diff --git a/.github/workflows/test_suite_linux.yml b/.github/workflows/test_suite_linux.yml index c20dccbec62..cd17e81d651 100644 --- a/.github/workflows/test_suite_linux.yml +++ b/.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 diff --git a/.github/workflows/test_suite_linux_develop.yml b/.github/workflows/test_suite_linux_develop.yml index 86e93392c44..bbd211b9a49 100644 --- a/.github/workflows/test_suite_linux_develop.yml +++ b/.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 diff --git a/docs/discord/development-2021.md b/docs/discord/development-2021.md index 12e08d2f629..3b16d8be838 100644 --- a/docs/discord/development-2021.md +++ b/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 + + ^~~~~~~~~~~ + +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 + + ^~~~~~~~~~~ + +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! + diff --git a/docs/discord/documentation.md b/docs/discord/documentation.md index c496f71f70a..af48b7aad35 100644 --- a/docs/discord/documentation.md +++ b/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 + diff --git a/docs/discord/news.md b/docs/discord/news.md index dc359166e1a..a397b767416 100644 --- a/docs/discord/news.md +++ b/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. 👏 diff --git a/docs/discord/technical-questions-2020.md b/docs/discord/technical-questions-2020.md index 271290a6ca0..6ddf28cc62e 100644 --- a/docs/discord/technical-questions-2020.md +++ b/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 `` 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). diff --git a/docs/discord/technical-questions-2021.md b/docs/discord/technical-questions-2021.md index 0f67fb633dc..b8473a872ef 100644 --- a/docs/discord/technical-questions-2021.md +++ b/docs/discord/technical-questions-2021.md @@ -84,7 +84,7 @@ In order to be paintable, an object should be made up of a Solid node containing ##### Nicolas Y 01/03/2021 16:30:16 `@Luftwaffel` Thanks! I'll try it now 🙂 -##### PowerYdRa 01/04/2021 05:21:22 +##### Ardy Seto P 01/04/2021 05:21:22 hi guys, I am new in webots I build this arena, my question is how to detect robot outside the arena? the idea is I want to make auto-referee for this arena, so which one outside first will be lose @@ -107,7 +107,7 @@ Hi, for your problem the best option would probably be to add a Supervisor node [https://www.cyberbotics.com/doc/reference/supervisor?tab-language=python#wb\_supervisor\_node\_get\_position](https://www.cyberbotics.com/doc/reference/supervisor?tab-language=python#wb_supervisor_node_get_position) -##### PowerYdRa 01/04/2021 07:33:10 +##### Ardy Seto P 01/04/2021 07:33:10 sorry to reply my own question, while waiting the answer from the other, I do some test and the answer is **Supervisor** just add robot node and enable Supervisor in properties and make some program to get the position of the robot @@ -121,7 +121,7 @@ thanks for reply, just test and its very easy to get robot position, many thanks ##### Stefania Pedrazzi [Cyberbotics] 01/04/2021 07:37:07 You're welcome! -##### PowerYdRa 01/04/2021 07:38:02 +##### Ardy Seto P 01/04/2021 07:38:02 the next is, how to make robot falling if outside from the arena any idea how to build proper arena for sumo competition? @@ -132,7 +132,7 @@ any idea how to build proper arena for sumo competition? ##### Stefania Pedrazzi [Cyberbotics] 01/04/2021 07:40:02 Does your robot have Physics enabled? If yes, and if the floor `boundingObject` of your arena corresponds to the graphical round area, then robot should automatically fall once outside. -##### PowerYdRa 01/04/2021 07:40:24 +##### Ardy Seto P 01/04/2021 07:40:24 wait, check it first @@ -141,7 +141,7 @@ this robot is e-puck, so default physics is enable, I think the problem is how I ##### Stefania Pedrazzi [Cyberbotics] 01/04/2021 07:44:05 Yes, a plane in `boundingObject` has infinite size. You could use a Cylinder or a Box instead -##### PowerYdRa 01/04/2021 07:44:32 +##### Ardy Seto P 01/04/2021 07:44:32 ok thanks, will try it and will give report here @@ -151,9 +151,9 @@ wow great, thanks %end ##### Luftwaffel [Moderator] 01/04/2021 08:24:47 -`@PowerYdRa` A very simple way to check for "falling off" is to check the height of the robots. If the robot is below the arena surface, it loses. That's like 3 lines of code 🙂 +`@Ardy Seto P` A very simple way to check for "falling off" is to check the height of the robots. If the robot is below the arena surface, it loses. That's like 3 lines of code 🙂 -##### PowerYdRa 01/04/2021 08:58:07 +##### Ardy Seto P 01/04/2021 08:58:07 yes, thats the idea, but how to show some notification in the arena (not in console) ? any suggestion? ##### Luftwaffel [Moderator] 01/04/2021 09:07:55 @@ -220,15 +220,15 @@ while supervisor.step(timestep) != -1: ` -`@PowerYdRa` this is a little example of a more general approach of the referee. This way it does not matter how many robots you add and what their DEF is. The only thing that matters is, that the supervisor Robot has the DEF "referee" +`@Ardy Seto P` this is a little example of a more general approach of the referee. This way it does not matter how many robots you add and what their DEF is. The only thing that matters is, that the supervisor Robot has the DEF "referee" -##### PowerYdRa 01/04/2021 09:08:52 +##### Ardy Seto P 01/04/2021 09:08:52 wow nice, thanks for the code, will try it ##### Luftwaffel [Moderator] 01/04/2021 09:09:11 let me know if you have questions -##### PowerYdRa 01/04/2021 09:09:24 +##### Ardy Seto P 01/04/2021 09:09:24 okay, thanks for your help ##### Luftwaffel [Moderator] 01/04/2021 09:09:29 @@ -249,13 +249,13 @@ ahhh that's what I was looking for :p ##### Olivier Michel [Cyberbotics] 01/04/2021 09:13:20 Or a Display device (which may be a child of your supervisor Robot): [https://www.cyberbotics.com/doc/reference/display](https://www.cyberbotics.com/doc/reference/display) -##### PowerYdRa 01/04/2021 09:14:55 +##### Ardy Seto P 01/04/2021 09:14:55 noted, thanks for your reply will try it after fix the arena view, its look weird only show white 😆 ##### Luftwaffel [Moderator] 01/04/2021 09:38:20 -`@PowerYdRa` added the display +`@Ardy Seto P` added the display > **Attachment**: [sumo\_referee.py](https://cdn.discordapp.com/attachments/565154703139405824/795586909321560084/sumo_referee.py) @@ -294,7 +294,7 @@ Or you position the location with the anchor, and change the axis value. but thi ##### Master.L 01/04/2021 10:34:14 Thank you `@Luftwaffel`. Thanks to that, the problem was solved. -##### PowerYdRa 01/04/2021 10:53:21 +##### Ardy Seto P 01/04/2021 10:53:21 auto referee for sumo competition > **Attachment**: [sumo\_robot.mp4](https://cdn.discordapp.com/attachments/565154703139405824/795605787815968768/sumo_robot.mp4) @@ -335,7 +335,7 @@ You can find an example in the sample simulation: [https://www.cyberbotics.com/doc/guide/samples-devices#supervisor-wbt](https://www.cyberbotics.com/doc/guide/samples-devices#supervisor-wbt) -##### PowerYdRa 01/04/2021 13:45:59 +##### Ardy Seto P 01/04/2021 13:45:59 can webots save the world with lock mode? I mean object in the world can't be replace, add or remove until we insert some password or passcode? ##### yash 01/04/2021 13:46:05 @@ -353,13 +353,13 @@ can webots save the world with lock mode? I mean object in the world can't be re `@Stefania Pedrazzi` thanks a lot ! -##### PowerYdRa 01/04/2021 13:50:34 +##### Ardy Seto P 01/04/2021 13:50:34 this is because, I want to share the world to student, so they cant change everything except coding the robot only ##### Darko Lukić [Cyberbotics] 01/04/2021 14:02:48 -`@PowerYdRa` Something like that is not possible from Webots. It should be handled by your OS. For example, you can set the world file permissions to read-only mode, so only the administrator can edit it. +`@Ardy Seto P` Something like that is not possible from Webots. It should be handled by your OS. For example, you can set the world file permissions to read-only mode, so only the administrator can edit it. -##### PowerYdRa 01/04/2021 14:04:29 +##### Ardy Seto P 01/04/2021 14:04:29 if I setup server like in this tutorial [https://cyberbotics.com/doc/guide/web-simulation?tab-language=python](https://cyberbotics.com/doc/guide/web-simulation?tab-language=python) can other people do some programming for robot? @@ -370,7 +370,7 @@ Yes, in that case it would be similar to: [https://robotbenchmark.net/](https://robotbenchmark.net/) ##### Luftwaffel [Moderator] 01/04/2021 14:15:39 -`@PowerYdRa` you can have them export their robot as a .wbo file and give you their controller as well +`@Ardy Seto P` you can have them export their robot as a .wbo file and give you their controller as well you can then load them into your world @@ -634,7 +634,7 @@ oh okay, alright let me look into it, thanks ! ##### nelsondmmg 01/05/2021 21:53:51 Could you cite a reference for the differential ratio calculated for the rear wheel of the vehicle? I'm assuming that a similar correction need to be made before applying the acceleration to the wheels of the vehicle, but I cannot find any reference that explains how this differential ratio is calculated. Thanks. -##### PowerYdRa 01/06/2021 00:22:35 +##### Ardy Seto P 01/06/2021 00:22:35 hi guys, I get a problem, just install numpy via pip in terminal, but when call in webots, its give error No Module named 'numpy', how to define library / module installed to webots? @@ -6938,7 +6938,7 @@ Ok thanks a lot ! 