/e-puck/protos/Pi-puck.proto" WorldInfo { info [ diff --git a/webots_ros2_husarion/CHANGELOG.rst b/webots_ros2_husarion/CHANGELOG.rst new file mode 100644 index 000000000..174237f86 --- /dev/null +++ b/webots_ros2_husarion/CHANGELOG.rst @@ -0,0 +1,7 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package webots_ros2_husarion +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +2024.0.0 (2023-XX-XX) +------------------ +* Created webots_ros2_husarion package. \ No newline at end of file diff --git a/webots_ros2_husarion/launch/rosbot_launch.py b/webots_ros2_husarion/launch/rosbot_launch.py new file mode 100644 index 000000000..2bb8cc9a8 --- /dev/null +++ b/webots_ros2_husarion/launch/rosbot_launch.py @@ -0,0 +1,167 @@ +#!/usr/bin/env python + +# Copyright 1996-2023 Cyberbotics Ltd. +# Copyright 2023 Husarion +# +# 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. + +"""Launch Webots ROSbot 2R driver.""" + +import os +import launch +from launch.substitutions import LaunchConfiguration +from launch.actions import DeclareLaunchArgument +from launch.substitutions.path_join_substitution import PathJoinSubstitution +from launch import LaunchDescription +from launch_ros.actions import Node +from ament_index_python.packages import get_package_share_directory +from webots_ros2_driver.webots_launcher import WebotsLauncher +from webots_ros2_driver.webots_controller import WebotsController +from webots_ros2_driver.wait_for_controller_connection import WaitForControllerConnection + + +def get_ros2_nodes(*args): + package_dir = get_package_share_directory('webots_ros2_husarion') + robot_description_path = os.path.join(package_dir, 'resource', 'rosbot_webots.urdf') + links_remappings_file_path = os.path.join(package_dir, 'resource', 'rosbot_links_remappings.yaml') + + ekf_config = os.path.join(package_dir, 'resource', 'ekf.yaml') + + ros2_control_params = os.path.join(package_dir, 'resource', 'rosbot_controllers.yaml') + use_sim_time = LaunchConfiguration('use_sim_time', default=True) + + # ROS control spawners + controller_manager_timeout = ['--controller-manager-timeout', '50'] + controller_manager_prefix = 'python.exe' if os.name == 'nt' else '' + diff_drive_controller_spawner = Node( + package='controller_manager', + executable='spawner', + output='screen', + prefix=controller_manager_prefix, + arguments=['rosbot_base_controller'] + controller_manager_timeout, + ) + joint_state_broadcaster_spawner = Node( + package='controller_manager', + executable='spawner', + output='screen', + prefix=controller_manager_prefix, + arguments=['joint_state_broadcaster'] + controller_manager_timeout, + ) + ros_control_spawners = [diff_drive_controller_spawner, joint_state_broadcaster_spawner] + + rosbot_driver = WebotsController( + robot_name='rosbot', + parameters=[ + { + 'robot_description': robot_description_path, + 'use_sim_time': use_sim_time, + 'set_robot_state_publisher': True, + }, + ros2_control_params, + {'components_remappings': links_remappings_file_path} + ], + remappings=[ + ('rosbot_base_controller/cmd_vel_unstamped', '/cmd_vel'), + ('rosbot/laser', '/scan'), + ('rosbot/rl_range', '/range/rl'), + ('rosbot/rr_range', '/range/rr'), + ('rosbot/fl_range', '/range/fl'), + ('rosbot/fr_range', '/range/fr') + ], + ) + + robot_state_publisher = Node( + package='robot_state_publisher', + executable='robot_state_publisher', + output='screen', + parameters=[{ + 'robot_description': '' + }], + ) + + robot_localization_node = Node( + package='robot_localization', + executable='ekf_node', + name='ekf_filter_node', + output='screen', + parameters=[ + ekf_config, + {'use_sim_time': True}, + {'odom0': '/rosbot_base_controller/odom'} + ] + ) + + # Wait for the simulation to be ready to start navigation nodes + waiting_nodes = WaitForControllerConnection( + target_driver=rosbot_driver, + nodes_to_start=ros_control_spawners + ) + + return [ + robot_state_publisher, + rosbot_driver, + waiting_nodes, + robot_localization_node + ] + + +def generate_launch_description(): + package_dir = get_package_share_directory('webots_ros2_husarion') + world = LaunchConfiguration('world') + mode = LaunchConfiguration('mode') + + webots = WebotsLauncher( + world=PathJoinSubstitution([package_dir, 'worlds', world]), + mode=mode, + ros2_supervisor=True + ) + + # The following line is important! + # This event handler respawns the ROS 2 nodes on simulation reset (supervisor process ends). + reset_handler = launch.actions.RegisterEventHandler( + event_handler=launch.event_handlers.OnProcessExit( + target_action=webots._supervisor, + on_exit=get_ros2_nodes, + ) + ) + + return LaunchDescription([ + DeclareLaunchArgument( + 'world', + default_value='rosbot.wbt', + description='Choose one of the world files from `/webots_ros2_husarion/world` directory' + ), + DeclareLaunchArgument( + 'mode', + default_value='realtime', + description='Webots startup mode' + ), + webots, + webots._supervisor, + + # This action will kill all nodes once the Webots simulation has exited + launch.actions.RegisterEventHandler( + event_handler=launch.event_handlers.OnProcessExit( + target_action=webots, + on_exit=[ + launch.actions.UnregisterEventHandler( + event_handler=reset_handler.event_handler + ), + launch.actions.EmitEvent(event=launch.events.Shutdown()) + ], + ) + ), + + # Add the reset event handler + reset_handler + ] + get_ros2_nodes()) diff --git a/webots_ros2_husarion/launch/rosbot_xl_launch.py b/webots_ros2_husarion/launch/rosbot_xl_launch.py new file mode 100644 index 000000000..b19cffb40 --- /dev/null +++ b/webots_ros2_husarion/launch/rosbot_xl_launch.py @@ -0,0 +1,168 @@ +#!/usr/bin/env python + +# Copyright 1996-2023 Cyberbotics Ltd. +# Copyright 2023 Husarion +# +# 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. + +"""Launch Webots ROSbot XL driver.""" + +import os +import launch +from launch.substitutions import LaunchConfiguration +from launch.actions import DeclareLaunchArgument +from launch.substitutions.path_join_substitution import PathJoinSubstitution +from launch import LaunchDescription +from launch_ros.actions import Node +from ament_index_python.packages import get_package_share_directory +from webots_ros2_driver.webots_launcher import WebotsLauncher +from webots_ros2_driver.webots_controller import WebotsController +from webots_ros2_driver.wait_for_controller_connection import WaitForControllerConnection + + +def get_ros2_nodes(*args): + package_dir = get_package_share_directory('webots_ros2_husarion') + robot_description_path = os.path.join(package_dir, 'resource', 'rosbot_webots.urdf') + laser_filter_config = os.path.join(package_dir, 'resource', 'laser_filter.yaml') + ekf_config = os.path.join(package_dir, 'resource', 'ekf.yaml') + links_remappings_file_path = os.path.join(package_dir, 'resource', 'rosbot_links_remappings.yaml') + + ros2_control_params = os.path.join(package_dir, 'resource', 'rosbot_xl_controllers.yaml') + use_sim_time = LaunchConfiguration('use_sim_time', default=True) + + # ROS control spawners + controller_manager_timeout = ['--controller-manager-timeout', '50'] + controller_manager_prefix = 'python.exe' if os.name == 'nt' else '' + diff_drive_controller_spawner = Node( + package='controller_manager', + executable='spawner', + output='screen', + prefix=controller_manager_prefix, + arguments=['rosbot_xl_base_controller'] + controller_manager_timeout, + ) + joint_state_broadcaster_spawner = Node( + package='controller_manager', + executable='spawner', + output='screen', + prefix=controller_manager_prefix, + arguments=['joint_state_broadcaster'] + controller_manager_timeout, + ) + ros_control_spawners = [diff_drive_controller_spawner, joint_state_broadcaster_spawner] + + rosbot_driver = WebotsController( + robot_name='rosbot_xl', + parameters=[ + {'robot_description': robot_description_path, + 'use_sim_time': use_sim_time, + 'set_robot_state_publisher': True}, + ros2_control_params, + {'components_remappings': links_remappings_file_path} + ], + remappings=[ + ('rosbot_xl_base_controller/cmd_vel_unstamped', '/cmd_vel'), + ('rosbot_xl/laser', '/scan') + ] + ) + + robot_state_publisher = Node( + package='robot_state_publisher', + executable='robot_state_publisher', + output='screen', + parameters=[{ + 'robot_description': '' + }], + ) + + robot_localization_node = Node( + package='robot_localization', + executable='ekf_node', + name='ekf_filter_node', + output='screen', + parameters=[ + ekf_config, + {'use_sim_time': True}, + {'odom0': '/rosbot_xl_base_controller/odom'} + ] + ) + + laser_filter_node = Node( + package='laser_filters', + executable='scan_to_scan_filter_chain', + parameters=[laser_filter_config], + ) + + # Wait for the simulation to be ready to start navigation nodes + waiting_nodes = WaitForControllerConnection( + target_driver=rosbot_driver, + nodes_to_start=ros_control_spawners + ) + + return [ + robot_state_publisher, + rosbot_driver, + waiting_nodes, + robot_localization_node, + laser_filter_node + ] + + +def generate_launch_description(): + package_dir = get_package_share_directory('webots_ros2_husarion') + world = LaunchConfiguration('world') + mode = LaunchConfiguration('mode') + + webots = WebotsLauncher( + world=PathJoinSubstitution([package_dir, 'worlds', world]), + mode=mode, + ros2_supervisor=True + ) + + # The following line is important! + # This event handler