Merge branch 'develop' into fix-race-condition-in-robot-window-html-test

Author: CoolSpy3

.github/workflows/test_suite_linux.yml

@@ -8,7 +8,7 @@ on:
   push:
     tags:
       - nightly_*
-      - R22*
+      - R20*
 
 concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}

docs/blog/Webots-2025-a-release.md

@@ -0,0 +1,98 @@
+# Version R2025a Released
+
+<p id="publish-data">By Milos Nikolic - 31st January 2025</p>
+<!--  -->
+---
+
+It is that time of the year again!
+Today we are happy to announce the release of Webots R2025a!
+This new version is packed with some new features, improvements and, of course, bug fixes.
+
+Here we are going to present some of the main new features, but for a comprehensive list of changes please refer to the [Change Log](../reference/changelog-r2025.md).
+
+## New Robot
+
+A new robot model has been added to the Webots library.
+The Heron USV robot from [Clearpath Robotics](https://clearpathrobotics.com/) is now included in Webots.
+
+%figure "Heron USV"
+![Heron USV](images/heron_usv.thumbnail.png)
+%end
+
+You can discover this new robot in its demo world under `File > Open Sample World > ocean.wbt/swarm.wbt`.
+
+---
+
+## Introducing the W3D Format
+
+Webots 2025a introduces the new `w3d` format, replacing the outdated `x3d` format to simplify simulation workflows.
+
+This update aligns Webots, WebotsJS, and webots.cloud, offering a unified and consistent export system for various elements like sensors, actuators, and visual components.
+
+The transition also removes VRML support, replacing `vrmlField` with `w3dField` for cleaner integration and simplified export processes.
+
+Additionally, the Surveyor robot is enhanced with tracks and an updated controller. These changes make the Webots ecosystem more robust, scalable, and easier to use.
+
+---
+
+## Improvement to the Supervisor API
+
+A new feature enhances the Supervisor API by allowing direct access to internal fields of a PROTO hierarchy.
+
+This includes new functions such as `wb_supervisor_proto_get_field` and `wb_supervisor_proto_get_number_of_fields`, enabling introspection and manipulation of nested PROTO parameters.
+
+Additionally, several existing API methods were renamed for clarity, minimizing the impact on existing controllers. This improvement streamlines simulation control and introspection, making it easier for developers to interact with complex PROTO structures.
+
+All the changes are available in the [Supervisor API](https://cyberbotics.com/doc/reference/supervisor).
+
+---
+
+## ROS and ROS 2
+
+With the deprecation of the `webots_ros` package and the upcoming End of Life (EOL) for ROS 1 Noetic in [May 2025](https://wiki.ros.org/Distributions), we strongly encourage our users to transition to ROS 2 for a more future-proof and robust robotics experience.
+
+If you still require ROS 1 support with Webots, we have got you covered!
+We offer a convenient Docker-based solution. Learn more and get started [here](https://github.com/cyberbotics/webots_ros/tree/develop/docker).
+
+We now support the newly released **ROS 2 Jazzy Jalisco** while dropping support for **ROS 2 Iron Irwini**, ensuring compatibility with the latest ROS 2 developments.
+
+### New Demos
+
+**[Husarion ROSbot and ROSbot XL](https://husarion.com/).**
+This demo showcases a versatile robotic platform for autonomous navigation and research.
+The demo demonstrates usage of the `robot_localization` package for sensor fusion.
+
+%figure "Husarion ROSbot XL"
+![Husarion ROSbot XL](images/ros_husarion_rosbot_xl.thumbnail.jpg)
+%end
+
+**[Crazyflie](https://www.bitcraze.io/products/old-products/crazyflie-2-1/).**
+A lightweight, agile drone platform designed for indoor exploration.
+This demo demonstrates PID control implementation using a Webots ROS 2 plugin.
+
+%figure "Crazyflie"
+![Crazyflie](images/ros_crazyflie.thumbnail.jpg)
+%end
+
+The packages should be available after ROS 2 sync under name `ros-${ROS_DISTRO}-webots-ros2-crazyflie` and `ros-${ROS_DISTRO}-webots-ros2-husarion`.
+
+For a detailed overview of all the changes, check out the [main changelog](https://github.com/cyberbotics/webots_ros2/blob/master/webots_ros2/CHANGELOG.rst) for the `webots_ros2` package.
+
+---
+
+## Extra Goodies
+
+Webots is now compatible with Ubuntu 24.04 "Noble Numbat" and macOS 14 "Sonoma".
+
+**Go and [download Webots R2025a](https://cyberbotics.com/#download) today, so you do not miss out on all these great new features!**
+
+---
+
+## Acknowledgements
+
+The current release includes contributions from [Daniel Dias](https://github.com/ad-daniel), [Kimberly McGuire](https://github.com/knmcguire), [Chandan Bharadwaj](https://github.com/Chandan-Bharadwaj), [Songyang Zhao](https://github.com/songyangZhao), [ShuffleWire](https://github.com/ShuffleWire), [Jakub Delicat](https://github.com/delihus), [Léo Duggan](https://github.com/Jean-Eudes-le-retour), [nilsjor](https://github.com/nilsjor), [Simon Gene Gottlieb](https://github.com/SGSSGene), [Tsubasaya](https://github.com/Minimerl), [Dean Brettle](https://github.com/brettle), [Chirath Pansilu](https://github.com/ChirathPansilu), [fparat](https://github.com/fparat), [Gaël Écorchard](https://github.com/galou), [Ian Burwell](https://github.com/IanBurwell), [Stephan Kunz](https://github.com/stepkun), [Kode Creer](https://github.com/kodecreer), [Toshiharu Tabuchi](https://github.com/toshiharutf), [Justin Beri](https://github.com/justinberi), [DrakerDG](https://github.com/DrakerDG), [Jolon Behrent](https://github.com/JolonB), [Darko Lukić](https://github.com/lukicdarkoo), [Miloš Nikolić](https://github.com/MNikoliCC), [Angel Ayala](https://github.com/angel-ayala), [Sebastian Ohl](https://github.com/sebastianohl), [GnSight](https://github.com/ftyghome) and [tantan](https://github.com/naos080415).
+
+Special thanks go to these contributors and the many other members of our community who have contributed by reporting issues, bugs or provided support and moderation in our [Discord](https://discord.com/invite/nTWbN9m) channel.
+
+The development of Webots is also partially supported by several European research projects, including [OpenDR](https://opendr.eu) and [OPTIMA](https://optima-hpc.eu), the [SimGait](https://simgait.org) Swiss national research project and many other private and academic partners.
+

