New Vehicle Heron USV for Webots #28251

harunkurtdev · 2024-09-27T22:36:20Z

By connecting heron usv to ardupilot on webots.
A new vehicle type has been added. This vehicle type is a marine vehicle and is well known in the market.

rmackay9 · 2024-09-27T23:45:21Z

Hi @harunkurtdev,

Thanks for this. I actually didn't realise that Webots was still usable. Good news that it is.

One thing is it would be best if the commits were squashed together somewhat and also if you peek at our commit history you'll see we always prefix commits with the subsystem (or folder) affected. This makes it easier for us to backport features.

harunkurtdev · 2024-09-28T09:12:01Z

Hi @harunkurtdev,

Thanks for this. I actually didn't realise that Webots was still usable. Good news that it is.

One thing is it would be best if the commits were squashed together somewhat and also if you peek at our commit history you'll see we always prefix commits with the subsystem (or folder) affected. This makes it easier for us to backport features.

So sir, what should I do? Can you recommend me a guideline?

I look this contributing

harunkurtdev · 2024-09-28T19:23:55Z

Mr. @rmackay9, it is working, what should I do now? I did not add any file confusion that would prevent Ardupilot from working.
Just new vehicle and world for webots.

peterbarker · 2024-09-29T22:32:40Z

Hi @harunkurtdev,
Thanks for this. I actually didn't realise that Webots was still usable. Good news that it is.
One thing is it would be best if the commits were squashed together somewhat and also if you peek at our commit history you'll see we always prefix commits with the subsystem (or folder) affected. This makes it easier for us to backport features.

So sir, what should I do? Can you recommend me a guideline?

I look this contributing

The information you're after is here: https://ardupilot.org/dev/docs/git-interactive-rebase.html

peterbarker · 2024-09-29T22:32:56Z

libraries/SITL/SIM_Webots_Python.cpp

@@ -45,6 +48,7 @@ void WebotsPython::set_interface_ports(const char* address, const int port_in, c
    // try to bind to a specific port so that if we restart ArduPilot
    // Webots keeps sending us packets. Not strictly necessary but
    // useful for debugging
+


Bad whitespace change

peterbarker · 2024-09-29T22:33:11Z

libraries/SITL/SIM_Webots_Python.cpp

-    _webots_address = address;
+
+    /*
+
+    if (is_wsl()) {
+        _webots_address = "0.0.0.0"; // Use 0.0.0.0 in WSL
+    } else {
+        _webots_address = address; // Use localhost otherwise
+    }
+    */
+


Removed change?

peterbarker · 2024-09-29T22:33:20Z

libraries/SITL/SIM_Webots_Python.cpp

@@ -128,6 +141,21 @@ void WebotsPython::recv_fdm(const struct sitl_input &input)

 }

+bool WebotsPython::is_wsl(){


peterbarker · 2024-09-29T22:33:28Z

libraries/SITL/SIM_Webots_Python.h

+
+
+


Bad whitespace change

peterbarker · 2024-09-29T22:33:35Z

libraries/SITL/SIM_Webots_Python.h

@@ -67,6 +70,10 @@ class WebotsPython : public Aircraft {
      double position_xyz[3];
    };

+
+    /// @brief check for wsl env
+    bool is_wsl();


peterbarker · 2024-09-29T22:33:47Z

...aries/SITL/examples/Webots_Python/controllers/ardupilot_vehicle_controller/webots_vehicle.py

@@ -155,14 +155,13 @@ def _handle_sitl(self, sitl_address: str = "127.0.0.1", port: int = 9002):
        Args:
            port (int, optional): Port to listen for SITL on. Defaults to 9002.
        """
-


bad whitespace change?

peterbarker · 2024-09-29T22:34:51Z

...aries/SITL/examples/Webots_Python/controllers/ardupilot_vehicle_controller/webots_vehicle.py

        # create a local UDP socket server to listen for SITL
        s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) # SOCK_STREAM
        s.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
        s.bind(('0.0.0.0', port))

        # wait for SITL to connect
-        print(f"Listening for ardupilot SITL (I{self._instance}) at 127.0.0.1:{port}")
+        print(f"Listening for ardupilot SITL (I{self._instance}) at {sitl_address}:{port}")


Didn't we just bind 0.0.0.0?