respawns the ROS 2 nodes on simulation reset (supervisor process ends). + reset_handler = launch.actions.RegisterEventHandler( + event_handler=launch.event_handlers.OnProcessExit( + target_action=webots._supervisor, + on_exit=get_ros2_nodes, + ) + ) + + return LaunchDescription([ + DeclareLaunchArgument( + 'world', + default_value='rosbot_xl.wbt', + description='Choose one of the world files from `/webots_ros2_husarion/world` directory' + ), + DeclareLaunchArgument( + 'mode', + default_value='realtime', + description='Webots startup mode' + ), + webots, + webots._supervisor, + + # This action will kill all nodes once the Webots simulation has exited + launch.actions.RegisterEventHandler( + event_handler=launch.event_handlers.OnProcessExit( + target_action=webots, + on_exit=[ + launch.actions.UnregisterEventHandler( + event_handler=reset_handler.event_handler + ), + launch.actions.EmitEvent(event=launch.events.Shutdown()) + ], + ) + ), + + # Add the reset event handler + reset_handler + ] + get_ros2_nodes()) diff --git a/webots_ros2_husarion/package.xml b/webots_ros2_husarion/package.xml new file mode 100644 index 000000000..bcbd45eaf --- /dev/null +++ b/webots_ros2_husarion/package.xml @@ -0,0 +1,27 @@ + + + + webots_ros2_husarion + 2023.0.4 + Husarion ROSbot 2R and XL robots ROS2 interface for Webots. + + Jakub Delicat + Husarion + Apache License 2.0 + http://wiki.ros.org/webots_ros2 + https://github.com/cyberbotics/webots_ros2 + https://github.com/cyberbotics/webots_ros2/issues + + webots_ros2_driver + webots_ros2_control + diff_drive_controller + joint_state_broadcaster + controller_manager + laser_filters + robot_localization + robot_state_publisher + + + ament_python + + diff --git a/webots_ros2_husarion/resource/ekf.yaml b/webots_ros2_husarion/resource/ekf.yaml new file mode 100644 index 000000000..c0c1959af --- /dev/null +++ b/webots_ros2_husarion/resource/ekf.yaml @@ -0,0 +1,84 @@ +ekf_filter_node: + ros__parameters: + predict_to_current_time: false + frequency: 25.0 + sensor_timeout: 0.06 + two_d_mode: true + print_diagnostics: true + publish_tf: true + + map_frame: map + odom_frame: odom + base_link_frame: base_link + world_frame: odom + + odom0: /dummy_override_in_launch + odom0_config: [false, false, false, # X , Y , Z + false, false, false, # roll , pitch ,yaw + true, true, false, # dX , dY , dZ + false, false, false, # droll , dpitch ,dyaw + false, false, false] # ddX , ddY , ddZ + + odom0_queue_size: 10 + odom0_nodelay: true + odom0_differential: false + odom0_relative: false + + imu0: /imu_broadcaster/imu + imu0_config: [false, false, false, # X , Y , Z + false, false, true, # roll , pitch ,yaw + false, false, false, # dX , dY , dZ + false, false, false, # droll , dpitch ,dyaw + false, false, false] # ddX , ddY , ddZ + imu0_queue_size: 10 + imu0_nodelay: true + imu0_differential: false + imu0_relative: true + imu0_remove_gravitational_acceleration: true + + # [ADVANCED] The process noise covariance matrix can be difficult to tune, and can vary for each application, so it is + # exposed as a configuration parameter. This matrix represents the noise we add to the total error after each + # prediction step. The better the omnidirectional motion model matches your system, the smaller these values can be. + # However, if users find that a given variable is slow to converge, one approach is to increase the + # process_noise_covariance diagonal value for the variable in question, which will cause the filter's predicted error + # to be larger, which will cause the filter to trust the incoming measurement more during correction. The values are + # ordered as x, y, z, roll, pitch, yaw, vx, vy, vz, vroll, vpitch, vyaw, ax, ay, az. Defaults to the matrix below if + # unspecified. + # Note: the specification of covariance matrices can be cumbersome, so all matrix parameters in this package support + # both full specification or specification of only the diagonal values. + process_noise_covariance: [0.05, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.05, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.06, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.03, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.03, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.06, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.025, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.025, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.02, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.015] + + # [ADVANCED] This represents the initial value for the state estimate error covariance matrix. Setting a diagonal + # value (variance) to a large value will result in rapid convergence for initial measurements of the variable in + # question. Users should take care not to use large values for variables that will not be measured directly. The values + # are ordered as x, y, z, roll, pitch, yaw, vx, vy, vz, vroll, vpitch, vyaw, ax, ay, az. Defaults to the matrix below + #if unspecified. + initial_estimate_covariance: [1e-9, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 1e-9, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 1e-9, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 1e-9, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 1e-9, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 1e-9, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-9, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-9, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-9, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-9, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-9, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-9, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-9, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-9, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-9] diff --git a/webots_ros2_husarion/resource/laser_filter.yaml b/webots_ros2_husarion/resource/laser_filter.yaml new file mode 100644 index 000000000..a9de47eb0 --- /dev/null +++ b/webots_ros2_husarion/resource/laser_filter.yaml @@ -0,0 +1,18 @@ +scan_to_scan_filter_chain: + ros__parameters: + filter1: + name: box_filter + type: laser_filters/LaserScanBoxFilter + params: + box_frame: base_link + + max_x: 0.165 + min_x: -0.195 # 0.165 + 0.03 (wifi antenna) + + max_y: 0.145 + min_y: -0.145 + + max_z: 0.5 + min_z: -0.5 + + invert: false # activate to remove all points outside of the box diff --git a/webots_ros2_husarion/resource/rosbot_controllers.yaml b/webots_ros2_husarion/resource/rosbot_controllers.yaml new file mode 100644 index 000000000..01b7d704a --- /dev/null +++ b/webots_ros2_husarion/resource/rosbot_controllers.yaml @@ -0,0 +1,47 @@ +controller_manager: + ros__parameters: + # Adjusted to the Webots step time (32ms) 1s/0.032. + update_rate: 32 # Hz + + joint_state_broadcaster: + type: joint_state_broadcaster/JointStateBroadcaster + rosbot_base_controller: + type: diff_drive_controller/DiffDriveController + +rosbot_base_controller: + ros__parameters: + left_wheel_names: ["fl_wheel_joint", "rl_wheel_joint"] + right_wheel_names: ["fr_wheel_joint", "rr_wheel_joint"] + + wheel_separation: 0.186 + wheel_radius: 0.043 + wheel_separation_multiplier: 1.45 + base_frame_id: "base_link" + odom_frame_id: "odom" + + use_stamped_vel: false + enable_odom_tf: false + pose_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.01] + twist_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.01] + + linear: + x: + has_velocity_limits: true + has_acceleration_limits: true + has_jerk_limits: false + max_velocity: 1.0 # m/s + # min_velocity - When unspecified, -max_velocity is used + max_acceleration: 1.0 # m/s^2 + # min_acceleration - When unspecified, -max_acceleration is used. + max_jerk: 0.0 # m/s^3 + + angular: + z: + has_velocity_limits: true + has_acceleration_limits: true + has_jerk_limits: false + max_velocity: 3.0 # rad/s + # min_velocity - When unspecified, -max_velocity is used + max_acceleration: 4.0 # rad/s^2 + # min_acceleration - When unspecified, -max_acceleration is used. + max_jerk: 0.0 # rad/s^3 diff --git a/webots_ros2_husarion/resource/rosbot_links_remappings.yaml b/webots_ros2_husarion/resource/rosbot_links_remappings.yaml new file mode 100644 index 000000000..671226513 --- /dev/null +++ b/webots_ros2_husarion/resource/rosbot_links_remappings.yaml @@ -0,0 +1,7 @@ +imu: imu_link +cover: cover_link +front left wheel: fl_wheel_link +front right wheel: fr_wheel_link +rear left wheel: rl_wheel_link +rear right wheel: rr_wheel_link +camera: camera_link diff --git a/webots_ros2_husarion/resource/rosbot_webots.urdf b/webots_ros2_husarion/resource/rosbot_webots.urdf new file mode 100644 index 000000000..fb2435dbb --- /dev/null +++ b/webots_ros2_husarion/resource/rosbot_webots.urdf @@ -0,0 +1,42 @@ + + + + + + true + /imu_broadcaster/imu + true + imu_link + imu gyro + imu accelerometer + imu inertial_unit + + + + + + webots_ros2_control::Ros2ControlSystem + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/webots_ros2_husarion/resource/rosbot_xl_controllers.yaml b/webots_ros2_husarion/resource/rosbot_xl_controllers.yaml new file mode 100644 index 000000000..d83015d3f --- /dev/null +++ b/webots_ros2_husarion/resource/rosbot_xl_controllers.yaml @@ -0,0 +1,47 @@ +controller_manager: + ros__parameters: + # Adjusted to the Webots step time (32ms) 1s/0.032. + update_rate: 