Clearpath Heron USV

projects/robots/clearpath/heron/controllers/heron_usv_controller/heron_usv_controller.py

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+# Copyright 1996-2023 Cyberbotics Ltd.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     https://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from controller import Robot, Keyboard
+
+# Create the Robot instance.
+robot = Robot()
+
+keyboard = Keyboard()
+keyboard.enable(1000)
+
+# Get the time step of the current world.
+timestep = int(robot.getBasicTimeStep())
+
+# Get left and right motors.
+left_motor = robot.getDevice('left_motor')
+right_motor = robot.getDevice('right_motor')
+
+# Enable position control mode for motors.
+left_motor.setPosition(float('inf'))
+right_motor.setPosition(float('inf'))
+
+# Set initial velocities.
+left_velocity = 0.0
+right_velocity = 0.0
+
+# Main loop:
+# - perform simulation steps until Webots is stopping the controller
+while robot.step(timestep) != -1:
+    # Read keyboard input.
+    key = keyboard.getKey()
+    # Process keyboard input.
+    if key == ord('W') or key == ord('w'):
+        left_velocity = 5.0
+        right_velocity = 5.0
+    elif key == ord('S') or key == ord('s'):
+        left_velocity = -5.0
+        right_velocity = -5.0
+    elif key == ord('A') or key == ord('a'):
+        left_velocity = -2.5
+        right_velocity = 2.5
+    elif key == ord('D') or key == ord('d'):
+        left_velocity = 2.5
+        right_velocity = -2.5
+    else:
+        left_velocity = 0.0
+        right_velocity = 0.0
+    # Set motor velocities.
+    left_motor.setVelocity(left_velocity)
+    right_motor.setVelocity(right_velocity)

projects/robots/clearpath/heron/protos/Heron.proto

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+#VRML_SIM R2024a utf8
+# license: Copyright Cyberbotics Ltd. Licensed for use only with Webots.
+# license url: https://cyberbotics.com/webots_assets_license
+# documentation url: https://webots.cloud/run?url=https://github.com/cyberbotics/webots/blob/released/projects/robots/clearpath/heron/protos/Heron.proto
+# keywords: robot/wheeled
+# Clearpath Heron USV is an autonomous watercraft designed for various marine tasks. 
+# It features electric propulsion, advanced navigation systems, and integration capabilities for collaborative missions.
+# With a streamlined hull and multiple sensor suites including cameras,
+# it excels in environmental monitoring, surveillance, and research.
+
+PROTO Heron [
+  field SFVec3f    translation     0 0 0.0     # Is `Pose.translation`.
+  field SFRotation rotation        0 0 1 0       # Is `Pose.rotation`.
+  field SFString   name            "heron"       # Is `Solid.name`.
+  field SFString   controller      "heron_usv_controller"      # Is `Robot.controller`.
+  field MFString   controllerArgs  []            # Is `Robot.controllerArgs`.
+  field SFString   window          "<generic>"   # Is `Robot.window`.
+  field SFBool     synchronization TRUE          # Is `Robot.synchronization`.
+  field MFNode     bodySlot        []            # Extends the robot with new nodes in the body slot.
+]
+{
+  Robot {
+    translation IS translation
+    rotation IS rotation
+    name IS name
+    model "Clearpath Heron"
+    controller IS controller
+    controllerArgs IS controllerArgs
+    window IS window
+    synchronization IS synchronization
+  children [
+    DEF BODY_SLOT Group {
+      children IS bodySlot
+    }
+    Transform {
+      translation -0.185 0 0
+      rotation 0 0 1 1.01503e-06
+      children [
+        Shape {
+          appearance PBRAppearance {
+            baseColor 0.964706 0.827451 0.176471
+            metalness 0
+          }
+          geometry Mesh {
+            url [
+              "../obj/plain-rear-plate.stl"
+            ]
+          }
+        }
+      ]
+    }
+    Transform {
+      translation 0 -0.35 0.05
+      children [
+        Shape {
+          appearance PBRAppearance {
+            baseColor 0.960784 0.760784 0.0666667
+            metalness 0
+          }
+          geometry Mesh {
+            url [
+              "../obj/right_panel.stl"
+            ]
+          }
+        }
+      ]
+    }
+    Transform {
+      translation 0 0.35 0.05
+      children [
+        Shape {
+          appearance PBRAppearance {
+            baseColor 0.960784 0.760784 0.0666667
+            metalness 0
+          }
+          geometry Mesh {
+            url [
+              "../obj/left_panel.stl"
+            ]
+          }
+        }
+      ]
+    }
+    Transform {
+      translation -0.73 0.38 -0.14
+      children [
+        Propeller {
+          device RotationalMotor {
+            name "left_motor"
+            maxVelocity 30
+          }
+          fastHelix Solid {
+            rotation 0 1 0 1.57
+            children [
+              Shape {
+                appearance PBRAppearance {
+                  baseColor 0.368627 0.360784 0.392157
+                }
+                geometry Cylinder {
+                  height 0.1
+                  radius 0.05
+                }
+              }
+            ]
+          }
+        }
+      ]
+    }
+    Transform {
+      translation -0.73 -0.38 -0.14
+      children [
+        Propeller {
+          device RotationalMotor {
+            name "right_motor"
+            maxVelocity 30
+          }
+          fastHelix Solid {
+            rotation 0 1 0 1.5708
+            children [
+              Shape {
+                appearance PBRAppearance {
+                  baseColor 0.368627 0.360784 0.392157
+                }
+                geometry Cylinder {
+                  height 0.1
+                  radius 0.05
+                }
+              }
+            ]
+          }
+        }
+      ]
+    }
+    DEF HERON Shape {
+      appearance Appearance {
+        material Material {
+          diffuseColor 0.239216 0.219608 0.27451
+        }
+        texture ImageTexture {
+        }
+        textureTransform TextureTransform {
+        }
+      }
+      geometry Mesh {
+        url [
+          "../obj/heron_base.stl"
+        ]
+      }
+    }
+  ]
+  name "heron_usv"
+  immersionProperties [
+    ImmersionProperties {
+      fluidName "fluid"
+      dragForceCoefficients 0.01 0 0
+      dragTorqueCoefficients 0.05 0 0
+      viscousResistanceForceCoefficient 400
+      viscousResistanceTorqueCoefficient 0.1
+    }
+  ]
+  boundingObject Group {
+    children [
+      Transform {
+        translation 0 -0.134 0.35
+        children [
+          Cylinder {
+            height 0.35
+            radius 0.005
+          }
+        ]
+      }
+      Transform {
+        translation 0 0.134 0.35
+        children [
+          Cylinder {
+            height 0.35
+            radius 0.005
+          }
+        ]
+      }
+      Transform {
+        translation 0 0 0.04
+        children [
+          Box {
+            size 0.75 0.8 0.1
+          }
+        ]
+      }
+      Transform {
+        translation -1.42746e-07 -0.37 -0.14
+        rotation 0 1 0 -1.5707953071795862
+        children [
+          Capsule {
+            height 1.2
+            radius 0.1
+            subdivision 16
+          }
+        ]
+      }
+      Transform {
+        translation -1.42746e-07 0.37 -0.14
+        rotation 0 1 0 -1.5707953071795862
+        children [
+          Capsule {
+            height 1.2
+            radius 0.1
+            subdivision 16
+          }
+        ]
+      }
+    ]
+  }
+  physics Physics {
+    density 400
+    centerOfMass [
+      0 0 0
+    ]
+    damping Damping {
+      linear 0.5
+      angular 0.5
+    }
+  }
+  linearVelocity -1.4502243780299133e-41 2.229921041216923e-42 0.0058372174879208726
+  angularVelocity 0.00023835911050514857 0.001746443229709772 4.0940932765468614e-19
+}
+}

