From 9975c8236de9ea37d363fb4071092f51582d190a Mon Sep 17 00:00:00 2001 From: jonpg01 Date: Thu, 21 May 2026 13:53:58 +0200 Subject: [PATCH 1/5] Add FlagShip.proto and FlagShip slot --- webots/protos/FlagShip.proto | 45 +++++++++++++++++++++++++++++++ webots/protos/ZumoComSystem.proto | 5 ++++ 2 files changed, 50 insertions(+) create mode 100644 webots/protos/FlagShip.proto diff --git a/webots/protos/FlagShip.proto b/webots/protos/FlagShip.proto new file mode 100644 index 00000000..8105bdaf --- /dev/null +++ b/webots/protos/FlagShip.proto @@ -0,0 +1,45 @@ +#VRML_SIM R2025a utf8 + +PROTO FlagShip [ + field SFString name "FlagShip" + field SFBool synchronization TRUE +] +{ + Slot { + type "FlagShip" + endPoint Robot { + children [ + Transform { + translation 0 0 0.03 + children [ + Shape { + appearance PBRAppearance { + baseColor 0.9 0.15 0.15 + roughness 0.4 + metalness 0 + } + geometry Cylinder { + height 0.01 + radius 0.03 + } + } + Lidar { + name "lidar" + horizontalResolution 360 + fieldOfView 6.28318530718 + numberOfLayers 1 + minRange 0.02 + maxRange 4 + defaultFrequency 8 + minFrequency 5 + maxFrequency 10 + } + ] + } + ] + name IS name + controller "" + synchronization IS synchronization + } + } +} diff --git a/webots/protos/ZumoComSystem.proto b/webots/protos/ZumoComSystem.proto index e57024d9..048e5437 100644 --- a/webots/protos/ZumoComSystem.proto +++ b/webots/protos/ZumoComSystem.proto @@ -5,6 +5,7 @@ PROTO ZumoComSystem [ field SFString name "ZumoComSystem" field SFBool performanceMode FALSE # Use basic blocks for the robot instead of meshes. Increases performance. field SFBool synchronization TRUE # Set to FALSE when used alongside another extern controller. + field SFNode flagshipSlot NULL # Slot for the FlagShip ] { Slot { @@ -54,6 +55,10 @@ PROTO ZumoComSystem [ Compass { name "compass" } + Slot { + type "FlagShip" + endPoint IS flagshipSlot + } ] name IS name description "DroidControlShip" From 2720357c4f264f29d6690892a82feb0e2cf0bdbf Mon Sep 17 00:00:00 2001 From: jonpg01 Date: Thu, 21 May 2026 13:56:10 +0200 Subject: [PATCH 2/5] Add 2 Worlds for Zumo with FlagShip --- .../zumo_with_flag_ship/DcsMinTrack.proto | 40 +++ .../DcsMinimalLidarExample.wbt | 68 +++++ .../worlds/zumo_with_flag_ship/TestWorld.wbt | 237 ++++++++++++++++++ webots/worlds/zumo_with_flag_ship/dcs.png | Bin 0 -> 22900 bytes 4 files changed, 345 insertions(+) create mode 100644 webots/worlds/zumo_with_flag_ship/DcsMinTrack.proto create mode 100644 webots/worlds/zumo_with_flag_ship/DcsMinimalLidarExample.wbt create mode 100644 webots/worlds/zumo_with_flag_ship/TestWorld.wbt create mode 100644 webots/worlds/zumo_with_flag_ship/dcs.png diff --git a/webots/worlds/zumo_with_flag_ship/DcsMinTrack.proto b/webots/worlds/zumo_with_flag_ship/DcsMinTrack.proto new file mode 100644 index 00000000..458b5921 --- /dev/null +++ b/webots/worlds/zumo_with_flag_ship/DcsMinTrack.proto @@ -0,0 +1,40 @@ +#VRML_SIM R2023a utf8 + +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/floors/protos/RectangleArena.proto" + +PROTO DcsMinTrack [ + field SFString contactMaterial "default" # Is `Solid.contactMaterial`. +] +{ + RectangleArena { + contactMaterial IS contactMaterial + floorSize 