32 # Hz + + joint_state_broadcaster: + type: joint_state_broadcaster/JointStateBroadcaster + rosbot_xl_base_controller: + type: diff_drive_controller/DiffDriveController + +rosbot_xl_base_controller: + ros__parameters: + left_wheel_names: ["fl_wheel_joint", "rl_wheel_joint"] + right_wheel_names: ["fr_wheel_joint", "rr_wheel_joint"] + + wheel_separation: 0.252 + wheel_radius: 0.048 + wheel_separation_multiplier: 1.3 + base_frame_id: "base_link" + odom_frame_id: "odom" + + use_stamped_vel: false + enable_odom_tf: false + pose_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.01] + twist_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.01] + + linear: + x: + has_velocity_limits: true + has_acceleration_limits: true + has_jerk_limits: false + max_velocity: 1.0 # m/s + # min_velocity - When unspecified, -max_velocity is used + max_acceleration: 1.0 # m/s^2 + # min_acceleration - When unspecified, -max_acceleration is used. + max_jerk: 0.0 # m/s^3 + + angular: + z: + has_velocity_limits: true + has_acceleration_limits: true + has_jerk_limits: false + max_velocity: 3.0 # rad/s + # min_velocity - When unspecified, -max_velocity is used + max_acceleration: 4.0 # rad/s^2 + # min_acceleration - When unspecified, -max_acceleration is used. + max_jerk: 0.0 # rad/s^3 diff --git a/webots_ros2_husarion/resource/webots_ros2_husarion b/webots_ros2_husarion/resource/webots_ros2_husarion new file mode 100644 index 000000000..e69de29bb diff --git a/webots_ros2_husarion/setup.py b/webots_ros2_husarion/setup.py new file mode 100644 index 000000000..8a979629d --- /dev/null +++ b/webots_ros2_husarion/setup.py @@ -0,0 +1,44 @@ +from setuptools import setup + +package_name = 'webots_ros2_husarion' +data_files = [] +data_files.append(('share/ament_index/resource_index/packages', ['resource/' + package_name])) +data_files.append(('share/' + package_name + '/launch', ['launch/rosbot_launch.py'])) +data_files.append(('share/' + package_name + '/launch', ['launch/rosbot_xl_launch.py'])) +data_files.append(('share/' + package_name + '/resource', ['resource/rosbot_controllers.yaml'])) +data_files.append(('share/' + package_name + '/resource', ['resource/rosbot_xl_controllers.yaml'])) +data_files.append(('share/' + package_name + '/resource', ['resource/ekf.yaml'])) +data_files.append(('share/' + package_name + '/resource', ['resource/laser_filter.yaml'])) +data_files.append(('share/' + package_name + '/resource', ['resource/rosbot_webots.urdf'])) +data_files.append(('share/' + package_name + '/resource', ['resource/rosbot_links_remappings.yaml'])) +data_files.append(('share/' + package_name + '/worlds', ['worlds/rosbot.wbt'])) +data_files.append(('share/' + package_name + '/worlds', ['worlds/rosbot_xl.wbt'])) +data_files.append(('share/' + package_name + '/worlds/meshes', ['worlds/meshes/husarion_world.dae'])) +data_files.append(('share/' + package_name, ['package.xml'])) + +setup( + name=package_name, + version='2023.0.4', + packages=[package_name], + data_files=data_files, + install_requires=['setuptools'], + zip_safe=True, + author='Jakub Delicat', + author_email='jakub.delicat@husarion.com', + maintainer='Husarion', + maintainer_email='support@husarion.com', + keywords=['ROS', 'Webots', 'Robot', 'Simulation', 'Examples', 'ROSbot', 'ROSbot 2R', 'ROSbot XL', 'Husarion'], + classifiers=[ + 'Intended Audience :: Developers', + 'License :: OSI Approved :: Apache Software License', + 'Programming Language :: Python', + 'Topic :: Software Development', + ], + description='Husarion ROSbot 2R and XL robots ROS2 interface for Webots.', + license='Apache License 2.0', + tests_require=['pytest'], + entry_points={ + 'console_scripts': [ + ], + }, +) diff --git a/webots_ros2_husarion/webots_ros2_husarion/__init__.py b/webots_ros2_husarion/webots_ros2_husarion/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/webots_ros2_husarion/worlds/meshes/husarion_world.dae b/webots_ros2_husarion/worlds/meshes/husarion_world.dae new file mode 100644 index 000000000..53af9b3d2 --- /dev/null +++ b/webots_ros2_husarion/worlds/meshes/husarion_world.dae @@ -0,0 +1,227 @@ + + + + + Blender User + Blender 3.0.1 + + 2023-06-07T09:38:15 + 2023-06-07T09:38:15 + + Z_UP + + + + + + + + 0 0 0 1 + + + 0.6307572 0.005605392 0.02415763 1 + + + 0.5 + + + 1.45 + + + + + + + + + + + 0 0 0 1 + + + 1 1 1 1 + + + 0.5 + + + 1.45 + + + + + + + + + + + + + + + + + + + + 0.2229616 -0.1985415 -0.001929044 0.2228281 -0.2005132 -0.001929044 0.2224383 -0.2024068 -0.001929044 0.2218106 -0.204204 -0.001929044 0.2209631 -0.2058871 -0.001929044 0.2199128 -0.2074381 -0.001929044 0.2186772 -0.2088406 -0.001929044 0.2172753 -0.2100756 -0.001929044 0.2157232 -0.2111257 -0.001929044 0.21404 -0.2119734 -0.001929044 0.2122423 -0.2126005 -0.001929044 0.2103487 -0.2129902 -0.001929044 0.2083764 -0.2131237 -0.001929044 -0.1726075 -0.2131237 -0.001929044 -0.1745792 -0.2129902 -0.001929044 -0.1764734 -0.2126005 -0.001929044 -0.1782705 -0.2119734 -0.001929044 -0.1799544 -0.2111257 -0.001929044 -0.1815059 -0.2100756 -0.001929044 -0.1829084 -0.2088406 -0.001929044 -0.1841434 -0.2074381 -0.001929044 -0.1851942 -0.2058866 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1132 1135 5770 1136 1135 5771 936 1136 5772 1085 1136 5773 1083 1136 5774 1006 1137 5775 1137 1137 5776 1133 1137 5777 937 93 5778 1086 93 5779 1085 93 5780 954 1138 5781 1033 1138 5782 1034 1138 5783 1010 1139 5784 1134 1139 5785 1138 1139 5786 938 93 5787 1087 93 5788 1086 93 5789 953 142 5790 1034 142 5791 1035 142 5792 978 1140 5793 1139 1140 5794 1135 1140 5795 939 1141 5796 1059 1141 5797 1087 1141 5798 952 1142 5799 1035 1142 5800 1036 1142 5801 980 1143 5802 1136 1143 5803 1140 1143 5804 994 1144 5805 1088 1144 5806 1089 1144 5807 955 1145 5808 1037 1145 5809 1033 1145 5810 1007 1146 5811 1141 1146 5812 1137 1146 5813 995 93 5814 1090 93 5815 1088 93 5816 951 1147 5817 1036 1147 5818 1038 1147 5819 1009 1148 5820 1138 1148 5821 1142 1148 5822 966 93 5823 1091 93 5824 1057 93 5825 956 1149 5826 1039 1149 5827 1037 1149 5828 979 144 5829 1140 144 5830 1139 144 5831 993 92 5832 1089 92 5833 1092 92 5834 950 1150 5835 1038 1150 5836 1040 1150 5837 1008 144 5838 1142 144 5839 1141 144 5840 1021 92 5841 1084 92 5842 1093 92 5843 957 975 5844 1041 975 5845 1039 975 5846 992 92 5847 1092 92 5848 1094 92 5849 949 1151 5850 1040 1151 5851 1042 1151 5852 967 1152 5853 1095 1152 5854 1091 1152 5855 958 1153 5856 1043 1153 5857 1041 1153 5858 991 1154 5859 1094 1154 5860 1096 1154 5861 948 1155 5862 1042 1155 5863 1044 1155 5864 996 1156 5865 1097 1156 5866 1090 1156 5867 959 1157 5868 1045 1157 5869 1043 1157 5870 1020 1158 5871 1093 1158 5872 1098 1158 5873 947 1159 5874 1044 1159 5875 1046 1159 5876 968 985 5877 1099 985 5878 1095 985 5879 960 1160 5880 1047 1160 5881 1045 1160 5882 990 987 5883 1096 987 5884 1100 987 5885 946 1161 5886 1046 1161 5887 1048 1161 5888 997 1162 5889 1101 1162 5890 1097 1162 5891 961 1163 5892 1049 1163 5893 1047 1163 5894 1019 987 5895 1098 987 5896 1102 987 5897 945 1164 5898 1048 1164 5899 1050 1164 5900 969 1165 5901 1103 1165 5902 1099 1165 5903 962 1166 5904 1051 1166 5905 1049 1166 5906 989 1167 5907 1100 1167 5908 1104 1167 5909 944 1168 5910 1050 1168 5911 1052 1168 5912 998 1169 5913 1105 1169 5914 1101 1169 5915 963 1170 5916 1053 1170 5917 1051 1170 5918 1018 1171 5919 1102 1171 5920 1106 1171 5921 943 1172 5922 1052 1172 5923 1054 1172 5924 970 1173 5925 1107 1173 5926 1103 1173 5927 964 1174 5928 1055 1174 5929 1053 1174 5930 988 1007 5931 1104 1007 5932 1108 1007 5933 942 1175 5934 1054 1175 5935 1056 1175 5936 999 1176 5937 1109 1176 5938 1105 1176 5939 965 1177 5940 1057 1177 5941 1055 1177 5942 1017 1178 5943 1106 1178 5944 1110 1178 5945 941 1179 5946 1056 1179 5947 1058 1179 5948 971 1180 5949 1111 1180 5950 1107 1180 5951 940 92 5952 1058 92 5953 1059 92 5954 987 1010 5955 1108 1010 5956 1112 1010 5957 925 1181 5958 1060 1181 5959 1061 1181 5960 1000 1182 5961 1113 1182 5962 1109 1182 5963 924 142 5964 1061 142 5965 1062 142 5966 1016 1013 5967 1110 1013 5968 1114 1013 5969 923 1183 5970 1062 1183 5971 1063 1183 5972 972 1184 5973 1115 1184 5974 1111 1184 5975 1032 1185 5976 1063 1185 5977 1064 1185 5978 986 1186 5979 1112 1186 5980 1116 1186 5981 926 1187 5982 1065 1187 5983 1060 1187 5984 1001 1188 5985 1117 1188 5986 1113 1188 5987 1031 1189 5988 1064 1189 5989 1066 1189 5990 1015 1190 5991 1114 1190 5992 1118 1190 5993 927 1191 5994 1067 1191 5995 1065 1191 5996 973 1192 5997 1119 1192 5998 1115 1192 5999 1030 1024 6000 1066 1024 6001 1068 1024 6002 985 1193 6003 1116 1193 6004 1120 1193 6005 928 1194 6006 1069 1194 6007 1067 1194 6008 1002 1195 6009 1121 1195 6010 1117 1195 6011 1029 1196 6012 1068 1196 6013 1070 1196 6014 1014 1197 6015 1118 1197 6016 1122 1197 6017 929 1198 6018 1071 1198 6019 1069 1198 6020 974 1199 6021 1123 1199 6022 1119 1199 6023 1028 1200 6024 1070 1200 6025 1072 1200 6026 984 1201 6027 1120 1201 6028 1124 1201 6029 930 1202 6030 1073 1202 6031 1071 1202 6032 1003 1203 6033 1125 1203 6034 1121 1203 6035 1027 1204 6036 1072 1204 6037 1074 1204 6038 1013 1205 6039 1122 1205 6040 1126 1205 6041 931 1206 6042 1075 1206 6043 1073 1206 6044 975 1207 6045 1127 1207 6046 1123 1207 6047 1026 1040 6048 1074 1040 6049 1076 1040 6050