docs/blog/images/heron_usv.png

@@ -4,6 +4,7 @@ Welcome to the Webots blog!
 
 Here are the latest articles:
 
+- [Webots R2025a](Webots-2025-a-release.md)
 - [Webots R2023b](Webots-2023-b-release.md)
 - [Webots R2023a](Webots-2023-a-release.md)
 - [Webots R2022b](Webots-2022-b-release.md)

docs/blog/images/heron_usv.thumbnail.png

@@ -14,3 +14,4 @@
 - [Webots R2022b](Webots-2022-b-release.md)
 - [Webots R2023a](Webots-2023-a-release.md)
 - [Webots R2023b](Webots-2023-b-release.md)
+- [Webots R2025a](Webots-2025-a-release.md)

docs/blog/images/ros_crazyflie.png

@@ -127,7 +127,7 @@ However, the sand-boxing constraints of snaps yield the following limitations:
 ##### Download Size
 
 The download is significantly bigger as it includes all the dependencies of Webots (ffmpeg, Python, C++ and Java compilers, etc.).
-For Webots R2023b, the download size of the snap is 651MB compared to 146MB of the Debian package.
+For Webots R2025a, the download size of the snap is 604MB compared to 146MB of the Debian package.
 
 ##### Extern Controllers
 

docs/blog/images/ros_crazyflie.thumbnail.jpg

@@ -1,26 +1,5 @@
 # Webots R2023 Change Log
 
-## Webots R2023b Revision 1
-Released on XXX XXth, 2023.
-  - New Devices and Objects
-    - Added a model of a silo and a field ditch ([#6289](https://github.com/cyberbotics/webots/pull/6289)).
-  - Enhancements
-    - Enabled the launching of MATLAB desktop from the extern launcher ([#6366](https://github.com/cyberbotics/webots/pull/6366)). 
-    - Improved overlays visible in Overlays menu by adding all the robots in the menu list ([#6297](https://github.com/cyberbotics/webots/pull/6297)).
-  - Bug fixes
-    - Fixed Python path for `libcar.dylib` and `libdriver.dylib` on macOS ([#6482](https://github.com/cyberbotics/webots/pull/6482)).
-    - Avoided crash and provided better warnings when attempting to access PROTO nodes in a wrong way from the supervisor API ([#6473](https://github.com/cyberbotics/webots/pull/6473)).
-    - Fixed errors loading template PROTO if the system user name, the project path, or the temporary directory path contains the `\` character ([#6288](https://github.com/cyberbotics/webots/pull/6288)).
-    - Fixed Webots and libController version comparison not to take revisions into account ([#6315](https://github.com/cyberbotics/webots/pull/6315)).
-    - Fixed translation, rotation and scale displayed in the Position tab of the Node viewer in the scene tree ([#6309](https://github.com/cyberbotics/webots/pull/6309)).
-    - Replaced the [Mesh](mesh.md) bounding object of the ROSbot XL by [Boxes](box.md) ([#6326](https://github.com/cyberbotics/webots/pull/6326)).
-    - Fixed a crash when [IndexedLineSet](indexedlineset.md) has `coord` but no `coordIndex` ([#6359](https://github.com/cyberbotics/webots/pull/6359)).
-    - Fixed values returned by the [Receiver.getEmitterDirection](https://cyberbotics.com/doc/reference/receiver?tab-language=python#wb_receiver_get_emitter_direction) Python method ([#6394](https://github.com/cyberbotics/webots/pull/6394)).
-    - Fixed recognition of omnidirectional cameras with fov > pi/2 in [WbObjectDetection] ([#6396](https://github.com/cyberbotics/webots/pull/6396)).
-    - Fixed [ElevationGrid](elevationgrid.md) collisions not matching the displayed when the x and y dimensions are different ([#6412](https://github.com/cyberbotics/webots/pull/6412))
-    - Fixed JNILIB_FLAGS relative reference for Java controllers ([#5181](https://github.com/cyberbotics/webots/issues/5181))
-
-    
 ## Webots R2023b
 Released on June 28th, 2023.
   - New Features