2 2 + floorTileSize 4 4 + floorAppearance PBRAppearance { + baseColorMap ImageTexture { + url [ + "./dcs.png" + ] + } + roughness 1 + roughnessMap ImageTexture { + url [ + "https://raw.githubusercontent.com/cyberbotics/webots/R2022a/projects/appearances/protos/textures/parquetry/chequered_parquetry_roughness.jpg" + ] + } + metalness 0 + normalMap ImageTexture { + url [ + "https://raw.githubusercontent.com/cyberbotics/webots/R2022a/projects/appearances/protos/textures/parquetry/chequered_parquetry_normal.jpg" + ] + } + occlusionMap ImageTexture { + url [ + "https://raw.githubusercontent.com/cyberbotics/webots/R2022a/projects/appearances/protos/textures/parquetry/chequered_parquetry_occlusion.jpg" + ] + } + } + wallThickness 0.001 + wallHeight 0.05 + } +} \ No newline at end of file diff --git a/webots/worlds/zumo_with_flag_ship/DcsMinimalLidarExample.wbt b/webots/worlds/zumo_with_flag_ship/DcsMinimalLidarExample.wbt new file mode 100644 index 00000000..368ec789 --- /dev/null +++ b/webots/worlds/zumo_with_flag_ship/DcsMinimalLidarExample.wbt @@ -0,0 +1,68 @@ +#VRML_SIM R2023b utf8 + +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/backgrounds/protos/TexturedBackground.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto" +EXTERNPROTO "../../protos/ZumoComSystem.proto" +EXTERNPROTO "../../protos/Zumo32U4.proto" +EXTERNPROTO "../../protos/FlagShip.proto" +EXTERNPROTO "./DcsMinTrack.proto" + +WorldInfo { + info [ + "World for testing DroidControlShip and a standalone native ROS2 LiDAR robot." + ] + title "DCS Demo Track LiDAR Example" + basicTimeStep 8 +} + +Viewpoint { + orientation 0.3787583266277594 0.09714544028170935 -0.9203830145339561 2.677946076660944 + position 1.2569587324159737 0.7945022889765716 1.5111964909293643 +} + +TexturedBackground { +} +TexturedBackgroundLight { +} + +DcsMinTrack { + contactMaterial "cardboard" +} + +Zumo32U4 { + name "Zumo" + performanceMode TRUE + zumoComSystemSlot ZumoComSystem { + name "ZumoComSystem" + performanceMode TRUE + flagshipSlot FlagShip { + name "FlagShip" + } + } +} + +Solid { + name "LidarTarget" + translation 0.6 0.02 0.0 + children [ + Shape { + appearance PBRAppearance { + baseColor 0.1 0.6 0.9 + roughness 0.5 + metalness 0 + } + geometry Box { + size 0.12 0.2 0.12 + } + } + ] + boundingObject Box { + size 0.12 0.2 0.12 + } +} + +Robot { + name "Ros2Supervisor" + controller "" + supervisor TRUE +} \ No newline at end of file diff --git a/webots/worlds/zumo_with_flag_ship/TestWorld.wbt b/webots/worlds/zumo_with_flag_ship/TestWorld.wbt new file mode 100644 index 00000000..a2c75562 --- /dev/null +++ b/webots/worlds/zumo_with_flag_ship/TestWorld.wbt @@ -0,0 +1,237 @@ +#VRML_SIM R2023b utf8 + +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/backgrounds/protos/TexturedBackground.proto" +EXTERNPROTO "../../protos/ZumoComSystem.proto" +EXTERNPROTO "../../protos/Zumo32U4.proto" +EXTERNPROTO "../../protos/FlagShip.