+ + + + + + + + 100 0 0 0 0 100 0 0 0 0 100 0 0 0 0 1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/webots_ros2_husarion/worlds/rosbot.wbt b/webots_ros2_husarion/worlds/rosbot.wbt new file mode 100644 index 000000000..066890bb0 --- /dev/null +++ b/webots_ros2_husarion/worlds/rosbot.wbt @@ -0,0 +1,76 @@ +#VRML_SIM R2023a utf8 + + +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/backgrounds/protos/TexturedBackground.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/floors/protos/Floor.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/appearances/protos/CarpetFibers.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/robots/husarion/rosbot/protos/Rosbot.proto" + +WorldInfo { + info [ + "ROSbot robot (Husarion)." + "The ROSbot with ROS 2 interface." + ] + title "ROSbot" + lineScale 0.15 +} +Viewpoint { + orientation 0.247297 -0.168564 -0.954165 -1.93179 + position 6.40263 -11.291 6.82282 + follow "Rosbot" +} +TexturedBackground { + texture "empty_office" + luminosity 1.6 + skybox FALSE + skyColor [ + 0.5 0.5 0.5 + ] +} +Floor { + translation 1.75 -0.75 0 + size 40 40 + tileSize 1 1 + appearance CarpetFibers { + colorOverride 0.6 0.6 0.6 + } +} + +Solid { + children [ + DEF BORDER Shape { + geometry Mesh { + url "meshes/husarion_world.dae" + materialIndex 0 + } + appearance PBRAppearance { + baseColor 0.6307572 0.005605392 0.02415763 + } + } + DEF LOGO Shape { + geometry Mesh { + url "meshes/husarion_world.dae" + materialIndex 1 + } + appearance PBRAppearance { + baseColor 1 1 1 + } + } + ] + boundingObject Group{ + children[ + USE LOGO + USE BORDER + ] + } +} + + +Rosbot { + name "rosbot" + translation 3 -2 0 + controller "" + controllerArgs [ + "" + ] +} diff --git a/webots_ros2_husarion/worlds/rosbot_xl.wbt b/webots_ros2_husarion/worlds/rosbot_xl.wbt new file mode 100644 index 000000000..d8ee20fa5 --- /dev/null +++ b/webots_ros2_husarion/worlds/rosbot_xl.wbt @@ -0,0 +1,75 @@ +#VRML_SIM R2023a utf8 + + +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/backgrounds/protos/TexturedBackground.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/floors/protos/Floor.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/appearances/protos/CarpetFibers.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/robots/husarion/rosbot_xl/protos/RosbotXl.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/devices/slamtec/protos/RpLidarA2.proto" + +WorldInfo { + info [ + "ROSbot robot (Husarion)." + "The ROSbot avoids obstacles using its distance sensors." + ] + title "ROSbot" + lineScale 0.15 +} +Viewpoint { + orientation 0.247297 -0.168564 -0.954165 -1.93179 + position 6.40263 -11.291 6.82282 + follow "Rosbot" +} +TexturedBackground { + texture "empty_office" + luminosity 1.6 + skybox FALSE + skyColor [ + 0.5 0.5 0.5 + ] +} +Floor { + translation 0 -4.3 0 + size 40 40 + tileSize 1 1 + appearance CarpetFibers { + colorOverride 0.6 0.6 0.6 + } +} +Solid { + children [ + DEF BORDER Shape { + geometry Mesh { + url "meshes/husarion_world.dae" + materialIndex 0 + } + appearance PBRAppearance { + baseColor 0.6307572 0.005605392 0.02415763 + } + } + DEF LOGO Shape { + geometry Mesh { + url "meshes/husarion_world.dae" + materialIndex 1 + } + appearance PBRAppearance { + baseColor 1 1 1 + } + } + ] + boundingObject Group{ + children[ + USE LOGO + USE BORDER + ] + } +} +RosbotXl { + name "rosbot_xl" + translation 3 -2 0 + controller "" + controllerArgs [ + "" + ] + +} diff --git a/webots_ros2_mavic/worlds/mavic_world.wbt b/webots_ros2_mavic/worlds/mavic_world.wbt index 8bd1d2c71..423821423 100644 --- a/webots_ros2_mavic/worlds/mavic_world.wbt +++ b/webots_ros2_mavic/worlds/mavic_world.wbt @@ -1,19 +1,19 @@ #VRML_SIM R2023b utf8 -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/backgrounds/protos/TexturedBackground.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/floors/protos/Floor.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/appearances/protos/SandyGround.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/road/protos/Road.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/appearances/protos/Pavement.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/buildings/protos/Windmill.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/buildings/protos/SmallManor.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/factory/manhole/protos/SquareManhole.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/factory/containers/protos/CardboardBox.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/vehicles/protos/tesla/TeslaModel3Simple.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/trees/protos/Pine.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/trees/protos/Forest.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/robots/dji/mavic/protos/Mavic2Pro.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/backgrounds/protos/TexturedBackground.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/floors/protos/Floor.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/appearances/protos/SandyGround.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/road/protos/Road.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/appearances/protos/Pavement.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/buildings/protos/Windmill.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/buildings/protos/SmallManor.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/factory/manhole/protos/SquareManhole.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/factory/containers/protos/CardboardBox.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/vehicles/protos/tesla/TeslaModel3Simple.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/trees/protos/Pine.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/trees/protos/Forest.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/robots/dji/mavic/protos/Mavic2Pro.proto" WorldInfo { info [ diff --git a/webots_ros2_tesla/worlds/tesla_world.wbt b/webots_ros2_tesla/worlds/tesla_world.wbt index c44e8956f..b53b6e031 100644 --- a/webots_ros2_tesla/worlds/tesla_world.wbt +++ b/webots_ros2_tesla/worlds/tesla_world.wbt @@ -1,47 +1,47 @@ #VRML_SIM R2023b utf8 -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/backgrounds/protos/TexturedBackground.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/road/protos/CurvedRoadSegment.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/road/protos/RoadLine.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/road/protos/StraightRoadSegment.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/road/protos/RoadIntersection.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/traffic/protos/GenericTrafficLight.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/traffic/protos/CrossRoadsTrafficLight.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/buildings/protos/BuildingUnderConstruction.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/buildings/protos/CommercialBuilding.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/buildings/protos/UBuilding.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/buildings/protos/HollowBuilding.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/buildings/protos/Hotel.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/buildings/protos/TheThreeTowers.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/buildings/protos/CyberboticsTower.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/buildings/protos/BigGlassTower.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/buildings/protos/Auditorium.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/buildings/protos/Museum.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/buildings/protos/ResidentialBuilding.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/buildings/protos/FastFoodRestaurant.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/trees/protos/Oak.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/trees/protos/Pine.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/trees/protos/Cypress.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/trees/protos/Sassafras.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/trees/protos/BigSassafras.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/traffic/protos/PedestrianCrossing.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/traffic/protos/CautionSign.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/traffic/protos/CautionPanel.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/traffic/protos/OrderSign.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/traffic/protos/OrderPanel.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/traffic/protos/StopSign.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/traffic/protos/StopPanel.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/traffic/protos/YieldSign.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/traffic/protos/SpeedLimitSign.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/traffic/protos/SpeedLimitPanel.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/traffic/protos/TrafficCone.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/advertising_board/protos/AdvertisingBoard.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/traffic/protos/HighwayPole.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/traffic/protos/HighwaySign.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/obstacles/protos/OilBarrel.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/road/protos/Crossroad.