Sync libcontroller develop (#745)

* Sync submodule * Converted Transform nodes to Pose * Transform to Pose * update occlusion --------- Co-authored-by: ad-daniel <[email protected]> Co-authored-by: Olivier Michel <[email protected]> Co-authored-by: Yannick Goumaz <[email protected]>
cyberbotics · May 12, 2023 · 2bd2ac1 · 2bd2ac1
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Showing 7 changed files with 27 additions and 21 deletions.
diff --git a/webots_ros2_driver/webots/include/controller/c/webots/nodes.h b/webots_ros2_driver/webots/include/controller/c/webots/nodes.h
@@ -49,6 +49,7 @@ typedef enum {
   WB_NODE_PLANE,
   WB_NODE_POINT_LIGHT,
   WB_NODE_POINT_SET,
+  WB_NODE_POSE,
   WB_NODE_SHAPE,
   WB_NODE_SPHERE,
   WB_NODE_SPOT_LIGHT,

diff --git a/webots_ros2_driver/webots/include/controller/cpp/webots/Node.hpp b/webots_ros2_driver/webots/include/controller/cpp/webots/Node.hpp
@@ -57,6 +57,7 @@ namespace webots {
       PLANE,
       POINT_LIGHT,
       POINT_SET,
+      POSE,
       SHAPE,
       SPHERE,
       SPOT_LIGHT,

diff --git a/webots_ros2_driver/webots/src/controller/c/Controller.def b/webots_ros2_driver/webots/src/controller/c/Controller.def
@@ -74,6 +74,7 @@ wb_NODE_PBR_APPEARANCE
 wb_NODE_PLANE
 wb_NODE_POINT_LIGHT
 wb_NODE_POINT_SET
+wb_NODE_POSE
 wb_NODE_SHAPE
 wb_NODE_SPHERE
 wb_NODE_SPOT_LIGHT

diff --git a/webots_ros2_driver/webots/src/controller/c/node.c b/webots_ros2_driver/webots/src/controller/c/node.c
@@ -28,9 +28,10 @@ const int wb_NODE_APPEARANCE = WB_NODE_APPEARANCE, wb_NODE_BACKGROUND = WB_NODE_
           wb_NODE_INDEXED_LINE_SET = WB_NODE_INDEXED_LINE_SET, wb_NODE_MATERIAL = WB_NODE_MATERIAL, wb_NODE_MESH = WB_NODE_MESH,
           wb_NODE_MUSCLE = WB_NODE_MUSCLE, wb_NODE_NORMAL = WB_NODE_NORMAL, wb_NODE_PBR_APPEARANCE = WB_NODE_PBR_APPEARANCE,
           wb_NODE_PLANE = WB_NODE_PLANE, wb_NODE_POINT_LIGHT = WB_NODE_POINT_LIGHT, wb_NODE_POINT_SET = WB_NODE_POINT_SET,
-          wb_NODE_SHAPE = WB_NODE_SHAPE, wb_NODE_SPHERE = WB_NODE_SPHERE, wb_NODE_SPOT_LIGHT = WB_NODE_SPOT_LIGHT,
-          wb_NODE_TEXTURE_COORDINATE = WB_NODE_TEXTURE_COORDINATE, wb_NODE_TEXTURE_TRANSFORM = WB_NODE_TEXTURE_TRANSFORM,
-          wb_NODE_TRANSFORM = WB_NODE_TRANSFORM, wb_NODE_VIEWPOINT = WB_NODE_VIEWPOINT;
+          wb_NODE_POSE = WB_NODE_POSE, wb_NODE_SHAPE = WB_NODE_SHAPE, wb_NODE_SPHERE = WB_NODE_SPHERE,
+          wb_NODE_SPOT_LIGHT = WB_NODE_SPOT_LIGHT, wb_NODE_TEXTURE_COORDINATE = WB_NODE_TEXTURE_COORDINATE,
+          wb_NODE_TEXTURE_TRANSFORM = WB_NODE_TEXTURE_TRANSFORM, wb_NODE_TRANSFORM = WB_NODE_TRANSFORM,
+          wb_NODE_VIEWPOINT = WB_NODE_VIEWPOINT;
 // robots
 int wb_NODE_ROBOT = WB_NODE_ROBOT;
 // devices
@@ -178,6 +179,8 @@ const char *wb_node_get_name(WbNodeType t) {
       return "PointSet";
     case WB_NODE_POSITION_SENSOR:
       return "PositionSensor";
+    case WB_NODE_POSE:
+      return "Pose";
     case WB_NODE_PROPELLER:
       return "Propeller";
     case WB_NODE_RADAR:

diff --git a/webots_ros2_driver/webots/src/controller/matlab/mgenerate.py b/webots_ros2_driver/webots/src/controller/matlab/mgenerate.py
@@ -698,7 +698,7 @@ def main(args=None):
         WB_NODE_CYLINDER, WB_NODE_DIRECTIONAL_LIGHT, WB_NODE_ELEVATION_GRID,
         WB_NODE_FOG, WB_NODE_GROUP, WB_NODE_IMAGE_TEXTURE, WB_NODE_INDEXED_FACE_SET,
         WB_NODE_INDEXED_LINE_SET, WB_NODE_MATERIAL, WB_NODE_MESH, WB_NODE_MUSCLE, WB_NODE_NORMAL,
-        WB_NODE_PBR_APPEARANCE, WB_NODE_PLANE, WB_NODE_POINT_LIGHT, WB_NODE_POINT_SET, WB_NODE_SHAPE,
+        WB_NODE_PBR_APPEARANCE, WB_NODE_PLANE, WB_NODE_POINT_LIGHT, WB_NODE_POINT_SET, WB_NODE_POSE, WB_NODE_SHAPE,
         WB_NODE_SPHERE, WB_NODE_SPOT_LIGHT, WB_NODE_TEXTURE_COORDINATE,
         WB_NODE_TEXTURE_TRANSFORM, WB_NODE_TRANSFORM, WB_NODE_VIEWPOINT,
         WB_NODE_ROBOT,

diff --git a/webots_ros2_tesla/worlds/tesla_world.wbt b/webots_ros2_tesla/worlds/tesla_world.wbt
@@ -570,7 +570,7 @@ DEF STONES Solid {
   children [
     DEF STONES_GROUP Group {
       children [
-        Transform {
+        Pose {
           translation -2 -0.6 0
           children [
             Shape {
@@ -586,7 +586,7 @@ DEF STONES Solid {
             }
           ]
         }
-        Transform {
+        Pose {
           translation 3.5 -0.3 -0.5
           children [
             Shape {
@@ -598,7 +598,7 @@ DEF STONES Solid {
             }
           ]
         }
-        Transform {
+        Pose {
           translation -2 -0.15 -4
           children [
             Shape {
@@ -610,7 +610,7 @@ DEF STONES Solid {
             }
           ]
         }
-        Transform {
+        Pose {
           translation 1 0 -6
           children [
             Shape {
@@ -622,7 +622,7 @@ DEF STONES Solid {
             }
           ]
         }
-        Transform {
+        Pose {
           translation 0 0.15 -9
           children [
             Shape {
@@ -634,7 +634,7 @@ DEF STONES Solid {
             }
           ]
         }
-        Transform {
+        Pose {
           translation 5 0.2 -5.5
           children [
             Shape {
@@ -646,7 +646,7 @@ DEF STONES Solid {
             }
           ]
         }
-        Transform {
+        Pose {
           translation 0 0.05 0
           children [
             Shape {
@@ -658,7 +658,7 @@ DEF STONES Solid {
             }
           ]
         }
-        Transform {
+        Pose {
           translation -5 0 -10
           children [
             Shape {
@@ -670,7 +670,7 @@ DEF STONES Solid {
             }
           ]
         }
-        Transform {
+        Pose {
           translation -6 0.3 -1
           children [
             Shape {
@@ -682,7 +682,7 @@ DEF STONES Solid {
             }
           ]
         }
-        Transform {
+        Pose {
           translation 4 0 -13
           children [
             Shape {
@@ -694,7 +694,7 @@ DEF STONES Solid {
             }
           ]
         }
-        Transform {
+        Pose {
           translation -1.5 0.4 -13.5
           children [
             Shape {
@@ -1444,7 +1444,7 @@ TeslaModel3 {
       width 360
       height 240
       recognition Recognition {
-        occlusion FALSE
+        occlusion 0
         frameThickness 0
         segmentation TRUE
       }

diff --git a/webots_ros2_universal_robot/worlds/robotic_arms.wbt b/webots_ros2_universal_robot/worlds/robotic_arms.wbt
@@ -254,7 +254,7 @@ SolidBox {
   appearance BrushedAluminium {
   }
 }
-DEF WALL Transform {
+DEF WALL Pose {
   translation 0.79 3.59 1.5
   rotation 1 0 0 1.5707953071795862
   children [
@@ -270,7 +270,7 @@ DEF WALL Transform {
     }
   ]
 }
-DEF WALL Transform {
+DEF WALL Pose {
   translation 0.79 -2.21 1.5
   rotation 0 0.7071062811861719 0.7071072811865696 3.14159
   children [
@@ -286,7 +286,7 @@ DEF WALL Transform {
     }
   ]
 }
-DEF WALL Transform {
+DEF WALL Pose {
   translation 4.89 0.690011 1.5
   rotation -0.5773472691841857 0.5773522691865168 0.5773512691860505 -2.094395307179586
   children [
@@ -302,7 +302,7 @@ DEF WALL Transform {
     }
   ]
 }
-DEF WALL Transform {
+DEF WALL Pose {
   translation -3.31 0.69 1.5
   rotation 0.5773542691822531 0.5773502691803881 0.5773462691785233 2.0944
   children [
@@ -318,7 +318,7 @@ DEF WALL Transform {
     }
   ]
 }
-DEF ROOF Transform {
+DEF ROOF Pose {
   translation 0.79 0.69 3
   rotation 1 0 0 3.14159
   children [
-Original file line number
+Diff line change
@@ Expand Up / @@ -57,6 +57,7 @@ namespace webots { @@
           PLANE,
           POINT_LIGHT,
           POINT_SET,
+          POSE,
           SHAPE,
           SPHERE,
           SPOT_LIGHT,
@@ Expand Down @@