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 [ + "Simple Zumo-based simulation with a nested ZumoComSystem and FlagShip lidar robot." + ] + title "ROS2 simulation of the Zumo robot setup" + basicTimeStep 8 +} +Viewpoint { + orientation -0.2878951570967451 -0.16506369377382343 0.9433293992651676 4.177335774513749 + position 9.141595121588473 4.8923306199482335 3.8476210861955575 +} +TexturedBackground { + texture "empty_office" + skybox FALSE +} +Zumo32U4 { + translation 6.36 0 0 + performanceMode TRUE + zumoComSystemSlot ZumoComSystem { + name "ZumoComSystem" + performanceMode TRUE + flagshipSlot FlagShip { + name "FlagShip" + } + } +} + +Robot { + name "Ros2Supervisor" + controller "" + supervisor TRUE +} + +PottedTree { + translation 7 -4 0 + rotation 0 0 1 1.5708 + name "potted tree(5)" +} +PottedTree { + translation 5.8 3.3 0 + rotation 0 0 1 1.5708 + name "potted tree(8)" +} +Floor { + translation 7.5 0 0 + name "floor(1)" + size 5 10 + tileSize 2 2 + appearance CementTiles { + textureTransform TextureTransform { + scale 0.6 0.6 + } + } +} +Window { + translation 6.5 -5.1 0 + rotation 0 0 1 -1.5707953071795862 + name "window(1)" + size 0.2 1 2.4 +} +Wall { + translation 7.5 5.1 0 + rotation 0 0 1 3.14159 + name "wall(5)" + size 5 0.2 2.4 + appearance Roughcast { + textureTransform TextureTransform { + scale 7 2.4 + } + } +} +Wall { + translation 5.5 -5.1 0 + name "wall(7)" + size 1 0.2 2.4 + appearance Roughcast { + textureTransform TextureTransform { + scale 7 2.4 + } + } +} +Wall { + translation 8.5 -5.1 0 + name "wall(10)" + size 3 0.2 2.4 + appearance Roughcast { + textureTransform TextureTransform { + scale 7 2.4 + } + } +} +Wall { + translation 10.1 0 0 + rotation -0.00022772198819084869 0 0.9999999740713477 1.57103 + name "wall(6)" + size 10.4 0.2 2.4 + appearance Roughcast { + textureTransform TextureTransform { + scale 7 2.4 + } + } +} +Wall { + translation 5 2 0 + rotation 0 0.00022681898833087582 0.9999999742765728 -1.570565307179586 + name "wall(2)" + size 6 0.2 2.4 + appearance Roughcast { + textureTransform TextureTransform { + scale 7 2.4 + } + } +} +Wall { + translation 5 -3.5 0 + rotation 0 0.0002268199883307215 0.9999999742763461 -1.570565307179586 + name "wall(1)" + size 3 0.2 2.4 + appearance Roughcast { + textureTransform TextureTransform { + scale 7 2.4 + } + } +} +Radiator { + translation 7.33 4.87 0.38 + rotation 0.0002336949872371335 0 0.9999999726933261 -1.5710253071795863 +} +Door { + translation 5 -1.5 0 + rotation -0.581329088895979 0.5726190875640585 -0.5780690883974646 0.000396075 + position -1.5000000005630203 + wallAppearance Roughcast { + textureTransform TextureTransform { + scale 7 2.4 + } + } + frameAppearance Roughcast { + textureTransform TextureTransform { + scale 1 2.4 + } + } +} +Cabinet { + translation 9.5 -2.5 0 + rotation 0.00011300299708654554 0.00011407199705898447 0.999999987108951 3.14137 +} +CardboardBox { + translation 9.7 4.7 0.3 + rotation -0.577349935856137 0.577349935856137 0.5773509358560258 2.09439 +} +CardboardBox { + translation 9 4.6 0.3 + rotation 0.06500310682387538 0.06496520681989673 -0.995768104533426 -1.5750353071795864 + name "cardboard box(1)" +} +CardboardBox { + translation 9.6 4 0.3 + rotation -0.06496610766674145 -0.06500200767097807 -0.9957681175119917 -1.5750353071795864 + name "cardboard box(2)" +} +CardboardBox { + translation 9.4 4.5 0.9 + rotation -0.06512832729035975 -0.027078811346683294 -0.997509417980808 -2.358005307179586 + name "cardboard box(3)" +} +Fridge { + translation 5.7 4.64 0 + rotation 0.5822796992968663 -0.5748877031142695 0.5748517031328608 -0.0003953071795859131 +} +FloorLight { + translation 8.84 1 0 + name "floor light(1)" + bulbColor 0.26331 0.374105 0.963333 + pointLightColor 0.0350805 0.179232 0.956664 + pointLightIntensity 4 + pointLightCastShadows TRUE +} +Sofa { + translation 9 -0.518 0 + rotation 0.00014495699695408652 0 0.9999999894937345 3.14131 +} +Armchair { + translation 7.62 1.03 0 + rotation 0.00022763298820402747 0 0.999999974091611 -1.5710253071795863 +} +LandscapePainting { + translation 8.5 -4.98 1.2 + rotation -0.00014498499390527302 -0.00014496999390590354 -0.9999999789815259 -1.570515307179586 +} +PottedTree { + translation 9.17 -1.7 0 + rotation 0 0 1 1.5708 +} +PottedTree { + translation 5.6 -4.5 0 + rotation 0 0 1 1.5708 + name "potted tree(3)" +} +Table { + translation 7.7 -0.52 0 + rotation 0 0.00022690898831680196 0.9999999742561552 -1.570565307179586 + size 1.3 0.8 0.5 +} +DirectionPanel { + translation 8 5 1.5 + rotation 0.00010265399783649644 -0.00010265399783649644 0.9999999894621566 1.5708 +} +BunchOfSunFlowers { + translation 7.68 -0.52 0.5 + rotation 0 0 1 1.5708 +} diff --git a/webots/worlds/zumo_with_flag_ship/dcs.png b/webots/worlds/zumo_with_flag_ship/dcs.png new file mode 100644 index 0000000000000000000000000000000000000000..9964b11daaa6c8eddbf60ca666e7ab36cf0bfb5f GIT binary patch literal 22900 zcmeHPjZ;%s7JsN!kf83i)`BS1nQGThY(^9z2`Ua{bgiRHHA@n}jEPeOwAoYwBroa~ zb-RjgSA-T4SEt3cNC?P>fQI7Aa~sH8s}doE;3A1O2@xU*$s>7tA2e&bf5FD1PKOaFcLfy9BM1?#ehSQXjk%Pq*@pG z6r9WuZu;#e1W^}fvJk^+jsUw2Ok-*Eyj5h*LMz;klB#64K$remq*{}pL)=wZw8MQn4d{FW~JvgXw-t>z%4m(oyUHqx*Jl7+jvAJJ%Dlr;|T=e zCmg2u9D2Ft&#If=4+`+XVwTKxL7Rs0(ekC&^8T5bfBSf3+T>4d*oq)+r`H|7hqK7S z7V^=Fs2pv$4rf2NZuhP`z*L-OZW-C{%VrC+aQlY0m1A9q@AUfqyeCg9l}y6AB`vXL z=5@jyrB}Ng_hZf1Ln1n8-&scXs>(1C%6&&B?GVT3Uh&%-O*z_1Mg9kAI+^a7#L?oo z+0v+}H>w-f8p@CQ`;<~sF0uU9MD9(GAZ*d(%M?qo2h>O{kKvtE7FVlKP7J z{y`_^)(!UP;vKDZ4D!1bsy>47F4iC3OVr%FEM8dIt=4pTOPq={Y@o?OxF<`caxg&) z?Jm2)@L^a97I6vhd9Vh|Y^>a^cK?~k+VjM_PumN84+ov~&HHdxQZWKw4y zkJY$V$v;EN2!21k*z$%>Bw9#Z%xrb_W*J0IGR92uHRTpTnsfYeF|*g7-qDNA&yOT= zLA;YZ%yEAu?#!0zwY29#QtuR@IR(xh%XRU}Zsz1Y|81aJeCYDkOxs-=7o&YF%wyi_ z7I*l!t+{b+l|BY_)Zt7+2>{Fw4IFD+{^N7Wx?x`rtxk9#e)=PIi4wR(1E-sr;Cje6 zjJi#zsbm40cxQ`0oQc;IO8xbkEYjUCBkcBizAJZT7Zya)Zev~!h1`aO{Y+Dps1=xo zQ7j7WE4iSKx}zGbJ#)_+nJ)7THAFg%U6wvnZyn3xIvJ{O5^bv0G0K9XAtGj<-RZUa z<}a)o*w=oxr+Z|1NTrQrnSEB&)-+78O;~~BM&l~17nfeCy@`oey3S1%E+`+myE;C@ z*GK^Pfxa*VI~l?=c=!|kX8G z+leDmS#Jj0idwHWHVpN1mZBP!RcifkY|lDnF1JL+Z6_)4kILS^qL#@X-QPb-Eo=LoYQcQ#GACB^uSB46`k9_6RHLs(Z|l+T8{&YRE0% zu?##+cI;1a{nlE-+OY5RH>F~onrAY4$)?U+Pw}a@yIqz%oh1SQsM*|-kZTec2=en& z+sq8@;YG=!DnUV=v3{;IUo$e7n!vWyzGfo&RlwFP{!A17ud$_*x9rQ&WqYRP7j*R} z3V-~^SqDXcLxDfjfI Date: Sun, 21 Jun 2026 14:47:07 +0200 Subject: [PATCH 3/5] Update simulated lidar to be closer to hardware --- webots/protos/FlagShip.proto | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/webots/protos/FlagShip.proto b/webots/protos/FlagShip.proto index 8105bdaf..e8dfa1cf 100644 --- a/webots/protos/FlagShip.proto +++ b/webots/protos/FlagShip.proto @@ -25,14 +25,14 @@ PROTO FlagShip [ } Lidar { name "lidar" - horizontalResolution 360 + horizontalResolution 1440 fieldOfView 6.28318530718 numberOfLayers 1 - minRange 0.02 - maxRange 4 + minRange 0.15 + maxRange 12 defaultFrequency 8 minFrequency 5 - maxFrequency 10 + maxFrequency 20 } ] } From e68e0ef12cf6d393309c50b93aa5e19745fc38d7 Mon Sep 17 00:00:00 2001 From: jonpg01 Date: Fri, 26 Jun 2026 14:07:06 +0200 Subject: [PATCH 4/5] fix: correct FlagShip references and update versions to R2025a --- webots/protos/FlagShip.proto | 2 + webots/protos/ZumoComSystem.proto | 4 +- .../zumo_with_flag_ship/DcsMinTrack.proto | 4 +- .../DcsMinimalLidarExample.wbt | 4 +- .../worlds/zumo_with_flag_ship/TestWorld.wbt | 42 +++++++++---------- 5 files changed, 29 insertions(+), 27 deletions(-) diff --git a/webots/protos/FlagShip.proto b/webots/protos/FlagShip.proto index e8dfa1cf..bc4d0e5c 100644 --- a/webots/protos/FlagShip.proto +++ b/webots/protos/FlagShip.proto @@ -1,5 +1,7 @@ #VRML_SIM R2025a utf8 +# FlagShip is a extension that is mounted on top of the ZumoComSystem (DroidControlShip). +# It provides 360-degree lidar scanning capabilities for the Zumo robot platform. PROTO FlagShip [ field SFString name "FlagShip" field SFBool synchronization TRUE diff --git a/webots/protos/ZumoComSystem.proto b/webots/protos/ZumoComSystem.proto index 048e5437..aadfa4f1 100644 --- a/webots/protos/ZumoComSystem.proto +++ b/webots/protos/ZumoComSystem.proto @@ -5,7 +5,7 @@ PROTO ZumoComSystem [ field SFString name "ZumoComSystem" field SFBool performanceMode FALSE # Use basic blocks for the robot instead of meshes. Increases performance. field SFBool synchronization TRUE # Set to FALSE when used alongside another extern controller. - field SFNode flagshipSlot NULL # Slot for the FlagShip + field SFNode flagShipSlot NULL # Slot for the FlagShip ] { Slot { @@ -57,7 +57,7 @@ PROTO ZumoComSystem [ } Slot { type "FlagShip" - endPoint IS flagshipSlot + endPoint IS flagShipSlot } ] name IS name diff --git a/webots/worlds/zumo_with_flag_ship/DcsMinTrack.proto b/webots/worlds/zumo_with_flag_ship/DcsMinTrack.proto index 458b5921..97724387 100644 --- a/webots/worlds/zumo_with_flag_ship/DcsMinTrack.proto +++ b/webots/worlds/zumo_with_flag_ship/DcsMinTrack.proto @@ -1,6 +1,6 @@ -#VRML_SIM R2023a utf8 +#VRML_SIM R2025a utf8 -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/floors/protos/RectangleArena.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/floors/protos/RectangleArena.proto" PROTO DcsMinTrack [ field SFString contactMaterial "default" # Is `Solid.contactMaterial`. diff --git a/webots/worlds/zumo_with_flag_ship/DcsMinimalLidarExample.wbt b/webots/worlds/zumo_with_flag_ship/DcsMinimalLidarExample.wbt index 368ec789..7166836f 100644 --- a/webots/worlds/zumo_with_flag_ship/DcsMinimalLidarExample.wbt +++ b/webots/worlds/zumo_with_flag_ship/DcsMinimalLidarExample.wbt @@ -1,4 +1,4 @@ -#VRML_SIM R2023b utf8 +#VRML_SIM R2025a utf8 EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/backgrounds/protos/TexturedBackground.proto" EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto" @@ -35,7 +35,7 @@ Zumo32U4 { zumoComSystemSlot ZumoComSystem { name "ZumoComSystem" performanceMode TRUE - flagshipSlot FlagShip { + flagShipSlot FlagShip { name "FlagShip" } } diff --git a/webots/worlds/zumo_with_flag_ship/TestWorld.wbt b/webots/worlds/zumo_with_flag_ship/TestWorld.wbt index a2c75562..87ef204c 100644 --- a/webots/worlds/zumo_with_flag_ship/TestWorld.wbt +++ b/webots/worlds/zumo_with_flag_ship/TestWorld.wbt @@ -1,27 +1,27 @@ -#VRML_SIM R2023b utf8 +#VRML_SIM R2025a utf8 -EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/develop/projects/objects/backgrounds/protos/TexturedBackground.