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/vehicles/protos/tesla/TeslaModel3.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/backgrounds/protos/TexturedBackground.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/road/protos/CurvedRoadSegment.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/road/protos/RoadLine.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/road/protos/StraightRoadSegment.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/road/protos/RoadIntersection.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/traffic/protos/GenericTrafficLight.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/traffic/protos/CrossRoadsTrafficLight.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/buildings/protos/BuildingUnderConstruction.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/buildings/protos/CommercialBuilding.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/buildings/protos/UBuilding.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/buildings/protos/HollowBuilding.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/buildings/protos/Hotel.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/buildings/protos/TheThreeTowers.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/buildings/protos/CyberboticsTower.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/buildings/protos/BigGlassTower.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/buildings/protos/Auditorium.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/buildings/protos/Museum.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/buildings/protos/ResidentialBuilding.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/buildings/protos/FastFoodRestaurant.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/trees/protos/Oak.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/trees/protos/Pine.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/trees/protos/Cypress.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/trees/protos/Sassafras.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/trees/protos/BigSassafras.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/traffic/protos/PedestrianCrossing.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/traffic/protos/CautionSign.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/traffic/protos/CautionPanel.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/traffic/protos/OrderSign.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/traffic/protos/OrderPanel.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/traffic/protos/StopSign.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/traffic/protos/StopPanel.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/traffic/protos/YieldSign.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/traffic/protos/SpeedLimitSign.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/traffic/protos/SpeedLimitPanel.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/traffic/protos/TrafficCone.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/advertising_board/protos/AdvertisingBoard.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/traffic/protos/HighwayPole.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/traffic/protos/HighwaySign.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/obstacles/protos/OilBarrel.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/road/protos/Crossroad.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/vehicles/protos/tesla/TeslaModel3.proto" WorldInfo { info [ @@ -95,7 +95,7 @@ DEF GROUND Solid { baseColor 0.8 0.8 0.8 baseColorMap ImageTexture { url [ - "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/vehicles/worlds/textures/ground.jpg" + "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/vehicles/worlds/textures/ground.jpg" ] } roughness 0.5 @@ -245,10 +245,10 @@ RoadIntersection { ] startRoadsNumberOfLanes 4 startRoadsStartLine [ - "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/road/protos/textures/road_line_dashed.png" - "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/road/protos/textures/road_line_dashed.png" - "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/road/protos/textures/road_line_triangle.png" - "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/road/protos/textures/road_line_triangle.png" + "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/road/protos/textures/road_line_dashed.png" + "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/road/protos/textures/road_line_dashed.png" + "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/road/protos/textures/road_line_triangle.png" + "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/road/protos/textures/road_line_triangle.png" ] startRoadsLine [ RoadLine { @@ -348,10 +348,10 @@ RoadIntersection { ] startRoadsNumberOfLanes 4 startRoadsStartLine [ - "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/road/protos/textures/road_line_dashed.png" - "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/road/protos/textures/road_line_dashed.png" - "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/road/protos/textures/road_line_triangle.png" - "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/road/protos/textures/road_line_triangle.png" + "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/road/protos/textures/road_line_dashed.png" + "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/road/protos/textures/road_line_dashed.png" + "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/road/protos/textures/road_line_triangle.png" + "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/road/protos/textures/road_line_triangle.png" ] startRoadsLine [ RoadLine { @@ -858,7 +858,7 @@ CautionSign { CautionPanel { translation 0 -0.17 0 signImage [ - "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/traffic/protos/textures/signs/us/turn_left.jpg" + "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/traffic/protos/textures/signs/us/turn_left.jpg" ] } ] @@ -876,7 +876,7 @@ CautionSign { CautionPanel { translation 0 -0.17 0 signImage [ - "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/traffic/protos/textures/signs/us/bump.jpg" + "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/traffic/protos/textures/signs/us/bump.jpg" ] } ] @@ -889,7 +889,7 @@ CautionSign { CautionPanel { translation 0 -0.17 0 signImage [ - "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/traffic/protos/textures/signs/us/cross_roads.jpg" + "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/traffic/protos/textures/signs/us/cross_roads.jpg" ] } ] @@ -902,7 +902,7 @@ CautionSign { CautionPanel { translation 0 -0.17 0 signImage [ - "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/traffic/protos/textures/signs/us/turn_right.jpg" + "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/traffic/protos/textures/signs/us/turn_right.jpg" ] } ] @@ -924,7 +924,7 @@ OrderSign { OrderPanel { translation 0 -0.175 -0.026 signImage [ - "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/traffic/protos/textures/signs/no_right_turn.jpg" + "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/traffic/protos/textures/signs/no_right_turn.jpg" ] } ] @@ -937,7 +937,7 @@ OrderSign { OrderPanel { translation 0 -0.175 -0.026 signImage [ - "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/traffic/protos/textures/signs/no_pedestrian_crossing.jpg" + "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/traffic/protos/textures/signs/no_pedestrian_crossing.jpg" ] } ] @@ -965,7 +965,7 @@ SpeedLimitSign { SpeedLimitPanel { translation 0 0 -0.023 signImage [ - "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/traffic/protos/textures/signs/us/speed_limit_55.jpg" + "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/traffic/protos/textures/signs/us/speed_limit_55.jpg" ] } ] @@ -978,7 +978,7 @@ SpeedLimitSign { SpeedLimitPanel { translation 0 0 -0.023 signImage [ - "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/traffic/protos/textures/signs/us/speed_limit_55.jpg" + "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/traffic/protos/textures/signs/us/speed_limit_55.jpg" ] } ] @@ -991,7 +991,7 @@ SpeedLimitSign { SpeedLimitPanel { translation 0 0 -0.023 signImage [ - "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/traffic/protos/textures/signs/us/speed_limit_65.jpg" + "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/traffic/protos/textures/signs/us/speed_limit_65.jpg" ] } ] @@ -1004,7 +1004,7 @@ SpeedLimitSign { SpeedLimitPanel { translation 0 0 -0.023 signImage [ - "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/traffic/protos/textures/signs/us/speed_limit_65.jpg" + "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/traffic/protos/textures/signs/us/speed_limit_65.jpg" ] } ] @@ -1017,7 +1017,7 @@ SpeedLimitSign { SpeedLimitPanel { translation 0 0 -0.023 signImage [ - "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/traffic/protos/textures/signs/us/one_way_sign_left.jpg" + "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/traffic/protos/textures/signs/us/one_way_sign_left.jpg" ] } ] @@ -1198,7 +1198,7 @@ HighwayPole { height 4 length 5.5 texture [ - "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/traffic/protos/textures/highway_sign_bayonne.jpg" + "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/traffic/protos/textures/highway_sign_bayonne.jpg" ] } ] @@ -1208,7 +1208,7 @@ HighwayPole { height 2.5 length 3 texture [ - "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/traffic/protos/textures/highway_sign_sebastian.jpg" + "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/traffic/protos/textures/highway_sign_sebastian.jpg" ] } ] diff --git a/webots_ros2_tests/package.xml b/webots_ros2_tests/package.xml index b5ce34557..45d320bd0 100644 --- a/webots_ros2_tests/package.xml +++ b/webots_ros2_tests/package.xml @@ -22,6 +22,7 @@ webots_ros2_tesla webots_ros2_mavic webots_ros2_tiago + webots_ros2_husarion tf2_ros std_msgs sensor_msgs diff --git a/webots_ros2_tests/test/test_system_rosbot.py b/webots_ros2_tests/test/test_system_rosbot.py new file mode 100644 index 000000000..c91bfe543 --- /dev/null +++ b/webots_ros2_tests/test/test_system_rosbot.py @@ -0,0 +1,96 @@ +#!