docs/blog/images/ros_husarion_rosbot_xl.png

@@ -1,7 +1,7 @@
 # Webots R2025 Change Log
 
 ## Webots R2025a
-Released on December **th, 2023.
+Released on January 31st, 2025.
   - New Features
     - **Change the name of the web scene format from `X3D` to `W3D` ([#6280](https://github.com/cyberbotics/webots/pull/6280)).**
     - Removed support for Ubuntu 20.04 "Focal Fossa" and added support for Ubuntu 24.04 "Noble Numbat" ([#6704](https://github.com/cyberbotics/webots/pull/6704)).
@@ -17,10 +17,15 @@ Released on December **th, 2023.
       - Fixed the method signature of `wb_supervisor_node_get_number_of_fields` in MATLAB.
     - Removed support for Lua as a PROTO scripting language ([#6642](https://github.com/cyberbotics/webots/pull/6642)).
     - Adapt QtToolTip text box for every Webots mode ([#6711](https://github.com/cyberbotics/webots/pull/6711)).
+  - New Devices and Objects
+    - Added a model of a silo and a field ditch ([#6289](https://github.com/cyberbotics/webots/pull/6289)).
+    - Added a model of the Clearpath Heron USV robot ([#6548](https://github.com/cyberbotics/webots/pull/6548)).
   - Enhancements
     - Improved the image range of the rotating [Lidar](lidar.md) ([#6324](https://github.com/cyberbotics/webots/pull/6324)).
     - Show box-plane contact point normals when showing contact points ([#6678](https://github.com/cyberbotics/webots/pull/6678)).
     - Improved the speed and accuracy of box-plane collisions ([#6688](https://github.com/cyberbotics/webots/pull/6688)).
+    - Enabled the launching of MATLAB desktop from the extern launcher ([#6366](https://github.com/cyberbotics/webots/pull/6366)). 
+    - Improved overlays visible in Overlays menu by adding all the robots in the menu list ([#6297](https://github.com/cyberbotics/webots/pull/6297)).
   - Cleanup
     - Removed deprecated `windowPosition`, `pixelSize` fields of [Display](display.md) node ([#6327](https://github.com/cyberbotics/webots/pull/6327)).
     - Remove ROS (1) support ([#6697](https://github.com/cyberbotics/webots/pull/6697)).
@@ -48,5 +53,17 @@ Released on December **th, 2023.
     - Fixed a bug where Webots would crash if a geometry was inserted into a `Shape` node used a bounding box ([#6691](https://github.com/cyberbotics/webots/pull/6691)).
     - Removed the old `wb_supervisor_field_import_sf_node` and `wb_supervisor_field_import_mf_node` functions from the list of editor autocomplete suggestions ([#6701](https://github.com/cyberbotics/webots/pull/6701)).
     - Fixed a bug preventing nodes from being inserted into unconnected proto fields ([#6735](https://github.com/cyberbotics/webots/pull/6735)).
+    - Fixed crash when an invalid HDR image was set as a world background ([#6744](https://github.com/cyberbotics/webots/pull/6744)).
     - Fixed handling of remote assets from unofficial sources ([#6585](https://github.com/cyberbotics/webots/pull/6585)).
     - Fixed the QtToolTip bug, where the text in the text box is not being displayed ([#6711](https://github.com/cyberbotics/webots/pull/6711)).