🙂 Ok it's working (for a really small basic STL exemple) using the option "using mesh for boundingObject" during the import process -##### Alirashidi 02/22/2021 11:49:02 +##### Myself 02/22/2021 11:49:02 Hi, I just downloaded webots and the UI is really small. @@ -7535,7 +7535,7 @@ what is your realtime factor? ##### Darko Lukić [Cyberbotics] 02/23/2021 16:47:48 `@h.sciascia` As Simon mentioned, you should profile your controller and the physics plugin. The controller is usually cause for the slow simulations. -##### Alirashidi 02/23/2021 16:48:34 +##### Myself 02/23/2021 16:48:34 Hi, just created my robot and I wanted to add a rgbD camera (RFID camera ) But I haven't had any luck finding one. Could you guys help me with that? @@ -7544,7 +7544,7 @@ RgbD is a depth camera ##### Darko Lukić [Cyberbotics] 02/23/2021 16:49:11 You should combine the camera node and the range finder node -##### Alirashidi 02/23/2021 16:49:41 +##### Myself 02/23/2021 16:49:41 Oh OK, will have a look into that @@ -15248,7 +15248,7 @@ while robot.step(timestep) != -1: ##### Yi Zhou 04/26/2021 15:03:55 Thanks. I'll try😀 -##### Abu Haqq 04/26/2021 17:06:15 +##### Abdul Haqq 04/26/2021 17:06:15 Hi there! I'm a student from New Rochelle High School in the Advanced Robotics class. While using WeBots we ran into several glitches which left me and my classmates stumped. Such examples are as followed: The robot itself glitching through the floor, the robot flinging itself while holding the ring, some portion of the robot being left behind while moving up or down on the Z-axis, and the robot falling through the floor even though physics are enabled. Some of these issues were resolved after shutting down and reopening WeBots but later persisted. If you have a fix to these problems please let me know. @@ -15264,7 +15264,7 @@ For now, I am running the web server locally (on the same computer with the cont Hello, my HTML export does not contain labels created via "set\_label" method. Should it be there or is it currently not supported? ##### Luftwaffel [Moderator] 04/26/2021 22:55:08 -`@Abu Haqq` I suggest you fix the warnings that Webots shows you. +`@Abdul Haqq` I suggest you fix the warnings that Webots shows you. ##### Yi Zhou 04/27/2021 06:52:21 Hi, the camera can be enabled, but both color image and depth image cannot show, is it possible because of the kinect camera? @@ -21075,7 +21075,7 @@ how are you editing the controllers? ##### GKiggz 07/04/2021 02:10:42 everything is a downloaded file except for some code I am editing -##### alejoxbg 07/04/2021 02:11:04 +##### Alejandro Naranjo 07/04/2021 02:11:04 are you sure you added the controller to the robot? ##### GKiggz 07/04/2021 02:11:14 @@ -21111,13 +21111,13 @@ seems like some easy but fundamental mistake ##### GKiggz 07/04/2021 02:14:13 okay, thanks -##### alejoxbg 07/04/2021 02:32:26 +##### Alejandro Naranjo 07/04/2021 02:32:26 Does anyone know how to convert the data from the getImage function in python to a Unit 8 format? ##### Luftwaffel [Moderator] 07/04/2021 02:48:38 [https://www.cyberbotics.com/doc/reference/camera#wb\_camera\_get\_image](https://www.cyberbotics.com/doc/reference/camera#wb_camera_get_image) -##### alejoxbg 07/04/2021 02:50:42 +##### Alejandro Naranjo 07/04/2021 02:50:42 here it says that in python it returns a string, but I need to convert it to Unit 8 to publish it in a ROS Topic %figure ![unknown.png](https://cdn.discordapp.com/attachments/565154703139405824/861076526577614848/unknown.png) @@ -21126,19 +21126,19 @@ here it says that in python it returns a string, but I need to convert it to Uni ##### Luftwaffel [Moderator] 07/04/2021 02:51:21 i assume you mean uint8 -##### alejoxbg 07/04/2021 02:51:30 +##### Alejandro Naranjo 07/04/2021 02:51:30 yes ##### Luftwaffel [Moderator] 07/04/2021 02:51:54 camera.getImageArray() would be the best bet probably -##### alejoxbg 07/04/2021 02:52:22 +##### Alejandro Naranjo 07/04/2021 02:52:22 I will try, thanks ##### Luftwaffel [Moderator] 07/04/2021 03:00:44 you might want to use default roscontroller. Publishing every image using python image array will be very slow I think -##### alejoxbg 07/04/2021 03:04:50 +##### Alejandro Naranjo 07/04/2021 03:04:50 I just want to visualize it in rviz ##### Luftwaffel [Moderator] 07/04/2021 03:10:13 @@ -21150,7 +21150,7 @@ look at this it is for ROS2, but the message is the same -##### alejoxbg 07/04/2021 03:14:46 +##### Alejandro Naranjo 07/04/2021 03:14:46 This helps me a lot, thank you @@ -21204,7 +21204,7 @@ but i want the knife <:lul:640814880605208616> ##### DavidF 07/05/2021 13:42:40 Is there any good beginner tutorial for using ROS with Webots? I have only been able to find one for ROS2 -##### alejoxbg 07/05/2021 17:10:17 +##### Alejandro Naranjo 07/05/2021 17:10:17 I haven't found a good tutorial on ROS with Webots but I think the process for using ROS with Webots is very similar to using it with ROS2, you can help yourself with the ROS tutorials on how to create services, publishers, subscribers and packages and follow the ROS2 tutorial from Soft Ilution changing the ROS2 stuff for the ROS stuff. ##### DavidF 07/05/2021 17:12:00 @@ -21213,11 +21213,11 @@ Thanks! I have done that stuff and found the ROS2 tutorial, but I hoped that the ##### amruthraghav 07/05/2021 17:51:14 Hi everyone! I am new to webots and was wondering if there are some good tutorials for webots on python. I did find a few sample codes here and there in the documentation but nothing concrete. Most of the example(sample world) code is in c or c++ as well. I was wondering If anyone could point me to a decent tutorial or GitHub repo with a few sample codes in python. Would highly appreciate! Thanks in advance. -##### alejoxbg 07/05/2021 18:49:00 +##### Alejandro Naranjo 07/05/2021 18:49:00 I think Soft illusion has very good tutorials here is a link to them: [https://www.youtube.com/c/Softillusion/videos](https://www.youtube.com/c/Softillusion/videos) ##### amruthraghav 07/05/2021 18:51:11 -`@alejoxbg` thank you so much for the fast reply! This will help a lot. Have a great day/night ahead. +`@Alejandro Naranjo` thank you so much for the fast reply! This will help a lot. Have a great day/night ahead. ##### Troy 07/05/2021 20:30:22 Hi, in the latest version, the fluid can have force on the solid node, can the force sensor measure the fluid force exerted on the sensor if I submerged the sensor into the fluid and face the sensor towards the waves? I tried with the touch sensor type "force", but the output is always 1. @@ -21252,7 +21252,7 @@ Hey guys, how're you doing? I have a problem with cameras and ROS. I can't enabl ![Captura_de_tela_de_2021-07-06_15-02-50.png](https://cdn.discordapp.com/attachments/565154703139405824/862031579868823582/Captura_de_tela_de_2021-07-06_15-02-50.png) %end -##### alejoxbg 07/06/2021 18:12:15 +##### Alejandro Naranjo 07/06/2021 18:12:15 You can set the sample period when you enable the device @@ -21270,11 +21270,11 @@ I replaced my Webots with the 2021a apt-get package and now I am able to run the ##### scott.nortman 07/06/2021 22:02:04 `@Víctor Ávila` I too am trying to get a camera working with ROS2; do you have any examples you can share? -##### alejoxbg 07/06/2021 22:55:08 +##### Alejandro Naranjo 07/06/2021 22:55:08 I have an example that I recently made with a camera, if you want I can share it with you ##### scott.nortman 07/06/2021 22:58:23 -`@alejoxbg` , yes, that will be great, can you please email me scott.nortman@gmail.com, and thank you!!! +`@Alejandro Naranjo` , yes, that will be great, can you please email me scott.nortman@gmail.com, and thank you!!! ##### KC 07/07/2021 08:24:52 Hi. I'm simulating a game of robot soccer and I'm using ROS through webots\_ros package for the robot controllers. The whole simulation is working fine, just the thing is that I can't reset the simulation once a goal is scored as it would restart the robot and camera services and break the link between ROS nodes and webots. I need to restart all my image processing nodes manually after resetting. @@ -21771,16 +21771,16 @@ I mean I downloaded it from the webpage behind the link provided in this popup m ##### Jfish 07/18/2021 