/usr/bin/env python +# Copyright 1996-2023 Cyberbotics Ltd. +# Copyright 2023 Husarion +# +# 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. +"""Test the `webots_ros2_husarion` package.""" +# Launch the test locally: launch_test src/webots_ros2/webots_ros2_tests/test/test_system_rosbot.py +import os +import math +import pytest +import rclpy +from nav_msgs.msg import Odometry +from launch import LaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource +import launch_testing.actions +from launch.actions import IncludeLaunchDescription +from geometry_msgs.msg import Twist +from sensor_msgs.msg import LaserScan +from ament_index_python.packages import get_package_share_directory +from webots_ros2_tests.utils import TestWebots, initialize_webots_test + + +@pytest.mark.rostest +def generate_test_description(): + os.environ["USERNAME"] = "root" + initialize_webots_test() + # If ROS_DISTRO is rolling, skip the test as some required packages are missing (cf. ci_after_init.bash) + if 'ROS_DISTRO' in os.environ and os.environ['ROS_DISTRO'] == 'rolling': + pytest.skip('ROS_DISTRO is rolling, skipping this test') + + rosbot_webots = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(get_package_share_directory( + 'webots_ros2_husarion'), 'launch', 'rosbot_launch.py'), + ) + ) + + return LaunchDescription([ + rosbot_webots, + launch_testing.actions.ReadyToTest(), + ]) + + +class TestROSbot(TestWebots): + @classmethod + def setUpClass(cls): + rclpy.init() + + @classmethod + def tearDownClass(cls): + rclpy.shutdown() + + def setUp(self): + self.__node = rclpy.create_node('driver_tester') + + def testMovement(self): + publisher = self.__node.create_publisher(Twist, '/cmd_vel', 1) + + def on_position_message_received(message): + twist_message = Twist() + twist_message.linear.x = 0.5 + twist_message.angular.z = 0.3 + publisher.publish(twist_message) + + # ROSbot should move in an arc to check the sensor fusion + if message.pose.pose.position.x > 0.5 and message.pose.pose.orientation.w < 0.9: + return True + return False + + self.wait_for_messages(self.__node, Odometry, '/odometry/filtered', condition=on_position_message_received) + + def testScan(self): + def on_scan_message_received(message): + # There should be at least 1 range bigger than 0 and some = 0 + number_of_inf = 0 + number_of_non_zeroes = 0 + for value in message.ranges: + if value == float('inf') or math.isnan(value): + number_of_inf += 1 + elif value > 0.: + number_of_non_zeroes += 1 + return number_of_inf > 0 and number_of_non_zeroes > 0 + self.wait_for_messages(self.__node, LaserScan, '/scan', condition=on_scan_message_received) + + def tearDown(self): + self.__node.destroy_node() diff --git a/webots_ros2_tests/test/test_system_rosbot_xl.py b/webots_ros2_tests/test/test_system_rosbot_xl.py new file mode 100644 index 000000000..c24f35d48 --- /dev/null +++ b/webots_ros2_tests/test/test_system_rosbot_xl.py @@ -0,0 +1,101 @@ +#!/usr/bin/env python + +# Copyright 1996-2023 Cyberbotics Ltd. +# Copyright 2023 Husarion +# +# 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. + +"""Test the `webots_ros2_husarion` package.""" + +# Launch the test locally: launch_test src/webots_ros2/webots_ros2_tests/test/test_system_rosbot_xl.py + +import os +import math +import pytest +import rclpy +from nav_msgs.msg import Odometry +from launch import LaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource +import launch_testing.actions +from launch.actions import IncludeLaunchDescription +from geometry_msgs.msg import Twist +from sensor_msgs.msg import LaserScan +from ament_index_python.packages import get_package_share_directory +from webots_ros2_tests.utils import TestWebots, initialize_webots_test + + +@pytest.mark.rostest +def generate_test_description(): + os.environ["USERNAME"] = "root" + initialize_webots_test() + # If ROS_DISTRO is rolling, skip the test as some required packages are missing (cf. ci_after_init.bash) + if 'ROS_DISTRO' in os.environ and os.environ['ROS_DISTRO'] == 'rolling': + pytest.skip('ROS_DISTRO is rolling, skipping this test') + + rosbot_webots = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(get_package_share_directory('webots_ros2_husarion'), 'launch', 'rosbot_xl_launch.py'), + ) + ) + + return LaunchDescription([ + rosbot_webots, + launch_testing.actions.ReadyToTest(), + ]) + + +class TestROSbotXL(TestWebots): + @classmethod + def setUpClass(cls): + os.environ["USERNAME"] = "root" + rclpy.init() + + @classmethod + def tearDownClass(cls): + rclpy.shutdown() + + def setUp(self): + self.__node = rclpy.create_node('driver_tester') + + def testMovement(self): + publisher = self.__node.create_publisher(Twist, '/cmd_vel', 1) + + def on_position_message_received(message): + twist_message = Twist() + twist_message.linear.x = 0.5 + twist_message.angular.z = 0.3 + publisher.publish(twist_message) + # ROSbot XL should move in an arc to check the sensor fusion + if message.pose.pose.position.x > 0.5 and message.pose.pose.orientation.w < 0.9: + return True + return False + + self.wait_for_messages( + self.__node, Odometry, '/odometry/filtered', condition=on_position_message_received) + + def testScan(self): + def on_scan_message_received(message): + # There should be at least 1 range bigger than 0 and some = 0 + number_of_inf = 0 + number_of_non_zeroes = 0 + for value in message.ranges: + if value == float('inf') or math.isnan(value): + number_of_inf += 1 + elif value > 0.: + number_of_non_zeroes += 1 + return number_of_inf > 0 and number_of_non_zeroes > 0 + + self.wait_for_messages(self.__node, LaserScan, '/scan_filtered', condition=on_scan_message_received) + + def tearDown(self): + self.__node.destroy_node() diff --git a/webots_ros2_tests/worlds/driver_test.wbt b/webots_ros2_tests/worlds/driver_test.wbt index 40ef7a4d2..6e66ac20c 100644 --- a/webots_ros2_tests/worlds/driver_test.wbt +++ b/webots_ros2_tests/worlds/driver_test.wbt @@ -1,14 +1,14 @@ #VRML_SIM R2023b utf8 -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/backgrounds/protos/TexturedBackground.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/floors/protos/Floor.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/factory/containers/protos/CardboardBox.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/robots/adept/pioneer3/protos/Pioneer3at.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/devices/robotis/protos/RobotisLds01.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/devices/microsoft/protos/Kinect.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/appearances/protos/Plaster.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/appearances/protos/RedBricks.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/backgrounds/protos/TexturedBackground.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/floors/protos/Floor.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/factory/containers/protos/CardboardBox.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/robots/adept/pioneer3/protos/Pioneer3at.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/devices/robotis/protos/RobotisLds01.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/devices/microsoft/protos/Kinect.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/appearances/protos/Plaster.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/appearances/protos/RedBricks.proto" WorldInfo { } diff --git a/webots_ros2_tiago/worlds/default.wbt b/webots_ros2_tiago/worlds/default.wbt index 05f323246..496cc5458 100644 --- a/webots_ros2_tiago/worlds/default.wbt +++ b/webots_ros2_tiago/worlds/default.wbt @@ -1,27 +1,27 @@ #VRML_SIM R2023b utf8 -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/backgrounds/protos/TexturedBackground.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/floors/protos/Floor.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/appearances/protos/Parquetry.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/lights/protos/CeilingLight.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/apartment_structure/protos/Wall.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/appearances/protos/Roughcast.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/apartment_structure/protos/Window.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/appearances/protos/MattePaint.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/apartment_structure/protos/Door.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/living_room_furniture/protos/Sofa.