Merge pull request #4050 from cyberbotics/merge-master-into-develop

Merge master into develop

.github/workflows/test_suite_linux.yml

@@ -121,11 +121,14 @@ jobs:
     if: ${{ contains(github.event.pull_request.labels.*.name, 'test ros') || github.event_name == 'schedule' }}
     strategy:
       matrix:
-        os: [ubuntu-18.04]
+        os: [ubuntu-18.04, ubuntu-20.04]
         include:
           - os: ubuntu-18.04
             ROS_DISTRO: melodic
             python: 2.7
+          - os: ubuntu-20.04
+            ROS_DISTRO: noetic
+            python: 3.6
     runs-on: ${{ matrix.os }}
     steps:
     - uses: actions/checkout@v2

.github/workflows/test_suite_linux_develop.yml

@@ -119,11 +119,14 @@ jobs:
     if: ${{ contains(github.event.pull_request.labels.*.name, 'test ros') || github.event_name == 'schedule' }}
     strategy:
       matrix:
-        os: [ubuntu-18.04]
+        os: [ubuntu-18.04, ubuntu-20.04]
         include:
           - os: ubuntu-18.04
             ROS_DISTRO: melodic
             python: 2.7
+          - os: ubuntu-20.04
+            ROS_DISTRO: noetic
+            python: 3.6
     runs-on: ${{ matrix.os }}
     steps:
     - uses: actions/checkout@v2

docs/discord/development-2021.md

@@ -2830,3 +2830,111 @@ Video: [https://www.youtube.com/watch?v=6OxeKOUKwGM](https://www.youtube.com/wat
 ##### Luftwaffel [Moderator] 11/14/2021 19:08:46
 Awesome work!
 
+##### BerkcanBarut 11/26/2021 13:48:01
+Hi guys. Velodyne VLP-16, I am trying to do autonomous driving using this lidar. How do I filter data from lidar? How to visualize lidar data over point cloud? Can you help me ?
+
+## December
+
+##### tenglvjun 12/01/2021 12:37:02
+Hi guys. I create a simply webots  controller for my baby two-wheels car. I add ROS to my project. I set  INCLUDE = -I"/opt/ros/noetic/include" and LIBRARIES = -L"/opt/ros/noetic/lib" -lroscpp -lroslib -lrosconsole -lrostime -lroscpp\_serialization -ltf\_conversions -ltf to the MakeFile. All of the path is correctly. It was complied correctly in my vscode editor, but failed in webots. The error is fatal error: ros/ros.h: No such file or directory.  
+
+Did I miss something?
+
+##### Benjamin Hug [Cyberbotics] 12/01/2021 13:11:23
+`LIBRARIES +=` instead of `LIBRARIES =` might be a solution.
+
+##### tenglvjun 12/01/2021 13:15:53
+I change LIBRARIES += instead of LIBRARIES = . But it still not works. 
+
+
+
+The errors in webots console. 
+
+make: *** [build/release/ros\_node.o] Error 1
+
+make: *** Waiting for unfinished jobs....
+
+In file included from robot\_state.h:22:0,
+
+                 from robot\_state.cpp:1:
+
+ros\_node.h:14:10: fatal error: ros/ros.h: No such file or directory
+
+ #include <ros/ros.h>
+
+          ^~~~~~~~~~~
+
+In file included from robot\_state.h:22:0,
+
+                 from javis\_controller.cpp:7:
+
+ros\_node.h:14:10: fatal error: ros/ros.h: No such file or directory
+
+ #include <ros/ros.h>
+
+          ^~~~~~~~~~~
+
+compilation terminated.
+
+compilation terminated.
+
+/snap/webots/19/usr/share/webots/resources/Makefile.include:544: recipe for target 'build/release/robot\_state.o' failed
+
+/snap/webots/19/usr/share/webots/resources/Makefile.include:544: recipe for target 'build/release/javis\_controller.o' failed
+
+make: *** [build/release/robot\_state.o] Error 1
+
+make: *** [build/release/javis\_controller.o] Error 1
+
+
+
+My controller Makefile
+
+
+
+CXX\_SOURCES = robot\_state.cpp robot\_pose.cpp ros\_node.cpp javis\_controller.cpp
+
+\#\#\#
+
+\#\#\# ---- Compilation options ----
+
+\#\#\# if special compilation flags are necessary:
+
+\#\#\# CFLAGS = -Wno-unused-result
+
+\#\#\#
+
+\#\#\# ---- Linked libraries ----
+
+\#\#\# if your program needs additional libraries:
+
+INCLUDE = -I"/opt/ros/noetic/include"
+
+LIBRARIES += -L"/opt/ros/noetic/lib" -lroscpp -lroslib -lrosconsole -lrostime -lroscpp\_serialization -ltf\_conversions -ltf
+
+##### JoeDerybshire 12/01/2021 13:26:28
+Hiya everyone. I have to make the the abb irp robot arm draw the letter "n"
+
+is there any like tutorial that could explain the general idea of inverse kinematics in ikpy?
+
+
+I didn't find anything in the documentation.
+
+##### DDaniel [Cyberbotics] 12/01/2021 14:09:46
+I don't believe there is a tutorial, but you can look up the sample world: `file > open sample world > inverse_kinematics.wbt`, it's a IRB robot that draws a circle. You can take inspiration from it.
+
+##### Luftwaffel [Moderator] 12/01/2021 19:15:00
+I would recommend going the pyikfast route. ikpy is very slow and flawed. I wrote a a very solid ikfast controller if you have  a solver for your robot
+
+
+what is the exact robot arm you are trying to use?
+
+
+[https://github.com/Simon-Steinmann/webots\_pyikfast\_tutorial](https://github.com/Simon-Steinmann/webots_pyikfast_tutorial)
+
+
+this is the sample, using the irb4600
+
+##### JoeDerybshire 12/02/2021 16:10:21
+I'll check those out, thank you both!
+