+    - Fixed Python path for `libcar.dylib` and `libdriver.dylib` on macOS ([#6482](https://github.com/cyberbotics/webots/pull/6482)).
+    - Avoided crash and provided better warnings when attempting to access PROTO nodes in a wrong way from the supervisor API ([#6473](https://github.com/cyberbotics/webots/pull/6473)).
+    - Fixed errors loading template PROTO if the system user name, the project path, or the temporary directory path contains the `\` character ([#6288](https://github.com/cyberbotics/webots/pull/6288)).
+    - Fixed Webots and libController version comparison not to take revisions into account ([#6315](https://github.com/cyberbotics/webots/pull/6315)).
+    - Fixed translation, rotation and scale displayed in the Position tab of the Node viewer in the scene tree ([#6309](https://github.com/cyberbotics/webots/pull/6309)).
+    - Replaced the [Mesh](mesh.md) bounding object of the ROSbot XL by [Boxes](box.md) ([#6326](https://github.com/cyberbotics/webots/pull/6326)).
+    - Fixed a crash when [IndexedLineSet](indexedlineset.md) has `coord` but no `coordIndex` ([#6359](https://github.com/cyberbotics/webots/pull/6359)).
+    - Fixed values returned by the [Receiver.getEmitterDirection](https://cyberbotics.com/doc/reference/receiver?tab-language=python#wb_receiver_get_emitter_direction) Python method ([#6394](https://github.com/cyberbotics/webots/pull/6394)).
+    - Fixed recognition of omnidirectional cameras with fov > pi/2 in [WbObjectDetection] ([#6396](https://github.com/cyberbotics/webots/pull/6396)).
+    - Fixed [ElevationGrid](elevationgrid.md) collisions not matching the displayed when the x and y dimensions are different ([#6412](https://github.com/cyberbotics/webots/pull/6412))
+    - Fixed JNILIB_FLAGS relative reference for Java controllers ([#5181](https://github.com/cyberbotics/webots/issues/5181))

docs/blog/images/ros_husarion_rosbot_xl.thumbnail.jpg

@@ -3,7 +3,7 @@
 EXTERNPROTO "webots://projects/objects/backgrounds/protos/TexturedBackground.proto"
 EXTERNPROTO "webots://projects/objects/backgrounds/protos/TexturedBackgroundLight.proto"
 EXTERNPROTO "webots://projects/objects/obstacles/protos/OilBarrel.proto"
-EXTERNPROTO "../protos/Heron.proto"
+EXTERNPROTO "webots://projects/robots/clearpath/heron/protos/Heron.proto"
 
 WorldInfo {
 }
@@ -30,11 +30,7 @@ DEF WATER Fluid {
     }
   ]
   viscosity 0.01
-  boundingObject Transform {
-    children [
-      USE WATER_BOX
-    ]
-  }
+  boundingObject USE WATER_BOX
   locked TRUE
 }
 Heron {

docs/blog/index.md

@@ -3,7 +3,7 @@
 EXTERNPROTO "webots://projects/objects/backgrounds/protos/TexturedBackground.proto"
 EXTERNPROTO "webots://projects/objects/backgrounds/protos/TexturedBackgroundLight.proto"
 EXTERNPROTO "webots://projects/objects/obstacles/protos/OilBarrel.proto"
-EXTERNPROTO "../protos/Heron.proto"
+EXTERNPROTO "webots://projects/robots/clearpath/heron/protos/Heron.proto"
 
