Feature/lidar_proto

webots/protos/FlagShip.proto

@@ -0,0 +1,47 @@
+#VRML_SIM R2025a utf8
+
+# 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"
+  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 1440
+              fieldOfView 6.28318530718
+              numberOfLayers 1
+              minRange 0.15
+              maxRange 12
+              defaultFrequency 8
+              minFrequency 5
+              maxFrequency 20
+            }
+          ]
+        }
+      ]
+      name IS name
+      controller "<extern>"
+      synchronization IS synchronization
+    }
+  }
+}

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"

webots/worlds/zumo_with_flag_ship/DcsMinTrack.proto

@@ -0,0 +1,40 @@
+#VRML_SIM R2025a utf8
+
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/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
+  }
+}

webots/worlds/zumo_with_flag_ship/DcsMinimalLidarExample.wbt

@@ -0,0 +1,68 @@
+#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"
+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 "<extern>"
+  supervisor TRUE
+}