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Sync libcontroller develop #745

Merged
merged 4 commits into from
May 12, 2023
Merged

Sync libcontroller develop #745

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503c60d
Sync submodule
May 12, 2023
34b7772
Converted Transform nodes to Pose
omichel May 12, 2023
65d522b
Transform to Pose
omichel May 12, 2023
8bd00db
update occlusion
ygoumaz May 12, 2023
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1 change: 1 addition & 0 deletions webots_ros2_driver/webots/include/controller/c/webots/nodes.h
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Original file line number Diff line number Diff line change
Expand Up @@ -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,
Expand Down
1 change: 1 addition & 0 deletions webots_ros2_driver/webots/include/controller/cpp/webots/Node.hpp
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Expand Up @@ -57,6 +57,7 @@ namespace webots {
PLANE,
POINT_LIGHT,
POINT_SET,
POSE,
SHAPE,
SPHERE,
SPOT_LIGHT,
Expand Down
1 change: 1 addition & 0 deletions webots_ros2_driver/webots/src/controller/c/Controller.def
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Expand Up @@ -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
Expand Down
9 changes: 6 additions & 3 deletions webots_ros2_driver/webots/src/controller/c/node.c
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Expand Up @@ -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
Expand Down Expand Up @@ -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:
Expand Down
2 changes: 1 addition & 1 deletion webots_ros2_driver/webots/src/controller/matlab/mgenerate.py
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Expand Up @@ -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,
Expand Down
24 changes: 12 additions & 12 deletions webots_ros2_tesla/worlds/tesla_world.wbt
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Expand Up @@ -570,7 +570,7 @@ DEF STONES Solid {
children [
DEF STONES_GROUP Group {
children [
Transform {
Pose {
translation -2 -0.6 0
children [
Shape {
Expand All @@ -586,7 +586,7 @@ DEF STONES Solid {
}
]
}
Transform {
Pose {
translation 3.5 -0.3 -0.5
children [
Shape {
Expand All @@ -598,7 +598,7 @@ DEF STONES Solid {
}
]
}
Transform {
Pose {
translation -2 -0.15 -4
children [
Shape {
Expand All @@ -610,7 +610,7 @@ DEF STONES Solid {
}
]
}
Transform {
Pose {
translation 1 0 -6
children [
Shape {
Expand All @@ -622,7 +622,7 @@ DEF STONES Solid {
}
]
}
Transform {
Pose {
translation 0 0.15 -9
children [
Shape {
Expand All @@ -634,7 +634,7 @@ DEF STONES Solid {
}
]
}
Transform {
Pose {
translation 5 0.2 -5.5
children [
Shape {
Expand All @@ -646,7 +646,7 @@ DEF STONES Solid {
}
]
}
Transform {
Pose {
translation 0 0.05 0
children [
Shape {
Expand All @@ -658,7 +658,7 @@ DEF STONES Solid {
}
]
}
Transform {
Pose {
translation -5 0 -10
children [
Shape {
Expand All @@ -670,7 +670,7 @@ DEF STONES Solid {
}
]
}
Transform {
Pose {
translation -6 0.3 -1
children [
Shape {
Expand All @@ -682,7 +682,7 @@ DEF STONES Solid {
}
]
}
Transform {
Pose {
translation 4 0 -13
children [
Shape {
Expand All @@ -694,7 +694,7 @@ DEF STONES Solid {
}
]
}
Transform {
Pose {
translation -1.5 0.4 -13.5
children [
Shape {
Expand Down Expand Up @@ -1444,7 +1444,7 @@ TeslaModel3 {
width 360
height 240
recognition Recognition {
occlusion FALSE
occlusion 0
frameThickness 0
segmentation TRUE
}
Expand Down
10 changes: 5 additions & 5 deletions webots_ros2_universal_robot/worlds/robotic_arms.wbt
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Original file line number Diff line number Diff line change
Expand Up @@ -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 [
Expand All @@ -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 [
Expand All @@ -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 [
Expand All @@ -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 [
Expand All @@ -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 [
Expand Down