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/plants/protos/PottedTree.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/cabinet/protos/Cabinet.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/cabinet/protos/CabinetHandle.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/appearances/protos/GlossyPaint.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/solids/protos/SolidBox.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/kitchen/components/protos/Sink.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/tables/protos/Table.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/appearances/protos/VarnishedPine.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/computers/protos/Monitor.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/computers/protos/Keyboard.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/chairs/protos/OfficeChair.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/robots/pal_robotics/tiago_lite/protos/TiagoLite.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/backgrounds/protos/TexturedBackground.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/floors/protos/Floor.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/appearances/protos/Parquetry.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/lights/protos/CeilingLight.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/apartment_structure/protos/Wall.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/appearances/protos/Roughcast.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/apartment_structure/protos/Window.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/appearances/protos/MattePaint.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/apartment_structure/protos/Door.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/living_room_furniture/protos/Sofa.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/plants/protos/PottedTree.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/cabinet/protos/Cabinet.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/cabinet/protos/CabinetHandle.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/appearances/protos/GlossyPaint.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/solids/protos/SolidBox.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/kitchen/components/protos/Sink.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/tables/protos/Table.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/appearances/protos/VarnishedPine.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/computers/protos/Monitor.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/computers/protos/Keyboard.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/chairs/protos/OfficeChair.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/robots/pal_robotics/tiago_lite/protos/TiagoLite.proto" WorldInfo { info [ diff --git a/webots_ros2_tiago/worlds/default_bringup.wbt b/webots_ros2_tiago/worlds/default_bringup.wbt index 2d497a8ac..a7679f45f 100644 --- a/webots_ros2_tiago/worlds/default_bringup.wbt +++ b/webots_ros2_tiago/worlds/default_bringup.wbt @@ -1,27 +1,27 @@ #VRML_SIM R2023b utf8 -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/backgrounds/protos/TexturedBackground.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/floors/protos/Floor.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/appearances/protos/Parquetry.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/lights/protos/CeilingLight.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/apartment_structure/protos/Wall.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/appearances/protos/Roughcast.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/apartment_structure/protos/Window.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/appearances/protos/MattePaint.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/apartment_structure/protos/Door.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/living_room_furniture/protos/Sofa.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/plants/protos/PottedTree.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/cabinet/protos/Cabinet.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/cabinet/protos/CabinetHandle.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/appearances/protos/GlossyPaint.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/solids/protos/SolidBox.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/kitchen/components/protos/Sink.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/tables/protos/Table.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/appearances/protos/VarnishedPine.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/computers/protos/Monitor.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/computers/protos/Keyboard.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/chairs/protos/OfficeChair.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/robots/pal_robotics/tiago/protos/Tiago.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/backgrounds/protos/TexturedBackground.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/floors/protos/Floor.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/appearances/protos/Parquetry.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/lights/protos/CeilingLight.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/apartment_structure/protos/Wall.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/appearances/protos/Roughcast.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/apartment_structure/protos/Window.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/appearances/protos/MattePaint.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/apartment_structure/protos/Door.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/living_room_furniture/protos/Sofa.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/plants/protos/PottedTree.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/cabinet/protos/Cabinet.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/cabinet/protos/CabinetHandle.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/appearances/protos/GlossyPaint.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/solids/protos/SolidBox.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/kitchen/components/protos/Sink.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/tables/protos/Table.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/appearances/protos/VarnishedPine.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/computers/protos/Monitor.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/computers/protos/Keyboard.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/chairs/protos/OfficeChair.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/robots/pal_robotics/tiago/protos/Tiago.proto" WorldInfo { info [ diff --git a/webots_ros2_turtlebot/worlds/turtlebot3_burger_example.wbt b/webots_ros2_turtlebot/worlds/turtlebot3_burger_example.wbt index 02e1d01e6..b4eaab60d 100644 --- a/webots_ros2_turtlebot/worlds/turtlebot3_burger_example.wbt +++ b/webots_ros2_turtlebot/worlds/turtlebot3_burger_example.wbt @@ -1,26 +1,26 @@ #VRML_SIM R2023b utf8 -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/backgrounds/protos/TexturedBackground.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/robots/robotis/turtlebot/protos/TurtleBot3Burger.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/devices/robotis/protos/RobotisLds01.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/plants/protos/PottedTree.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/floors/protos/Floor.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/appearances/protos/CementTiles.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/apartment_structure/protos/Window.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/apartment_structure/protos/Wall.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/appearances/protos/Roughcast.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/apartment_structure/protos/Radiator.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/apartment_structure/protos/Door.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/cabinet/protos/Cabinet.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/factory/containers/protos/CardboardBox.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/kitchen/fridge/protos/Fridge.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/lights/protos/FloorLight.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/living_room_furniture/protos/Sofa.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/living_room_furniture/protos/Armchair.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/paintings/protos/LandscapePainting.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/tables/protos/Table.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/traffic/protos/DirectionPanel.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/plants/protos/BunchOfSunFlowers.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/backgrounds/protos/TexturedBackground.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/robots/robotis/turtlebot/protos/TurtleBot3Burger.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/devices/robotis/protos/RobotisLds01.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/plants/protos/PottedTree.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/floors/protos/Floor.