docs/discord/documentation.md

@@ -2274,3 +2274,27 @@ No, there is no motion editor (except your favorite text editor 😉 or custom p
 ##### Tosidis 11/24/2021 13:03:39
 Hello, is there a way to change the coordinate system of an object? (e.g. mavic2Pro)
 
+##### sillyfoal 11/28/2021 11:01:34
+Does anybody know how i can access the Documentation, no matter what browser i use the page is blank
+
+
+
+%figure
+![Capture.PNG](https://cdn.discordapp.com/attachments/565155720933146637/914471128947367946/Capture.PNG)
+%end
+
+##### DDaniel [Cyberbotics] 11/28/2021 11:04:16
+Works for me, which page are you trying to access?
+
+##### sillyfoal 11/28/2021 11:05:57
+Just the user guide, any link to the documentation just gives me that blank page
+
+##### DDaniel [Cyberbotics] 11/28/2021 11:09:19
+Odd, I tried with 2 different IPs and different browsers but works for me. Try doing CTRL + F5 to clear the cache
+
+##### sillyfoal 11/28/2021 11:11:46
+I found the problem. I'm using my University's internet connection, and for some reason when using their internet it doesn't work, but on my phone's roaming connection i can access.
+
+##### DDaniel [Cyberbotics] 11/28/2021 11:13:21
+Interesting, can I ask you the country? Should work regardless
+

docs/discord/news.md

@@ -4,11 +4,20 @@ This is an archive of the `news` channel of the [Webots Discord server](https://
 
 ## 2021
 
+##### DrakerDG 12/01/2021 00:03:43
+I am too old 😔
+
+##### emabrey 11/30/2021 23:25:48
+We are a robotics and computer science learning lab located in the U.S.A.  We are seeking an online instructor for our students aged between 13 and 17 to work with Webots in C/C++. Please go here - [https://jobs.stormingrobots.com](https://jobs.stormingrobots.com)  to view the details if interested.
+
+##### Olivier Michel [Cyberbotics] 11/17/2021 15:49:05
+The RoboCup Humanoid League Virtual Season 2021/22 just launched: [https://humanoid.robocup.org/hl-vs2022/hl-vs2022-cfp/](https://humanoid.robocup.org/hl-vs2022/hl-vs2022-cfp/)
+
 ##### DDaniel [Cyberbotics] 11/15/2021 11:21:41
 A new tutorial is available concerning the usage of the Supervisor: it explains how to remove nodes, how to spawn them (both pre-existing and custom ones) as well as how to change parameters like color and location in a programmatic way. Instructions are available for every supported language. You can find it here: [https://cyberbotics.com/doc/guide/tutorial-8-the-supervisor](https://cyberbotics.com/doc/guide/tutorial-8-the-supervisor)
 
 ##### Luftwaffel [Moderator] 11/12/2021 21:09:37
-A paper by DLR (German Aerospace Center), industry partners and Fraunhofer, comparing different robotic simulators (Gazebo, PyBullet, Webots, Mujoco) in the context of Reinforcement Learning. I was deeply involved in the project, so feel free to contact me if you have questions. 
+A paper by DLR (German Aerospace Center), industry partners and Fraunhofer, comparing different robotic simulators (Gazebo, PyBullet, Webots, Mujoco) in the context of Reinforcement Learning. I was deeply involved in the project, so feel free to contact me if you have questions.
 
 paper:
 