16:39:04 Hi, I am wondering if it is possible to import my Solidworks CAD into webots. Any advice would be much appreciated! -##### alejoxbg 07/19/2021 00:08:24 +##### Alejandro Naranjo 07/19/2021 00:08:24 Is there any way to include a stereo camera in webots? ##### Luftwaffel [Moderator] 07/19/2021 01:17:22 -`@alejoxbg` yes, you simply add two cameras +`@Alejandro Naranjo` yes, you simply add two cameras or you add a depth camera -##### alejoxbg 07/19/2021 01:26:43 +##### Alejandro Naranjo 07/19/2021 01:26:43 but isn't there something implemented to have a stereo view? @@ -21792,13 +21792,13 @@ use a lidar [https://cyberbotics.com/doc/reference/lidar?tab-language=python](https://cyberbotics.com/doc/reference/lidar?tab-language=python) -##### alejoxbg 07/19/2021 01:38:54 +##### Alejandro Naranjo 07/19/2021 01:38:54 I have a zed camera, do you think that with a lidar, 2 cameras and a RangeFinder I could simulate it? ##### Luftwaffel [Moderator] 07/19/2021 01:41:10 [https://cyberbotics.com/doc/reference/rangefinder](https://cyberbotics.com/doc/reference/rangefinder) I think this is what you are looking for -##### alejoxbg 07/19/2021 01:44:35 +##### Alejandro Naranjo 07/19/2021 01:44:35 is it possible to visualize this in rviz as a point cloud? ##### Luftwaffel [Moderator] 07/19/2021 01:45:25 @@ -21807,7 +21807,7 @@ for point cloud you need a lidar. And it is quite slow to get the pointcloud dat The depth image is fast, accurate and very useful -##### alejoxbg 07/19/2021 01:46:00 +##### Alejandro Naranjo 07/19/2021 01:46:00 thanks, I will give it a try ##### SeanLuTW 07/19/2021 05:12:01 @@ -21827,7 +21827,7 @@ The API function to get the Camera Recognition Objects is now returning the `Rec Thanks! For Python, it would be `supervisor.getRoot().getField('children').getMFNode(0).getField('title').getSFString()` ##### DrVoodoo [Moderator] 07/19/2021 07:32:20 -`@alejoxbg` you can get a depth image and then convert to a point cloud +`@Alejandro Naranjo` you can get a depth image and then convert to a point cloud Depth\_image\_proc node @@ -22357,7 +22357,7 @@ i can give my world file if u wish to try too didnt work unfortunately -##### alejoxbg 07/27/2021 02:02:16 +##### Alejandro Naranjo 07/27/2021 02:02:16 I think it's because you're not using any solids module ##### Amer 07/27/2021 02:03:42 @@ -22366,13 +22366,13 @@ i dont think so.. i tried the 4wheeled sample and there are no solid modules in plus the one i sent -##### alejoxbg 07/27/2021 02:05:04 +##### Alejandro Naranjo 07/27/2021 02:05:04 you have already tried to reload the world? ##### Amer 07/27/2021 02:05:15 yeah -##### alejoxbg 07/27/2021 02:06:23 +##### Alejandro Naranjo 07/27/2021 02:06:23 If you create another object, does the same thing happen? ##### Amer 07/27/2021 02:06:34 @@ -22622,7 +22622,7 @@ that is the velocity, not the max velocity ##### Luftwaffel [Moderator] 07/27/2021 22:43:23 maybe just share the project. Simply zip the whole folder and drop it here or in a pm -##### alejoxbg 07/28/2021 03:45:30 +##### Alejandro Naranjo 07/28/2021 03:45:30 Hi, I'm trying to publish a depth image in ros2 but I only get a black image, this is what I'm using to publish it @@ -22684,13 +22684,13 @@ Alternatively, you can run the standard `ros` controller as an external controll 3. If you pause/play and or delete objects on the webots side, the stream also updates accordingly. -##### alejoxbg 07/28/2021 14:27:07 +##### Alejandro Naranjo 07/28/2021 14:27:07 that's exactly what I used, but when I view it in rviz it comes out as a black image. ##### Darko Lukić [Cyberbotics] 07/28/2021 14:30:15 Can you debug it? Does Webots show the image properly? -##### alejoxbg 07/28/2021 14:38:32 +##### Alejandro Naranjo 07/28/2021 14:38:32 %figure ![unknown.png](https://cdn.discordapp.com/attachments/565154703139405824/869951967827488768/unknown.png) @@ -22805,7 +22805,7 @@ In ROS 1 no. In ROS 2 all Lidar sensors publish PointCloud2. ##### nozomi 07/29/2021 13:35:59 Thank you! -##### alejoxbg 07/29/2021 15:04:31 +##### Alejandro Naranjo 07/29/2021 15:04:31 Thank you i found the answer here: [https://github.com/stereolabs/zed-ros-wrapper/issues/397](https://github.com/stereolabs/zed-ros-wrapper/issues/397) ##### Darko Lukić [Cyberbotics] 07/29/2021 15:06:04 @@ -31566,3 +31566,1081 @@ Please upgrade Webots to R2021b-rev1: ##### Shastro 11/24/2021 09:57:14 I see, thank you for this! Trying the nightly build from 4 days ago worked! I had looked through the git issues but I must have missed this one. Thank you! +##### JosjaG 11/24/2021 16:15:55 +Hi everyone, + +I have an issue getting a gripper to work properly in webots, and I was hoping someone could help me in the right direction. + +The gripper has two fingers and one motor, and the two fingers are mechanically coupled. I currently implemented the two fingers as HingeJoints with one coupled motor. In that implementation, sending gripper goals works, but collisions are not handled correctly as the fingers are not mechnically linked. Does anyone know of an example for such a situation to help me in the right direction? + + +I fixed it by heavily increasing the maxTorque of the motor, which feels like a hacky solution so if anyone has any suggestions for a cleaner solution, please let me know! + +##### DDaniel [Cyberbotics] 11/24/2021 17:48:03 +did you take a look at the example world `coupled_motors` under `file > open sample world`, seems to be what you're looking for + +##### DrakerDG 11/25/2021 07:23:10 +Thanks Daniel! Finally I managed to make a robot gripper work, with a parallelogram mechanism, an excellent example, I had already seen it but could not understand it. To be honest it seems like a puzzle. but it contains the concept of motor coupling, physics, relative solids and direction of rotation (multiplier) + + + +> **Attachment**: [DigiArm\_V3\_2.mp4](https://cdn.discordapp.com/attachments/565154703139405824/913329299354947634/DigiArm_V3_2.mp4) + +##### Venkat 11/25/2021 08:11:22 +I am trying to control two different robots and two linear motors sequentially in a project. For each robot and the linear motors, I tried "extern" controllers. For a sequential process execution, I am trying to invoke the controllers from an external bash script, where my intention is to run robots sequentially. For example, robot1->task1; after task1 complete->robot2->task2. But with extern controllers, I dont know how to achieve this, since the "extern" controllers that was invoked doesnt run as the other extern controllers arent invoked. With robot1 performing task1, I want robot2 to be idle and so on. Also I would like to know if I can use supervisor for the whole system, and based on robot names, can I assign the respective task (again seqentially). Thanks. + +##### Sebek 11/25/2021 11:03:45 +Hello everyone, + +I have a question about adding your own source and header files in C programms. I wanted to seperate all used functions that + +I made from main file so the code would be easier to read/use. For example in main.c i have: + +int func1(); + +int func2(); + + + +int main(){ + +\#\# some code + +} + + + +int func1(){ + +\#\# some code + +} + +int func2(){ + +\#\# some code + +} + +And i want to move func1() and func2() to other source files. So + +I made something like this: + +main.c: + +\#include "Functions.h" + +int main(){ + +\#\# some code + +} + + + +Functions.h: + +int func1(); + +int func2(); + + + +Functions.c: + +\#include "Functions.h" + +int func1(){ + +\#\# some code + +} + +int func2(){ + +\#\# some code + +} + +I know that i also have to edit makefile, but after reading documentation i dont understand how exactly. I tried to add C\_SOURCES and external libraries (INCLUDE, LIBRARIES) but it didnt work. I couldnt find any example project in internet to check how its properly done so Im asking here. Can someone explain me and/or show how to do that? Thanks in advance! + +##### ruminus 11/25/2021 15:47:12 +Greetings, + + + +I have a proto with a hinge joint. If I stack several of those together (via endpoints), Webots freezes during "processing nodes" loading step. What's going on? + + + +```PROTO TorqueSensor [ + ... + field SFNode endpoint NULL +] +{ + Solid { + ... + children [ + Transform { # Children transformation + translation 0 0 0 + rotation 0 1 0 0 + children[ + HingeJoint { + jointParameters HingeJointParameters {axis IS axis} + device [ + PositionSensor { + name IS pos_name + } + RotationalMotor { + name IS motor_name + maxVelocity 1e20 + maxTorque 1e20 + } + ] + endPoint IS endpoint + } + ] + } + ] + + name IS name + model "" + description "" + physics Physics{ + density -1 + mass 1 + } + } +} +``` + + + +How it's used. There is also a similar proto with a slider joint - those stack without issues. + + + +```endpoint TorqueSensor{ + axis 1 0 0 + pos_name "TorqueSensorX_pos" + motor_name "TorqueSensorX_motor" + name "torque sensor x" + endpoint TorqueSensor{ + axis 0 0 -1 + pos_name "TorqueSensorY_pos" + motor_name "TorqueSensorY_motor" + name "torque sensor y" + endpoint TorqueSensor{ + axis 0 -1 0 + pos_name "TorqueSensorZ_pos" + motor_name "TorqueSensorZ_motor" + name "torque sensor z" + endpoint IS endpoint + } + } +} +``` + +##### rhl\_k 11/25/2021 19:12:18 +Hello all, im want to add a display device that shows the current position of the robot in the arena, can someone help me with it please? + +##### SeanLuTW 11/26/2021 00:32:37 +Can I directly set the position of a motor to designated value using Supervisor? + +##### [Red Dragons] Mat198 11/26/2021 00:42:36 +Position in space or the motor angle? + +##### SeanLuTW 11/26/2021 00:43:01 +Motor angle + +##### [Red Dragons] Mat198 11/26/2021 00:47:09 +There is no need to use the supervisor + +##### SeanLuTW 11/26/2021 00:52:50 +If using `Motor.setPosition()`, the angle of the motor will rotate to the target angle steply like a real motor, while what I want is to neglect the physics simulation and directly make the angle of the motor to the target value. + +##### [Red Dragons] Mat198 11/26/2021 01:01:42 +Got it. Never did that. My suggestion is to use an solid and just set the orientation with supervisor + +##### brownie 11/26/2021 03:10:57 +hey yall! anyone figure out how to setup webots with m1? I have it installed via homebrew but im unsure where to get python (from the website, from brew) and should i install python in rosetta or ARM + +##### Luftwaffel [Moderator] 11/26/2021 03:11:43 +`@brownie` you should probably use anaconda for python + +##### brownie 11/26/2021 03:19:32 +cool, just trying that now. Playing the simulation with a python controller gives the following dlopen error `dlopen(/Library/Frameworks/Python.framework/Versions/3.8/lib/python3.8/site-packages/matplotlib/_c_internal_utils.cpython-38-darwin.so, 0x0002): tried: '/Users/umar/Developer/School/Robotics/CSCI3302_Lab5/CSCI3302_Lab5/controllers/lab5_controller/_c_internal_utils.cpython-38-darwin.so' (no such file), '/Applications/Webots.app/lib/controller/_c_internal_utils.cpython-38-darwin.so' (no such file), '/Library/Frameworks/Python.framework/Versions/3.8/lib/python3.8/site-packages/matplotlib/_c_internal_utils.cpython-38-darwin.so' (mach-o file, but is an incompatible architecture (have 'arm64', need 'x86_64')), '/usr/lib/_c_internal_utils.cpython-38-darwin.so' (no such file)` + +##### Luftwaffel [Moderator] 11/26/2021 03:22:44 +you gonna have to google / duck that. But it seems like you are trying to use a x86 compiled file under arm or vice versa + +##### brownie 11/26/2021 03:23:37 +yeah so far haven't found anything for it unfortunately. have no clue where its compiled as x86 other than webots itself :( + +##### Luftwaffel [Moderator] 11/26/2021 03:24:17 +I have no experience with arm and macs, but maybe you should run everything in rosetta and x86 + +##### brownie 11/26/2021 03:27:26 +seems like ill have to, thanks! ill keep playing with it + +##### Luftwaffel [Moderator] 11/26/2021 03:28:36 +I have no idea how mac and arm works, but perhaps it is possible to have a linux vm running in macOS, like wsl2 in windows. + +##### brownie 11/26/2021 03:32:02 +that might work, unsure how itll handle the RAM though, if linux can even be VM'ed that well at the moment + +##### Luftwaffel [Moderator] 11/26/2021 03:33:04 +I have no idea. Apple silicon and arm is quite new still, so it will most likely remain a constant struggle when developing for a while + +##### brownie 11/26/2021 03:40:28 +got it to work, use the 2021a release + +##### TurnDownForWhat 11/26/2021 12:02:41 +`@Justin Fisher` Hello! If I've understood correctly, I am having the same issues as you with importing from a different package. Basically, I wanna import a class from a sister folder. In my IDE, it accepts me importing the class, however when I run it in Webots I get a NoModuleFoundError. + +If I list all of my modules in python running on a "normal" terminal, I can find my package in the list of modules (by running "help('modules')"), but when I run it on the controller to get the outputs in the Webots terminal, it doesn't find it there. Anyways, I am trying to use a ini file as you do here, but I don't think I'm using it correct + + +If anyone else would happen to know a solution, that would be great! What I am trying to achieve, is to be able to import "moose\_simpleactions\_generator.py" to my controllers, currently I am trying with this structure, because of this description: [https://cyberbotics.com/doc/guide/controller-programming?tab-language=python#shared-libraries](https://cyberbotics.com/doc/guide/controller-programming?tab-language=python#shared-libraries) +%figure +![unknown.png](https://cdn.discordapp.com/attachments/565154703139405824/913777706716524585/unknown.png) +%end + +##### BerkcanBarut 11/26/2021 13:48:15 +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 ? + +##### onurg57 11/26/2021 14:18:24 +Hi. I'm new at webots and previously, i havent used any robotic simulator before. I wonder how can i do performance test on webots. For example position accuracy of mobile robot or its torque etc? + +##### [Red Dragons] Mat198 11/26/2021 15:22:29 +You need to be more specific about what you wanna do. Are you doing position control of the wheels? To simulate the torque you need to set the friction force related to the ground and the motors parameters. + +##### AP\_LISC 11/27/2021 17:08:17 +I am writing some code to control a robot such that it turns 90 degrees when it sees an obstacle and I noticed that the way the robot rotation angle is represented ( measured clockwise or counter clockwise) seems to be varying at about 180 degrees. Is there a way to force the measurement to be one way or another? + +##### jmarsik 11/27/2021 18:02:28 +What is the best approach to debug Webots hang in a complicated scenario (or maybe it isn't?) - we have a simulation with 2 ROS2 external controllers (each in separate ROS2 Python node), 1 Python3 controller running in Webots. All controllers are running synchronized. The simulation runs ok for a moment and then hangs. Webots are still responsive to UI actions, but the time is stopped. But when we do very extensive logging from the main ROS2 controller (that is actually doing something, the other is just calling `supervisor.step(...)` in a loop) we do not see anything that would mean that the hang is happening in the ROS2 code. It looks like that `robot.step(...)` is called and never returns. + + + +It happens only on my colleague's computer, not on my computer and not on other 2 computers that I have tried. + + + +I see that the `--disable-gpu` option is probably no longer available (to determine if the hang is caused by some problem with rendering). + + + +Would you use `gdb` to look into the ROS2 Python node and see if it is waiting in a libcontroller call? And then `gdb` on Webots itself to see if it is waiting somewhere? + +##### R\_ 11/27/2021 18:40:02 +does Webots have an option that just runs the simulation directly from code without the GUI? For example, pybullet does this: + + + +``` +import pybullet as p +p.connect(p.GUI) +``` + +This opens a window with out any GUI stuff + +##### jmarsik 11/27/2021 19:00:43 +I'm starting to think that it could be related to some timeout happening in the communication between libController (on ROS2 node side) and Webots main process. Is there anything like this in the implementation? I have discovered that when I pause the ROS2 node through GDB and then resume it again after a few minutes, it behaves exactly the same - time in Webots stops, Webots are responsive to UI actions, ROS2 external controller waits in robot.step(...). When I reset the simulation, the ROS2 node is killed and respawns (we have it set that way), normally it would "connect" again to the simulation and everything will start again, but not in this case - again the time is stopped at 0:00:00:000. + + +Hmm, but it does not happen always 😦 + +##### tomiio6 11/28/2021 04:12:38 +Hi guys! Is there a way to pause the simulation by controller code? (just like how we click the pause button) + +##### SeanLuTW 11/28/2021 04:14:30 +wb\_supervisor\_simulation\_set\_mode(WB\_SUPERVISOR\_SIMULATION\_MODE\_PAUSE) + +##### tomiio6 11/28/2021 04:18:01 +Thanks 😁 + +##### NearMonzter 11/29/2021 05:06:09 +Hi, does anybody know how can I put all the code related with the motors and sensors in an external file. Currently, I'm trying to do this +%figure +![unknown.png](https://cdn.discordapp.com/attachments/565154703139405824/914744016132800573/unknown.png) +%end + + +But I'm getting this error + + + +%figure +![unknown.png](https://cdn.discordapp.com/attachments/565154703139405824/914744158374215710/unknown.png) +%end + +##### DDaniel [Cyberbotics] 11/29/2021 10:00:14 +The import of `Motor.hpp` should be in the `arm.hpp` file + +##### onurg57 11/29/2021 12:21:46 +Yeah for example position control of wheels and i want to see time response and frequency response. For example bode plot of the response to identify bandwidth of the control systems + +##### NearMonzter 11/29/2021 15:47:49 +Thank you for replying. I have changed the header to` arm.hpp `but still getting a similar error +%figure +![unknown.png](https://cdn.discordapp.com/attachments/565154703139405824/914905500372598804/unknown.png) +%end + +##### Darko Lukić [Cyberbotics] 11/30/2021 15:34:02 +I tested the following approach to respawn a controller after the simulation reset and it works: + +[https://github.com/cyberbotics/webots\_ros2/issues/38#issuecomment-929247255](https://github.com/cyberbotics/webots_ros2/issues/38#issuecomment-929247255) + + + +Does it help to you? + +##### Dnumgis 11/30/2021 15:50:19 +Hi. I have a webots robot where one of the axes doesn't stay stable. It's position gradualy drifts in on direction then suddenly jumps back. I've tried tweaking the controlPID settings and it seems to have an impact on the behavior, but I'm not able to figure out how to adjust it to get the behavior I want. Are there any resources available that might help set this up right? + +## December + +##### jirka 12/01/2021 08:33:34 +Hello, I've the project (world, controllers) created in the previous version of Webots (version 6.4). If I try to open the world in the most recent version of Webots, I don't see the robots and other definitions created in the old project (and visible in the older Webots version). Is there a way to import/convert older projects to the current Webots version, please? Thank you for the answer. + +##### onurg57 12/01/2021 12:06:16 +Is it possible to do HIL with webots. Embedded controller on mcu connected to webots + +##### OmarZwiya 12/01/2021 12:34:24 + +%figure +![unknown.png](https://cdn.discordapp.com/attachments/565154703139405824/915581598760570951/unknown.png) +%end + + +can any one help me !? + + +its my first time using webot + + +i've been trying to start a project for like a week and it gave me the same error .. could any one help please + + +i am using mac m1 + +##### Dnumgis 12/01/2021 12:35:54 +Was just about to ask if you were using a mac m1 🙂 + +##### OmarZwiya 12/01/2021 12:36:35 +i have the same mac and it worked perfectly in the other + + +😦 + +##### Dnumgis 12/01/2021 12:37:38 +looks like the python bindings aren't compiled for m1 or nor installed correctly, or there is some bug in selecting the correct file + +##### OmarZwiya 12/01/2021 12:38:04 +i tried like 5 diff py version + + +it's drive me crazy + + +i have a homework for tmw and i dont know what to do + +##### Dnumgis 12/01/2021 12:39:09 +I don't think the python version is the issue. It's a webots issue. Maybe try downloading another version of webots? Maybe a nightly build? + +##### OmarZwiya 12/01/2021 12:58:26 +could you please gimme link for prev release download + + +never mind + + +i found the link in git + +##### Dnumgis 12/01/2021 12:59:35 +There are a bunch of things to try here [https://github.com/cyberbotics/webots/releases](https://github.com/cyberbotics/webots/releases) + +##### OmarZwiya 12/01/2021 12:59:44 +yup thanks + + +i will try 2019v + + +thanks + +##### Max\_K 12/01/2021 14:09:05 +Hello i want to publish a static transform of an webots object. In rviz2 the test\_pos tf(red) is beneath instead of next to the finger\_mounting (green). Does anyone know where the problem could be? + +I also publish a static tf only with zeros from map to odom. +%figure +![wrong_tf.png](https://cdn.discordapp.com/attachments/565154703139405824/915605425985060864/wrong_tf.png) +%end + +##### Ian Lau 12/02/2021 03:23:59 +Hello, I tried the example world "lidar". But after a while, the laser point cloud erratically mismatched with the surrounding environment, if this is a bug or if there is a problem with my configuration +%figure +![unknown.png](https://cdn.discordapp.com/attachments/565154703139405824/915805471603048458/unknown.png) +%end + +##### Olivier Michel [Cyberbotics] 12/02/2021 10:39:59 +It could be due to a low refresh rate of the lidar sensor. + +##### fabricio 12/02/2021 16:23:51 +Hi all!!, I am not sure if that is the correct channel. I am trying to get the distance between an emitter and a receiver, according to documentation: [https://www.cyberbotics.com/doc/reference/receiver?version=develop&tab-language=python#:~:text=The%20wb\_receiver\_get\_signal\_strength](https://www.cyberbotics.com/doc/reference/receiver?version=develop&tab-language=python#:~:text=The%20wb_receiver_get_signal_strength) the signal strength = 1/ (distance^2). So, I can get the distance doing Distance = sqrt(1/signal). but I am having the wrong values. in a triangle where x=2m, y=0m and z=2m I get a distance of 1.26 meters. My calculation is correct? I am doing something wrong. emitter and infrared are infrared signals, with aperture and range at -1. In advance thank you very much. + +##### Dnumgis 12/02/2021 16:25:43 +should be distance = 1/sqrt(signal)? + +##### fabricio 12/02/2021 16:28:39 +the result is the same + + +the distance should be 2.82 and I am getting 1.26 meters + +##### Luftwaffel [Moderator] 12/02/2021 20:04:59 +Can you share your project? So we can take a look + + +or the code. It works absolutely fine for me + + +take a look at this sample project. The calculation works. Hope this helps. It includes a infrared and radio test world +> **Attachment**: [emitter\_receiver\_test.rar](https://cdn.discordapp.com/attachments/565154703139405824/916063933725540463/emitter_receiver_test.rar) + + +the only thing I can see at a glance is that you are not publishing the correct rotation for finger\_mounting. This is assuming, that line 28 in your code is that transform. Also make sure you selected 'world' as the reference in rviz + +##### SeanLuTW 12/03/2021 01:39:51 +Hi I am using a cuboid with a touch sensor to test collision with built-in conveyor (`ConveyorBelt`), and I found that the border will trigger the sensor while the belt won't. I took a look at the PROTO and found that the `Track` has defined `boundingObject`, but why it doesn't trigger the sensor? +%figure +![belt_not_work.png](https://cdn.discordapp.com/attachments/565154703139405824/916141645769097236/belt_not_work.png) +%end +%figure +![border_work.png](https://cdn.discordapp.com/attachments/565154703139405824/916141646444392448/border_work.png) +%end + +##### Ian Lau 12/03/2021 01:50:36 +Thanks for reply. Actually the robot is static instead of rotation. It will happen when the robot is stationary in place for a period of time. Is it possible to have some cumulative errors in lidar calculations? + + +`@Olivier Michel` + +##### Olivier Michel [Cyberbotics] 12/03/2021 07:34:47 +No, lidar calculation should be computed each time the sensor is refreshed. + +##### Ian Lau 12/03/2021 09:32:13 +But here's a offset when I reopen this world. +%figure +![unknown.png](https://cdn.discordapp.com/attachments/565154703139405824/916260524793139261/unknown.png) +%end + + +Shouldn't lidar's point clouds match the contours of objects? + + +The error is getting bigger +%figure +![unknown.png](https://cdn.discordapp.com/attachments/565154703139405824/916262792095473674/unknown.png) +%end + + +The error is getting bigger again🤣 +%figure +![unknown.png](https://cdn.discordapp.com/attachments/565154703139405824/916269980272689152/unknown.png) +%end + + +`@Olivier Michel` 😅 + +##### NobodyImportant 12/03/2021 10:17:53 +I can only say that I have simillar lidar problem. I thought that I made some mistake because I work over ros1, and I visualize my cloud over rviz. My robot is stationary too, and its parallel to the vertical wooden tile. First 2 min is all good but Later, I saw that robot is no more parallel to the wooden tile in rviz. 😅 + +##### Olivier Michel [Cyberbotics] 12/03/2021 10:27:44 +It could be that the lidar is not properly enabled. Please check the code of the sample lidar demo to find our where the problem might be in your controller code. + +##### Ian Lau 12/03/2021 10:46:12 +But the picture I posed is captured from the sample lidar demo.