projects/robots/clearpath/heron/protos/docs/heron.md

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+The [clearpath's Heron USV](https://robots.ros.org/clearpath-heron-usv/) is a USV platform.
+
+### Motors
+
+  There are 2 engines, engine name ```left_motor```and ```right_motor``.
+  You can add new Camera, GPS or other sensors you want under ``body_slot```.
+
+### Movie Presentation
+
+![youtube video](https://www.youtube.com/watch?v=qWRyCnJWVuM)
+
+### Heron PROTO
+
+Derived from [Robot](https://cyberbotics.com/doc/reference/robot).
+
+```
+Heron {
+  SFVec3f    translation     0 0 0
+  SFRotation rotation        0 1 0 1.5708
+  SFString   name            "heron"
+  SFString   controller      "heron_usv_controller"
+  MFString   controllerArgs  []
+  SFBool     synchronization TRUE
+  MFNode     bodySlot        []
+}
+```
+
+#### Heron Field Summary
+
+- `bodySlot`: Extends the robot with new nodes.
+
+### Samples
+
+You will find the following sample in this folder: "[WEBOTS\_HOME/projects/robots/clearpath/heron/worlds]({{ url.github_tree }}/projects/robots/clearpath/heron/worlds)".
+
+Ocean
+
+#### [heron\ocean.wbt]({{ url.github_tree }}/projects/robots/clearpath/heron/worlds/ocean.wbt)
+
+![ocean.png](images/heron/ocean.jpg) This simulation shows a basicly usv.
+
+#### [heron\swarm.wbt]({{ url.github_tree }}/projects/robots/clearpath/heron/worlds/swarm.wbt)
+
+![swarm.png](images/heron/swarm.jpg) This simulation shows a basicly swarm robotics.

projects/robots/clearpath/heron/webots.yaml

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+publish: true

projects/robots/clearpath/heron/worlds/.ocean.wbproj

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+Webots Project File version R2024a
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+simulationViewPerspectives: 000000ff000000010000000200000100000005620100000002010000000100
+sceneTreePerspectives: 000000ff00000001000000030000001c000002b4000000fa0100000002010000000200
+maximizedDockId: -1
+centralWidgetVisible: 1
+orthographicViewHeight: 1
+textFiles: -1
+consoles: Console:All:All

projects/robots/clearpath/heron/worlds/.swarm.wbproj

@@ -0,0 +1,9 @@
+Webots Project File version R2024a
+perspectives: 000000ff00000000fd00000002000000010000011c000002f1fc0200000001fb0000001400540065007800740045006400690074006f00720100000016000002f10000003f00ffffff0000000300000780000000d9fc0100000001fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c0100000000000007800000006900ffffff00000662000002f100000001000000020000000100000008fc00000000
+simulationViewPerspectives: 000000ff000000010000000200000100000005620100000002010000000100
+sceneTreePerspectives: 000000ff00000001000000030000001c000002b4000000fa0100000002010000000200
+maximizedDockId: -1
+centralWidgetVisible: 1
+orthographicViewHeight: 1
+textFiles: -1
+consoles: Console:All:All