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/backgrounds/protos/TexturedBackground.proto" EXTERNPROTO "../../protos/ZumoComSystem.proto" EXTERNPROTO "../../protos/Zumo32U4.proto" EXTERNPROTO "../../protos/FlagShip.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" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/plants/protos/PottedTree.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/floors/protos/Floor.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/CementTiles.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/apartment_structure/protos/Window.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/apartment_structure/protos/Wall.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/Roughcast.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/apartment_structure/protos/Radiator.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/apartment_structure/protos/Door.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/cabinet/protos/Cabinet.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/factory/containers/protos/CardboardBox.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/kitchen/fridge/protos/Fridge.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/lights/protos/FloorLight.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/living_room_furniture/protos/Sofa.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/living_room_furniture/protos/Armchair.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/paintings/protos/LandscapePainting.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/tables/protos/Table.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/traffic/protos/DirectionPanel.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/plants/protos/BunchOfSunFlowers.proto" WorldInfo { info [ @@ -44,7 +44,7 @@ Zumo32U4 { zumoComSystemSlot ZumoComSystem { name "ZumoComSystem" performanceMode TRUE - flagshipSlot FlagShip { + flagShipSlot FlagShip { name "FlagShip" } } From 02dd6085058aa7dd9cbe292caf08d682cf5c1540 Mon Sep 17 00:00:00 2001 From: Jonas Hochhaus Date: Thu, 2 Jul 2026 08:58:19 +0200 Subject: [PATCH 5/5] Fix Typo Co-authored-by: Stefan --- webots/protos/FlagShip.proto | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/webots/protos/FlagShip.proto b/webots/protos/FlagShip.proto index bc4d0e5c..7f931d58 100644 --- a/webots/protos/FlagShip.proto +++ b/webots/protos/FlagShip.proto @@ -1,6 +1,6 @@ #VRML_SIM R2025a utf8 -# FlagShip is a extension that is mounted on top of the ZumoComSystem (DroidControlShip). +# FlagShip is an extension that is mounted on top of the ZumoComSystem (DroidControlShip). # It provides 360-degree lidar scanning capabilities for the Zumo robot platform. PROTO FlagShip [ field SFString name "FlagShip"