😅 + +##### Olivier Michel [Cyberbotics] 12/03/2021 11:01:49 +I just tried the sample lidar demo and it works as expected. Please that this is a rotating lidar, so it takes time to the rotating head to sample all the points. If the robot is spinning at the same time, you get what you posted on your screenshot. + +##### Ian Lau 12/03/2021 11:10:23 +🤔 But the robot is stationary. + +##### Olivier Michel [Cyberbotics] 12/03/2021 11:14:11 +In the demo it's moving, did you change the controller to make it stationnary? + +##### Ian Lau 12/03/2021 11:23:09 +yep, but I just changed these two lines. +%figure +![unknown.png](https://cdn.discordapp.com/attachments/565154703139405824/916288445150793728/unknown.png) +%end + + +and change these frequency +%figure +![unknown.png](https://cdn.discordapp.com/attachments/565154703139405824/916288750575824918/unknown.png) +%end + +##### Olivier Michel [Cyberbotics] 12/03/2021 11:50:40 +Even after changing this, it works as expected for me. Are you sure the simulation is running (not stopped)? + + +Which version of Webots are you using? + +##### Ian Lau 12/03/2021 11:52:13 + +%figure +![unknown.png](https://cdn.discordapp.com/attachments/565154703139405824/916295757152264202/unknown.png) +%end + +##### Olivier Michel [Cyberbotics] 12/03/2021 11:53:10 +You should upgrade to version R2021b where some lidar bug has been fixed. + +##### Ian Lau 12/03/2021 11:54:34 +The 2021b version doesn't have some offline material resources, and sometimes the download wasn't successful, so I chose the 2021a version + + +Is it possible that there will be these full offline resources in future releases? + +##### Olivier Michel [Cyberbotics] 12/03/2021 11:55:49 +We have no plans for this. + + +I guess you are behind some firewall? + +##### Ian Lau 12/03/2021 11:56:50 +yes😭 + + +Or I could just try to fix these radar problems on 2021a by myself. It's a huge work😵‍💫 + +##### Max\_K 12/03/2021 13:06:30 +Yes i think i messed up the gripper starting by the first solid. X-Axes-Slot has strange rotation. When i add a clean solid (X\_solid) i looks to be more at the location where i expect it .. +%figure +![strange_rotation.png](https://cdn.discordapp.com/attachments/565154703139405824/916314451949523004/strange_rotation.png) +%end + +##### L4RG 12/03/2021 13:54:12 +I have not yet received an answer to this question, so I'd like to repeat it: + + + +Does anyone know where the LinearMotor's **controlPID** / **wb\_motor\_set\_control\_pid()** are implemented (the location of the actual control mechanism as described in [https://cyberbotics.com/doc/reference/motor](https://cyberbotics.com/doc/reference/motor)). + + + +I would like to use my own controller with the same Webots node/PROTO. + + + +Thanks in advance! + +##### Olivier Michel [Cyberbotics] 12/03/2021 14:23:59 +Please don't repost the same question on different channels. + +##### L4RG 12/03/2021 14:37:06 +understood, my bad. I'll delete one of them right away! + +##### [Red Dragons] Mat198 12/03/2021 15:00:06 +Is it possible to create solids with supervisor? I need 60 spheres and it's terrible to create and set the names by hand + +##### Benjamin Délèze [Cyberbotics] 12/03/2021 15:04:42 +Yes, this tutorial describes how to proceed: [https://www.cyberbotics.com/doc/guide/tutorial-8-the-supervisor#spawning-and-removing-nodes](https://www.cyberbotics.com/doc/guide/tutorial-8-the-supervisor#spawning-and-removing-nodes) + +##### Benjamin Hug [Cyberbotics] 12/03/2021 15:30:57 +You mean this part? + +[https://github.com/cyberbotics/webots/blob/1b8fdd6243a34c8a3d08a7c1bd84528e9e321609/src/webots/nodes/WbMotor.cpp#L408-L447](https://github.com/cyberbotics/webots/blob/1b8fdd6243a34c8a3d08a7c1bd84528e9e321609/src/webots/nodes/WbMotor.cpp#L408-L447) + +##### L4RG 12/03/2021 15:47:03 +Yes that's exactly what I mean, thanks! Do you have any experience in modding existing Webots node to alter their behavior? + + + +also: my Webots directory looks different than the one you shared ([https://github.com/cyberbotics/webots/tree/1b8fdd6243a34c8a3d08a7c1bd84528e9e321609](https://github.com/cyberbotics/webots/tree/1b8fdd6243a34c8a3d08a7c1bd84528e9e321609)). /controller is the only subdirectory in my /src/, /webots and /ode for example are not visible (also not hidden). Is something up with my installation? + +##### Natsdon 12/03/2021 19:50:36 +Hey im new to webots and have been trying to create an autonomous robot which goes through a maze to find treasure at the end but cannot seem to figure out how to use the sensors, the robot im using is called thymio . Any help would be much appreciated + +##### tenglvjun 12/04/2021 11:17:43 +Hey guys, I'm trying to visualize my robot in rviz. I export my robot from webots as urdf file , publish my robot state with robot\_state\_publisher. But, after I add RobotModel in rviz, it shows that there are no transform information for HingeJoint object. I try to find solutions by google. But it doesn't work. Does anyone know where the problem could be? +%figure +![Screenshot_from_2021-12-04_19-16-40.png](https://cdn.discordapp.com/attachments/565154703139405824/916649463848783932/Screenshot_from_2021-12-04_19-16-40.png) +%end +> **Attachment**: [Robot.urdf](https://cdn.discordapp.com/attachments/565154703139405824/916649464104615966/Robot.urdf) + +##### jirka 12/04/2021 11:24:42 +Hello, I need some advice for my Webots R2021b. I've created my own 2-wheels robots. I've added two HingeJoints, RotationalMotors to their device node and endPoint Solid Physics and boundingObjects for the wheels. Everything works well, robot moves but in the oposite direction :-)** How can I change rotation direction of motors or do something else to have robot moving in the intended direction, please**? (Of course I know I can set negative values for velocity in the controller but it is not a good solution for me...) Thank you for any advices! + +##### DDaniel [Cyberbotics] 12/04/2021 11:26:45 +Invert the axis parameter of the hingejoint. If it's 1 0 0, set -1 0 0 + + +under `file > open sample world > obstacle_avoidance.wbt` there's an example of the Thymio avoiding obstacles. You can access the distance sensors in the same manner. + + +you would need to install the webots development environment and recompile webots if you change that. I don't see the point of going that far. You can control the motors in torque directly from a normal controller, doing so bypasses the PID controller + +##### jirka 12/04/2021 12:13:03 +Great, it works like a charm. Thank you!!! + + +Hello, I've still one problem... If I open the sample Koala (K-team) project with the Breitenberg controller, everything works well. But if I add Koala to my own world and set the Breitenberg controller for it (or create another with the code of original Breitenberg) then the Webots shows me a message that the controller is not supported for the Koala robot. **What can I do to make the controller that is working well in the Sample project working in my project too, please?** Thank you for your help. + +##### Rizalfauz 12/04/2021 16:30:55 +Hello everyone. is there any information about supervisors who can display robot coordinates in real-time with ROS I? + +##### SeanLuTW 12/05/2021 23:20:52 +Does anyone know the reason? Or it is a bug? + +##### brownie 12/06/2021 06:50:31 +hey yall, anyone else get a crash using the camera on Khepera IV using camera.getImageArray() in python? + +##### Darko Lukić [Cyberbotics] 12/06/2021 12:36:47 +If the hinge joint doesn't have a position sensor then you need to specify it in the `joint_state_broadcaster`, see here: + +[https://github.com/cyberbotics/webots\_ros2/blob/c1b3a055f9b3d931066083e561c3dbee5b386c3a/webots\_ros2\_tiago/resource/ros2\_control.yml#L22-L35](https://github.com/cyberbotics/webots_ros2/blob/c1b3a055f9b3d931066083e561c3dbee5b386c3a/webots_ros2_tiago/resource/ros2_control.yml#L22-L35) + + + +`joint_state_broadcaster` publishes joint positions and `robot_state_publisher` takes it (together with URDF) and publishes a transform tree. If a position of a joint is not known then `robot_state_publisher` cannot publish the full transform tree. + + +There is a `get_pose` service: + +[https://cyberbotics.com/doc/reference/supervisor?tab-language=ros#wb\_supervisor\_node\_get\_pose](https://cyberbotics.com/doc/reference/supervisor?tab-language=ros#wb_supervisor_node_get_pose) + +##### [Red Dragons] Mat198 12/06/2021 12:47:32 +How can I import an proto node that I created for my project? The importMFNodeFromString(-1,"nodeName{}) returns none and a message: " Skipped unknow 'nodeName' node or PROTO". The node works as intended when I add it manually + +##### weyho 12/06/2021 13:07:26 +Hey guys, how would one create a multi\_robot scenario with a fully functioning `tf_tree` in ros2? + +Currently I am using two instances of the WebotsNode, but it doesn't seem possible to use namespaces and tf for this scenario. + +I've tried to set the prefix for the `joint_state_publisher` - Node but it does not work. + +Also would you recommend to switch over to a `webots_ros2_driver` instead of the currently used `WebotsNode`? + +##### Rizalfauz 12/06/2021 16:20:58 +Thank you. But if the robot moves, does the value change too? I need that for monitoring robot position + +##### Darko Lukić [Cyberbotics] 