@@ -400,7 +409,7 @@ Special Thanks to webots team for their support.
 I'm glad to contribute, there was some missing aspect in the comparison, but still was accepted in a very good conference
 
 ##### Soft\_illusion 11/25/2020 18:28:50
-We are back with the 7th episode of the Webots ROS2 video tutorial series . Video 7: Tutorial on Basics and Advance features of Rviz2 [https://www.youtube.com/watch?v=L9lD4QQJ8Cw](https://www.youtube.com/watch?v=L9lD4QQJ8Cw) Stay tuned for more upcoming interesting episodes.  
+We are back with the 7th episode of the Webots ROS2 video tutorial series . Video 7: Tutorial on Basics and Advance features of Rviz2 [https://www.youtube.com/watch?v=L9lD4QQJ8Cw](https://www.youtube.com/watch?v=L9lD4QQJ8Cw) Stay tuned for more upcoming interesting episodes.
 
 Special Thanks to Webots Team for their guidance. 👏
 

docs/discord/technical-questions-2020.md

@@ -12831,7 +12831,7 @@ You're welcome 🙂
 
 `@David Mansolino` : I tried using `wb_supervisor_node_add_torque(target_node, torqueValues, true);` and I'm getting better results, though the path looks more like a square with rounded arcs for each side.
 
-##### kirito21 05/03/2020 09:08:06
+##### Shadow Reaper 05/03/2020 09:08:06
 Hello everyone
 
 
@@ -12872,7 +12872,7 @@ Link: [https://youtu.be/OS0QByVv1do](https://youtu.be/OS0QByVv1do)
 %end
 
 
-`@kirito21` : The epuck has a attachment point called `groundSensorSlot` in its interface (expand the epuck node in the LHS panel.  You need to add `E-puckGroundSensors` to this node.
+`@Shadow Reaper` : The epuck has a attachment point called `groundSensorSlot` in its interface (expand the epuck node in the LHS panel.  You need to add `E-puckGroundSensors` to this node.
 
 When you change the floor size, your texture is scaled up/down accordingly. You should set the dimensions of your arena and then create the texture with the appropriate line widths.  (floorSize and floorTileSize work together.)
 
@@ -12881,13 +12881,13 @@ You should not change the size of the E-puck.  It will simply look smaller if yo
 
 `@lshil` there could be a number of things going wrong here.  You have to explain more clearly what you are trying to do.
 
-##### kirito21 05/04/2020 03:20:04
+##### Shadow Reaper 05/04/2020 03:20:04
 `@nap`  yup there is an attachment for groundsensor in epuck but I want to add ground sensor in some other robot which I created so how can I do that
 
 ##### nap 05/04/2020 03:21:42
-`@kirito21` : edit the proto of your robot and add the same node that the e-puck proto has.  Then, into that node, add the E-puckGroundSensor.
+`@Shadow Reaper` : edit the proto of your robot and add the same node that the e-puck proto has.  Then, into that node, add the E-puckGroundSensor.
 
-##### kirito21 05/04/2020 03:22:15
+##### Shadow Reaper 05/04/2020 03:22:15
 `@nap` sorry I m not getting how to do
 
 ##### nap 05/04/2020 03:22:30
@@ -12896,7 +12896,7 @@ when  you edit your robot's proto, note that there is a node in the structure un
 
 study the proto for the e-puck and experiment.   You will get it. (I don't have to the time to make an example for you.)
 
-##### kirito21 05/04/2020 03:23:37
+##### Shadow Reaper 05/04/2020 03:23:37
 Sure I will try and let you know
 
 ##### David Mansolino [Cyberbotics] 05/04/2020 05:43:01
@@ -14815,9 +14815,9 @@ Another question, we edited the img files in the thymio2 file to `<i>` files and
 It looks like there might be an error in your Javascript code...
 
 ##### Dobby 05/13/2020 13:18:57
-`@Robin` will send a screenshot now
+`@RobinS` will send a screenshot now
 
-##### Robin 05/13/2020 13:20:12
+##### RobinS 05/13/2020 13:20:12
 
 %figure
 ![unknown.png](https://cdn.discordapp.com/attachments/565154703139405824/710119209903980574/unknown.png)
@@ -15698,7 +15698,7 @@ I'm trying to do as the link, I want to have the supervisor and robot in the sam
 ##### TheOrangeOne 05/19/2020 18:52:17
 Hello! A while back I asked what the recognition orientation is on the camera, and got pointed in the direction of axis angles. I can get values out, but they act strangely. Rotating a cube around the Y axis. Is this just a case of unavoidable gimble lock? I can't imagine it is else the vision API is near useless? Thanks!
 