I mean, the existing comment is wrong, but this one is also wrong.

I mean, less wrong :-)

peterbarker · 2024-09-29T22:35:01Z

...aries/SITL/examples/Webots_Python/controllers/ardupilot_vehicle_controller/webots_vehicle.py

@@ -241,12 +240,13 @@ def _handle_controls(self, command: tuple):
        Args:
            command (tuple): tuple of motor speeds 0.0-1.0 where -1.0 is unused
        """
-
+        


bad whitespace change

peterbarker · 2024-09-29T22:35:43Z

...aries/SITL/examples/Webots_Python/controllers/ardupilot_vehicle_controller/webots_vehicle.py

        # get only the number of motors we have
        command_motors = command[:len(self._motors)]
        if -1 in command_motors:
            print(f"Warning: SITL provided {command.index(-1)} motors "
                  f"but model specifies {len(self._motors)} (I{self._instance})")
+            command_motors = [v if v != -1 else 0.0 for v in command_motors]


Add a comment as to why this is needed, please.

peterbarker · 2024-09-29T22:36:28Z

libraries/SITL/examples/Webots_Python/params/heron.parm

+SERVO4_FUNCTION  0          # Disabled (no steering required)
+
+AHRS_EKF_TYPE    10         # Use sim AHRS
+#ARMING_CHECK	 1045534    # No RC requirements


Why remove RC here? Simulation has it by default?

If this was copied from elsewhere that's fine.

peterbarker · 2024-11-09T00:59:45Z

@harunkurtdev still waiting for some of my comments to be addressed

harunkurtdev · 2024-11-10T21:28:35Z

@harunkurtdev still waiting for some of my comments to be addressed

Mr. @peterbarker,

I removed the parts you took into consideration and the unused parts.

Which part do I need to edit? Could you please state it again?

Sir, Are these what you've been waiting for?

#28251 (comment)
and
#28251 (comment)

It just didn't work on WSL in Windows. I had added some to them but since it still didn't work and you told me to, I removed it.

peterbarker

Ping @harunkurtdev - there are many un-addressed review comments in here.

libraries/SITL/SIM_Webots_Python.cpp

peterbarker requested changes Sep 29, 2024

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peterbarker requested changes Nov 12, 2024

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harunkurtdev closed this Nov 13, 2024

harunkurtdev force-pushed the pr-webots-usv branch from 11f453c to 9f29606 Compare November 13, 2024 07:20

harunkurtdev deleted the pr-webots-usv branch November 13, 2024 07:28

harunkurtdev restored the pr-webots-usv branch November 13, 2024 07:28

harunkurtdev deleted the pr-webots-usv branch November 13, 2024 07:28

This was referenced Nov 13, 2024

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New Vehicle Heron USV for Webots #28251

New Vehicle Heron USV for Webots #28251

harunkurtdev commented Sep 27, 2024

rmackay9 commented Sep 27, 2024

harunkurtdev commented Sep 28, 2024

harunkurtdev commented Sep 28, 2024 •

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peterbarker commented Sep 29, 2024

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peterbarker commented Nov 9, 2024

harunkurtdev commented Nov 10, 2024 •

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		@@ -128,6 +141,21 @@ void WebotsPython::recv_fdm(const struct sitl_input &input)

		}

		bool WebotsPython::is_wsl(){

New Vehicle Heron USV for Webots #28251

New Vehicle Heron USV for Webots #28251

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harunkurtdev commented Sep 27, 2024

rmackay9 commented Sep 27, 2024

harunkurtdev commented Sep 28, 2024

harunkurtdev commented Sep 28, 2024 • edited Loading

peterbarker commented Sep 29, 2024

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peterbarker commented Nov 9, 2024

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harunkurtdev commented Sep 28, 2024 •

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harunkurtdev commented Nov 10, 2024 •

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