12/06/2021 17:12:54 +Yes, every time you call the service you will get the latest position + +##### lifeisbinary 12/07/2021 03:32:41 +Hey guys, + + + +I want to provide visual information of kinect to the nao robot. I add the kinect node which wrapped by robot node to the headslot of nao node . In my webots project, nao has his controler（naoqisim）and kinect has his controller（kinect\_controller) too. But when I run the kinect \_controller to control kinect getting the visual information, the kinect will drop from the nao head. Is there a way to fixed the kinect on the nao head on the condition that nao and kinect have their own controller. I have to use two controllers to control nao and kinect, respectively. Because I need the official controller (naoqisim) to control nao robot. The official controller can not be program to control the kinect. +%figure +![Nao_kinect_control_problem_before.png](https://cdn.discordapp.com/attachments/565154703139405824/917619595836289074/Nao_kinect_control_problem_before.png) +%end +%figure +![Nao_kinect_control_problem_runing.png](https://cdn.discordapp.com/attachments/565154703139405824/917619596037619712/Nao_kinect_control_problem_runing.png) +%end + +##### Ranga Kulathunga 12/07/2021 09:50:54 +Hi all, does anyone knows how to use Webots Plug-in or TCP/IP to integrate OMNet++ with external software like OMNet++? + +##### fabricio 12/07/2021 12:00:07 +I apologize for the delay! I had some personal problems! Thank you! It is the same case that I have, but for me it does not work, I will review my implementation, I am probably making a mistake. I am using C ++. Unfortunately I cannot share my code. It's from a client thank you very much! + +##### Natsdon 12/07/2021 14:03:14 +Hey people I'm relatively new to webots and have been trying to differentiate the 2 ground sensors on my robot but in return i have made both sensors the same, does anyone know how I can change the code so that my 2 ground sensors are different +%figure +![unknown.png](https://cdn.discordapp.com/attachments/565154703139405824/917778280814379039/unknown.png) +%end + + +I've programmed the sensors so in the event the ground value exceed a certain number then the robot will turn but since both readings are the same the robot wont do what I want, i have tried looking at the robot window but the sensor names they use wont let me call them as they say these cannot be found + +##### DrakerDG 12/07/2021 14:11:17 +The name of every sensor must be different between both + +##### tenglvjun 12/07/2021 15:06:57 +Thanks, I will try it later☺️! + +##### Natsdon 12/07/2021 15:08:17 +do you know how i can do that tho, since when i open the robot window this is what the sensors are called +%figure +![unknown.png](https://cdn.discordapp.com/attachments/565154703139405824/917794651585527828/unknown.png) +%end + + +this part has stumped me for 2 days and i really want to establish the 2 sensors as then i can progress through this project im trying to create + + +and trying to work with 2 sensors which are setup the same isnt working well at all , i tried "left\_ground = robot.getDistanceSensor (s\_name) " and "right\_ground = robot.getDistanceSensor (d\_name)" + + +but still the sensors are the same + + +the robot for reference is "thymio" + + +nvm people i got it + + +[https://tenor.com/view/weekend-party-champagne-gif-18280013](https://tenor.com/view/weekend-party-champagne-gif-18280013) + + +Question : is there a way to register a location once found then travel back to that location later if a condition is met ? + + +example : robot picks up 1 person from blue patch (remembers that location) drops the person off at a drop zone then come back to the initial place of pickup + +##### Benjamin Hug [Cyberbotics] 12/07/2021 17:25:24 +I do not think you will found this behaviour directly in Webots, you will have to program it with some kind of odometry (for example I think your Thymio is following a trail and you have several patches with different colors so you could use this feature to know where your thymio is). + +##### Ranga Kulathunga 12/07/2021 17:26:46 +Does anyone have any idea about this? + +##### L4RG 12/07/2021 20:41:19 +hahaha enjoy man! + +##### PrinceVickster06 12/07/2021 22:23:01 +Need help with something + + +Does anyone know how to construct autonomous system + +##### Luftwaffel [Moderator] 12/08/2021 01:56:34 +Can you elaborate? What exactly are you trying to achieve? + +##### PrinceVickster06 12/08/2021 09:30:41 +As creating a autonomous system robot in webit + +##### musabcoskun 12/08/2021 14:28:16 +Hi everyone, I want to integrate a touch sensor to the gripper of the youBot. But, so far I could not find an easy way and fast way to do it. Is there anyone who can help or give some tips for that. Thanks in advance. 🙂 +%figure +![tsensor.png](https://cdn.discordapp.com/attachments/565154703139405824/918146968138690570/tsensor.png) +%end + +##### [Red Dragons] Mat198 12/08/2021 15:21:26 +You want to measure contact force? + +##### musabcoskun 12/08/2021 16:22:53 +Exactly and also want to fix it to the gripper, because when I run simulation its translation does not change with grippers'. + +##### Max\_K 12/09/2021 16:43:32 +Hello, i saw that webots worlds can be exported as html files:[https://cyberbotics.com/doc/guide/web-scene](https://cyberbotics.com/doc/guide/web-scene) + +But when i press Export HTML5 Model i get a segmentation fault. Does exporting take up a lot of space? I have 15GB free space atm. Or is it because of ROS? + +```[rcll_world_test.wbt" --batch --mode=realtime-2] Warning: QFile::copy: Empty or null file name (20x) +[ERROR] [robotino3_driver-3]: process has died [pid 42255, exit code 1, cmd '/home/max/webots_ws/install/webots_ros2_robotino3/lib/webots_ros2_robotino3/robotino3_driver --webots-robot-name --webots-node-name webots_driver --ros-args --params-file /tmp/launch_params_qtstm1bm']. +[rcll_world_test.wbt" --batch --mode=realtime-2] /usr/local/webots/webots: line 90: 42269 Segmentation fault (core dumped) "$webots_home/bin/webots-bin" "$@" +[ERROR] [rcll_world_test.wbt" --batch --mode=realtime-2]: process has died [pid 42251, exit code 139, cmd '"/usr/local/webots/webots" "/home/max/webots_ws/install/webots_ros2_robotino3/share/webots_ros2_robotino3/worlds/rcll_world_test.wbt" --batch --mode=realtime']. +``` + +##### joachim honegger [Cyberbotics] 12/10/2021 07:47:58 +Hello, can you share your world? It's maybe the same issue as [https://github.com/cyberbotics/webots/issues/3986](https://github.com/cyberbotics/webots/issues/3986) + +##### Darko Lukić [Cyberbotics] 12/10/2021 12:22:26 +``` +Warning: QFile::copy: Empty or null file name (20x) +``` + +This might be causing the error, I am not sure why is it appearing. It should not be related to ROS as the export function is independent. What happens if you open the `/home/max/webots_ws/install/webots_ros2_robotino3/share/webots_ros2_robotino3/worlds/rcll_world_test.wbt` file without ROS and export the HTML5 model? + +##### L4RG 12/10/2021 15:00:16 +Thank you for your answer! + + + +I'm currently trying the approach of a SliderJoint + LinearMotor for modeling my use case, representing a mass-spring-damper system. + + + +Does anyone know if it is possible to set the End point of a SliderJoint to (yet another) SliderJoint, generating a **coupled/double mass-spring-damper system**? + +##### Robokashi 12/10/2021 15:07:53 +Hi, I think I encountered a bug, following the first Webots tutorial : [https://cyberbotics.com/doc/guide/tutorial-1-your-first-simulation-in-webots#add-an-e-puck-robot](https://cyberbotics.com/doc/guide/tutorial-1-your-first-simulation-in-webots#add-an-e-puck-robot) + + + +By changing, the basicTimeStep to 16, I cannot save the simulation. Like it did not detect I made a change. But if I click on the button to close Webots, it would tell me the world file has been modified and prompt me to save it. + +##### Ranga Kulathunga 12/10/2021 16:00:31 +Hi, can anyone explain this error and how to debug it? +%figure +![sum_web.PNG](https://cdn.discordapp.com/attachments/565154703139405824/918894961318039613/sum_web.PNG) +%end + +##### PrinceVickster06 12/10/2021 16:21:22 +I need help in this +> **Attachment**: [CAI\_Practical\_Assessment\_1.pdf](https://cdn.discordapp.com/attachments/565154703139405824/918900208946020382/CAI_Practical_Assessment_1.pdf) + + +because its hard for me to understand + + +can someone help + +##### Sadat 12/10/2021 17:24:12 +Guys, seems that wb\_pen is not working at all, neither write or set ink color + + + +%figure +![unknown.png](https://cdn.discordapp.com/attachments/565154703139405824/918916225575292978/unknown.png) +%end + + +Am i doing something wrong? + + + +%figure +![unknown.png](https://cdn.discordapp.com/attachments/565154703139405824/918916310707081326/unknown.png) +%end + +##### DDaniel [Cyberbotics] 12/10/2021 17:32:16 +Which version are you using? Does the sample world work for you? (Under `file > open sample world > pen`) + +##### Sadat 12/10/2021 17:35:22 + +%figure +![unknown.png](https://cdn.discordapp.com/attachments/565154703139405824/918918832784027668/unknown.png) +%end + + +Oh actually pen.wbt does work for me + +##### DDaniel [Cyberbotics] 12/10/2021 17:39:32 +The endpoint of a joint can only be a solid or solidreference, so you would need to add an intermediary solid but in principle yes. By memory, in the samples this world might be doing something similar to what you are trying (`file > open sample world > force_control.wbt`), but don't remember exactly + + +Can you share the controller? + +##### Sadat 12/10/2021 17:40:13 +Yes + + + +> **Attachment**: [navigator.py](https://cdn.discordapp.com/attachments/565154703139405824/918920182301347871/navigator.py) + +##### DDaniel [Cyberbotics] 12/10/2021 17:40:49 +Actually you are mixing c and python in the image you provided + + +The Python one is `pen.setInkColor(...)