Clearpath Heron USV

[harunkurtdev]

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

Tasks Add the list of tasks of this PR.

• [X] 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

[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.

[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 ?