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/appearances/protos/CementTiles.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/apartment_structure/protos/Window.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/apartment_structure/protos/Wall.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/appearances/protos/Roughcast.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/apartment_structure/protos/Radiator.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/apartment_structure/protos/Door.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/cabinet/protos/Cabinet.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/factory/containers/protos/CardboardBox.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/kitchen/fridge/protos/Fridge.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/lights/protos/FloorLight.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/living_room_furniture/protos/Sofa.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/living_room_furniture/protos/Armchair.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/paintings/protos/LandscapePainting.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/tables/protos/Table.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/traffic/protos/DirectionPanel.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/plants/protos/BunchOfSunFlowers.proto" WorldInfo { info [ diff --git a/webots_ros2_universal_robot/worlds/robotic_arms.wbt b/webots_ros2_universal_robot/worlds/robotic_arms.wbt index 9ee7efa9c..252d4a998 100644 --- a/webots_ros2_universal_robot/worlds/robotic_arms.wbt +++ b/webots_ros2_universal_robot/worlds/robotic_arms.wbt @@ -1,42 +1,42 @@ #VRML_SIM R2023b utf8 -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/backgrounds/protos/TexturedBackground.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/floors/protos/Floor.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/appearances/protos/BakelitePlastic.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/apartment_structure/protos/Radiator.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/tables/protos/Desk.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/cabinet/protos/Cabinet.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/appearances/protos/GlossyPaint.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/factory/tools/protos/PlatformCart.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/telephone/protos/OfficeTelephone.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/computers/protos/Monitor.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/computers/protos/Keyboard.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/computers/protos/DesktopComputer.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/factory/containers/protos/CardboardBox.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/factory/fire_extinguisher/protos/FireExtinguisher.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/street_furniture/protos/ElectricalCabinet.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/factory/manhole/protos/SquareManhole.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/factory/pipes/protos/PipeSection.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/appearances/protos/HammeredCopper.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/factory/pipes/protos/LJoint.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/robots/abb/irb/protos/Irb4600-40.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/devices/robotiq/protos/Robotiq3fGripper.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/appearances/protos/RustyMetal.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/factory/conveyors/protos/ConveyorBelt.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/drinks/protos/Can.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/tables/protos/Table.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/appearances/protos/BrushedSteel.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/appearances/protos/OldSteel.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/solids/protos/SolidBox.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/appearances/protos/BrushedAluminium.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/appearances/protos/FormedConcrete.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/appearances/protos/Roughcast.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/appearances/protos/CorrugatedPlates.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/appearances/protos/CorrodedMetal.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/geometries/protos/Extrusion.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/factory/pallet/protos/WoodenPalletStack.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/lights/protos/ConstructionLamp.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/factory/containers/protos/PlasticCrate.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/backgrounds/protos/TexturedBackground.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/floors/protos/Floor.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/appearances/protos/BakelitePlastic.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/apartment_structure/protos/Radiator.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/tables/protos/Desk.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/cabinet/protos/Cabinet.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/appearances/protos/GlossyPaint.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/factory/tools/protos/PlatformCart.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/telephone/protos/OfficeTelephone.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/computers/protos/Monitor.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/computers/protos/Keyboard.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/computers/protos/DesktopComputer.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/factory/containers/protos/CardboardBox.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/factory/fire_extinguisher/protos/FireExtinguisher.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/street_furniture/protos/ElectricalCabinet.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/factory/manhole/protos/SquareManhole.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/factory/pipes/protos/PipeSection.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/appearances/protos/HammeredCopper.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/factory/pipes/protos/LJoint.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/robots/abb/irb/protos/Irb4600-40.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/devices/robotiq/protos/Robotiq3fGripper.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/appearances/protos/RustyMetal.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/factory/conveyors/protos/ConveyorBelt.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/drinks/protos/Can.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/tables/protos/Table.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/appearances/protos/BrushedSteel.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/appearances/protos/OldSteel.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/solids/protos/SolidBox.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/appearances/protos/BrushedAluminium.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/appearances/protos/FormedConcrete.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/appearances/protos/Roughcast.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/appearances/protos/CorrugatedPlates.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/appearances/protos/CorrodedMetal.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/geometries/protos/Extrusion.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/factory/pallet/protos/WoodenPalletStack.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/lights/protos/ConstructionLamp.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/factory/containers/protos/PlasticCrate.proto" WorldInfo { title "ROS2-Webots Armed Robots Demo" diff --git a/webots_ros2_universal_robot/worlds/universal_robot.wbt b/webots_ros2_universal_robot/worlds/universal_robot.wbt index 129ec8b47..c4637298e 100644 --- a/webots_ros2_universal_robot/worlds/universal_robot.wbt +++ b/webots_ros2_universal_robot/worlds/universal_robot.wbt @@ -1,10 +1,10 @@ #VRML_SIM R2023b utf8 -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/backgrounds/protos/TexturedBackground.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/floors/protos/Floor.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/appearances/protos/ThreadMetalPlate.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/solids/protos/SolidBox.proto" -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/appearances/protos/GalvanizedMetal.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/backgrounds/protos/TexturedBackground.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/floors/protos/Floor.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/appearances/protos/ThreadMetalPlate.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/solids/protos/SolidBox.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/appearances/protos/GalvanizedMetal.proto" WorldInfo { info [