` + + +Yes + + +`write`, not `Write` + + +Did you add a Pen node to the children field of the robot? + +##### Sadat 12/10/2021 17:53:14 +Now i added, still something off + + + +%figure +![unknown.png](https://cdn.discordapp.com/attachments/565154703139405824/918923400234270750/unknown.png) +%end + + + +%figure +![unknown.png](https://cdn.discordapp.com/attachments/565154703139405824/918923435885854730/unknown.png) +%end + + +Okay, finally i fixed the errors, but it does not draw.. + + + +%figure +![unknown.png](https://cdn.discordapp.com/attachments/565154703139405824/918926954969853972/unknown.png) +%end + + + +%figure +![unknown.png](https://cdn.discordapp.com/attachments/565154703139405824/918927009122504765/unknown.png) +%end + + +the path he went and drew nothing.. + + +The surface is paintable, set to true, even set the color, nothing works + + +density 1, inkEvaporation 0 + + +I don't know what else i can do + + +I think there might be a bug in Pen lib with python + +##### DDaniel [Cyberbotics] 12/10/2021 18:26:00 +Did you change the size of the arena? If so you need to adapt the `floorTileSize` parameter in the same way. This proto doesn't adjust the texture mapping on its own, I think this had conflicts with the pen + +##### Sadat 12/10/2021 18:27:41 +I mean.. I created my own arena + +##### DDaniel [Cyberbotics] 12/10/2021 18:28:44 +But the floor is a RectangleArena no? + +##### Sadat 12/10/2021 18:29:23 +Yeah + + +it is RectangleArena + + + +%figure +![unknown.png](https://cdn.discordapp.com/attachments/565154703139405824/918932500032684032/unknown.png) +%end + +##### DDaniel [Cyberbotics] 12/10/2021 18:30:08 +Try making floorTileSize to 2 2 + + +Is the pen mark visible? + +##### Natsdon 12/10/2021 18:30:57 +Question : by setting a global variable within a function can it still be defined ? + + +or is it better suited that i define outside of a function ? + +##### Sadat 12/10/2021 18:31:52 +Nope its still not visible + + + +%figure +![unknown.png](https://cdn.discordapp.com/attachments/565154703139405824/918933135390031922/unknown.png) +%end + + +I thought maybe there was a problem with me putting Pen into TurretSlot? + +##### DDaniel [Cyberbotics] 12/10/2021 18:43:21 +Just tested and works for me + +##### Sadat 12/10/2021 18:44:18 +Wow, what in the hell interferes in our world.. + +##### Natsdon 12/10/2021 18:44:28 +maybe its the 2021b version ? + + +bugged out for me loads + + +i had to download 2020b n i was plain sailing + +##### DDaniel [Cyberbotics] 12/10/2021 18:45:07 +I'm using 2021b. let me check using a epuck + +##### Sadat 12/10/2021 18:46:37 +perhaps the problem is epuck + +##### Natsdon 12/10/2021 18:48:30 +At some point could someone have a look over this please, im having an error with 'ds' is not defined on lines 75 within def read\_sensors(): but i have no clue why +> **Attachment**: [Assignment2\_controller.py](https://cdn.discordapp.com/attachments/565154703139405824/918937236077183016/Assignment2_controller.py) + +##### DDaniel [Cyberbotics] 12/10/2021 18:54:09 +Just adding to the slot is not sufficient, you need to orient the pen towards the ground + + +The pen node writes along the -Y + + +If you add it to the groundSlot that means setting a rotation of `0 0 1 1.5708` + +##### Ranga Kulathunga 12/10/2021 19:02:31 +Any idea about this? + +##### Sadat 12/10/2021 19:03:28 +`@DDaniel` Thank you + + +Finally + +##### DDaniel [Cyberbotics] 12/10/2021 19:12:30 +The variable of your distance sensor is called `left_ground`, ds isnt defined anywhere (there is one but commented) + + +Is it a custom world or also happens with the ones in the samples? Which OS? + +##### Natsdon 12/10/2021 19:15:45 +that uncommented one was placed there when i opened this controller for the first time, should i uncomment it and place it within one of my functions ? + +##### Ranga Kulathunga 12/10/2021 19:19:05 +It is a custom world and a very simple one. straight road with 2 lanes. SUMO is run with my other examples but not with this one. Win10 is the OS. + +##### DDaniel [Cyberbotics] 12/10/2021 19:21:24 +Have you tried selecting a different port in the SumoInterface? + +##### Natsdon 12/10/2021 19:21:41 +I thought i added the sensors in via gs.append and ds.append ( my understanding is that they get added to gs = [] and ds = []) + +##### Ranga Kulathunga 12/10/2021 19:23:12 +I have not an idea about what the possible ports are. Is it possible to change? + +##### DDaniel [Cyberbotics] 12/10/2021 19:23:56 +Yes but the sensor function isn't called, in the main loop it's commented as well + + +Try 8874 + +##### Ranga Kulathunga 12/10/2021 19:24:57 +I tried that but not work. + +##### Şükrü 12/11/2021 11:15:08 +Hey guys, I'm trying to install Webots nightly version on Ubuntu. I downloaded the tar.bz2 file but I couldn't find how to install it. Can you help me here? + +##### Benjamin Hug [Cyberbotics] 12/11/2021 14:01:24 +It is a compressed file, just extract it. The executable is at the root of the folder and you should be able to launch Webots with `./webots`. + +##### Şükrü 12/13/2021 12:11:22 +Thanks that works, the version I'm currently using is 2021b rev1 nightly build 9/12/2021. I'm trying to work with point clouds using python-pcl library. I have successfully downloaded and imported it and it works but some of the filters makes Webots crash. It says "The process crashed some time after starting successfully.". I'm not doing anything complex. This is the part of code that causing crash: + +p = pcl.load("point\_cloud.pcd") + +outrem = p.make\_RadiusOutlierRemoval() + +outrem.set\_radius\_search(0.4) + +outrem.set\_MinNeighborsInRadius(2) + +p = outrem.filter() + + + +visual = pcl.pcl\_visualization.CloudViewing() + +visual.ShowMonochromeCloud(p, b'cloud') + +##### Robokashi 12/14/2021 21:07:37 +Hey guys, is the webots\_ros2 package tested under Windows ? I spent the last day trying to make it work but I encounter issues (especially with the robot\_launch.py file, I get an error that spawner.py cannot be found whereas I see it clearly in the install/controller\_manager folder xD). + + +I tried it on Foxy and Galactic. + +##### Olivier Michel [Cyberbotics] 12/15/2021 09:10:54 +Yes, it should work. We are publishing a new tutorial on how to get started with Webots and ROS 2. The tutorial was tested and works fine on Windows (in addition to Linux). It is currently being merged to the Rolling documentation, but works with both Foxy and Galactic and will be merged with the respective documentation soon. You will find the PR about it here: [https://github.com/ros2/ros2\_documentation/pull/2156](https://github.com/ros2/ros2_documentation/pull/2156). Let us know if that works for you. + +##### Darko Lukić [Cyberbotics] 12/15/2021 10:08:24 +How did you get the ros2\_control dependency? I saw that they recently renamed `spawner.py` to `spawner` and it may be affecting you (especially if you use the newest version of ros2\_control). Could you please make an issue about it? + + +In general, we test the webots\_ros2 package on Windows, but ros2\_control guys have been breaking the API lately. Hopefully, they will stabilize the API in Humble. + diff --git a/docs/guide/web-scene.md b/docs/guide/web-scene.md index 48227385885..90dbe8d9612 100644 --- a/docs/guide/web-scene.md +++ b/docs/guide/web-scene.md @@ -57,6 +57,7 @@ For more complex interaction with the web component, the following functions are It may occur that the rendering in the Webots application and in the exported Web page are not strictly equivalent. - The `Skin` node is not supported. +- The [Pen](../reference/pen.md) device is not supported. - It is not possible to have more than one `webots-view` element on one page.