Clearpath Heron USV

[harunkurtdev]

Description
Clearpath's USV vehicle named Heron has been added.

Tasks
Add the list of tasks of this PR.

• New Robot

Screenshots

[omichel]

There are several errors reported by the CI on the "Test Sources". In particular:

/home/runner/work/webots/webots/projects/robots/clearpath/heron/controllers/heron_usv_controller/heron_usv_controller.py:29:1: W293: blank line contains whitespace
/home/runner/work/webots/webots/projects/robots/clearpath/heron/controllers/heron_usv_controller/heron_usv_controller.py:46:1: W293: blank line contains whitespace
Missing ".wproj" file: "/home/runner/work/webots/webots/projects/robots/clearpath/heron/worlds/.swarm.wbproj"
Wrong line ending in file: "/home/runner/work/webots/webots/projects/robots/clearpath/heron/obj/boat.obj"
missing icon: "/home/runner/work/webots/webots/projects/robots/clearpath/heron/protos/Heron.proto"
Wrong header in file: "/home/runner/work/webots/webots/projects/robots/clearpath/heron/protos/Heron.proto"

etc.

Can you please fix them?

[harunkurtdev]

I fix that bugs @omichel

[omichel]

Thank you. Could you please also write a short documentation? This is required for robots distributed in Webots.

[harunkurtdev]

@omichel I finish all of for document, can you check ?

[harunkurtdev]

@omichel sir can you check ? #6597

[omichel]

prop.dae doesn't seem to be used and should be removed.
The bounding object (heron_collision.stl) should not be made up of STL file, but simply boxes which will be much more efficient and less buggy.
The PROTO and world files should not contain any linearVelocity or angularVelocity fields.

[harunkurtdev]

prop.dae doesn't seem to be used and should be removed.
The bounding object (heron_collision.stl) should not be made up of STL file, but simply boxes which will be much more efficient and less buggy.
The PROTO and world files should not contain any linearVelocity or angularVelocity fields.

If I integrate the heron collision file, the vehicle cannot turn left or right at all.
I changed viscous and etc. a little hard with heron collision file.

[omichel]

Instead of storing the stl files in an obj folder, it would be better to store them in a stl folder.

[omichel]

The image of the robot is a bit small here.

[harunkurtdev]

changed with this

[omichel]

It should not be a picture of the real robot, but a picture of the simulated robot, which is larger that the one you originally committed.

[harunkurtdev]

Instead of storing the stl files in an obj folder, it would be better to store them in a stl folder.

okey sir.

[harunkurtdev]

mr. @omichel , can you check ?

[omichel]

As mentioned, I would also appreciate if you can fix the icon which should be a screenshot of the simulated robot, not the real one.

[omichel]

Please remove also all these linearVelocity_0 and angularVelocity_0 parameters which are useless.

[omichel]

I believe you should really remove these lines, not replace them.
Also, please update the icon.

[omichel]

Please see my latest comment.