-##### Ronin52 05/19/2020 18:58:36
+##### Кирилл Шунин 05/19/2020 18:58:36
 Hello everybody! Please help me write a PROTO of a wheel similar to the one in the screenshot. That is, the wheel rotates on an axis, and the axis with the wheel rotates in around the other axis. I couldn't figure out how to do this, so I replaced it with a sphere and a Hinge2Joint, whose anchor is located in the center of the sphere. This gave me the ability to move in two planes, but periodically triggers a warning "WARNING: The current physics step could not be calculated correctly. Your world may be too complex. If this problem persists, try simplifying your bounding object(s), reducing the number of joints, or reducing WorldInfo.basicTimeStep"
 %figure
 ![unknown.png](https://cdn.discordapp.com/attachments/565154703139405824/712378694873907300/unknown.png)
@@ -15748,7 +15748,7 @@ Hello, I wonder if I can export objects in webots to stl files, obj files, 3D st
 
 > Hello everybody! Please help me write a PROTO of a wheel similar to the one in the screenshot. That is, the wheel rotates on an axis, and the axis with the wheel rotates in around the other axis. I couldn't figure out how to do this, so I replaced it with a sphere and a Hinge2Joint, whose anchor is located in the center of the sphere. This gave me the ability to move in two planes, but periodically triggers a warning "WARNING: The current physics step could not be calculated correctly. Your world may be too complex. If this problem persists, try simplifying your bounding object(s), reducing the number of joints, or reducing WorldInfo.basicTimeStep"
 
-`@Ronin52` to simulate this kind of wheel you usually have to use 2 HingeJoint instead of a Hinge2joint, here is an example: 
+`@Кирилл Шунин` to simulate this kind of wheel you usually have to use 2 HingeJoint instead of a Hinge2joint, here is an example: 
 
 ```
 DEF CASTER_WHEEL_FRONT_RIGHT_JOINT HingeJoint {
@@ -15914,14 +15914,14 @@ ok thank you i will work on it
 ##### TheOrangeOne 05/20/2020 09:10:38
 `@David Mansolino` so there's no way to convert the axis angles into a rotation around a specific axis?
 
-##### Ronin52 05/20/2020 09:12:57
+##### Кирилл Шунин 05/20/2020 09:12:57
 > `@David Mansolino` Thank you so much!
 
 ##### David Mansolino [Cyberbotics] 05/20/2020 09:13:05
 This might help you to make some tests: [https://www.andre-gaschler.com/rotationconverter/](https://www.andre-gaschler.com/rotationconverter/)
 
 
-`@Ronin52` You're welcome.
+`@Кирилл Шунин` You're welcome.
 
 ##### Ork 05/20/2020 09:47:35
 Is there a way to teleport a robot ?
@@ -16466,7 +16466,7 @@ The controller can run successfully on my computer, but in my classmate's comput
 ![unknown.png](https://cdn.discordapp.com/attachments/565154703139405824/713695046486196304/unknown.png)
 %end
 
-##### PowerYdRa 05/23/2020 14:15:07
+##### Ardy Seto P 05/23/2020 14:15:07
 anyone know python example code how to read distance sensor on e-puck?
 
 ##### kwy 05/23/2020 14:25:44
@@ -16489,7 +16489,7 @@ for \_ in range(NB\_DIST\_SENS):
         sensor\_values[\_] = ps[\_].getValue()
 
 
-`@PowerYdRa`
+`@Ardy Seto P`
 
 
 and set initial sensor\_values = [0, 0, 0, 0, 0, 0, 0, 0]
@@ -16499,7 +16499,7 @@ and dot forget to enable it before read it..for i in range(NB\_DIST\_SENS):
 
         ps[i].enable(TIME\_STEP)
 
-##### PowerYdRa 05/23/2020 15:54:42
+##### Ardy Seto P 05/23/2020 15:54:42
 ok thanks, will be back here if any issue happen 😄
 
 ##### iagsav 05/23/2020 16:59:25
@@ -16553,7 +16553,7 @@ when i try to use the saveImage method on the camera my image displays weird ver
 
 > anyone know python example code how to read distance sensor on e-puck?
 
-`@PowerYdRa` here are some examples: [https://cyberbotics.com/doc/guide/tutorial-4-more-about-controllers?tab-language=python](https://cyberbotics.com/doc/guide/tutorial-4-more-about-controllers?tab-language=python)
+`@Ardy Seto P` here are some examples: [https://cyberbotics.com/doc/guide/tutorial-4-more-about-controllers?tab-language=python](https://cyberbotics.com/doc/guide/tutorial-4-more-about-controllers?tab-language=python)
 
 
 `@elkelkmuh` exactly like you are doing with the robot, you have to get the DEF name of a node in the foot slot (such as the FSR for example).