 WorldInfo {
 }
@@ -30,11 +30,7 @@ DEF WATER Fluid {
     }
   ]
   viscosity 0.01
-  boundingObject Transform {
-    children [
-      USE WATER_BOX
-    ]
-  }
+  boundingObject USE WATER_BOX
   locked TRUE
 }
 OilBarrel {

docs/blog/menu.md

@@ -42,15 +42,15 @@ ignore: TRUE
 
 [area_junction]
 ignore: FALSE
-texture: https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/default/worlds/textures/asphalt.jpg
+texture: https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/default/worlds/textures/asphalt.jpg
 
 [area_farmland]
 ignore: FALSE
-texture: https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/default/worlds/textures/dry_grass.jpg
+texture: https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/default/worlds/textures/dry_grass.jpg
 
 [area_farm]
 ignore: FALSE
-texture: https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/default/worlds/textures/dry_grass.jpg
+texture: https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/default/worlds/textures/dry_grass.jpg
 
 [area_water]
 ignore: FALSE
@@ -66,7 +66,7 @@ density: 0.1
 
 [area_parking]
 ignore: FALSE
-texture: https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/default/worlds/textures/light_asphalt.jpg
+texture: https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/default/worlds/textures/light_asphalt.jpg
 
 # BARRIER DEFAULTS SETTINGS #
 

docs/guide/installation-procedure.md

@@ -27,7 +27,7 @@
 GOOGLE_ELEVATION_BASE_URL = 'https://maps.googleapis.com/maps/api/elevation/json'
 GEAONAMES_ELEVATION_BASE_URI = 'http://api.geonames.org/astergdemJSON'
 
-GRASS_TEXTURE = 'https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/default/worlds/textures/grass.jpg'
+GRASS_TEXTURE = 'https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/default/worlds/textures/grass.jpg'
 
 
 class Elevation(object):

docs/reference/changelog-r2023.md

@@ -19,7 +19,7 @@
 from projection import Projection
 
 
-PREFIX = 'https://raw.githubusercontent.com/cyberbotics/webots/R2023b/'
+PREFIX = 'https://raw.githubusercontent.com/cyberbotics/webots/R2025a/'
 GRASS_TEXTURE = f'{PREFIX}projects/default/worlds/textures/grass.jpg'
 
 
@@ -62,7 +62,7 @@ def extern_proto_declaration(options):
 def print_header(options, file, minlat, minlon, maxlat, maxlon, elevation=None):
     """Print the 'WorldInfo', 'Viewpoint', 'TexturedBackground', 'TexturedBackgroundLight' and 'Floor' nodes."""
     xSize, zSize = get_world_size(minlat=minlat, minlon=minlon, maxlat=maxlat, maxlon=maxlon)
-    file.write("#VRML_SIM R2023b utf8\n")
+    file.write("#VRML_SIM R2025a utf8\n")
     file.write(extern_proto_declaration(options))
     file.write("WorldInfo {\n")
     file.write("  info [\n")

docs/reference/changelog-r2025.md

@@ -22,7 +22,7 @@
 from utils.misc_utils import extract_float_from_string, length2D
 
 
-RED_BRICK_TEXTURE = 'https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/default/worlds/textures/red_brick_wall.jpg'  # noqa: E501
+RED_BRICK_TEXTURE = 'https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/default/worlds/textures/red_brick_wall.jpg'  # noqa: E501
 
 
 class Barrier(WebotsObject):

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

@@ -42,8 +42,8 @@
 # vertical offset lifting the Roads and Crossroads in order to not be coplanar with the floor.
 vOffset = 0.01
 
-ROAD_LINE_DASHED_TEXTURE = 'https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/road/protos/textures/road_line_dashed.png'  # noqa: E501
-ROAD_LINE_TRIANGLE_TEXTURE = 'https://raw.githubusercontent.com/cyberbotics/webots/R2023b/projects/objects/road/protos/textures/road_line_triangle.png'  # noqa: E501
+ROAD_LINE_DASHED_TEXTURE = 'https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/road/protos/textures/road_line_dashed.png'  # noqa: E501
+ROAD_LINE_TRIANGLE_TEXTURE = 'https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/road/protos/textures/road_line_triangle.png'  # noqa: E501
 
 
 class Road(WebotsObject):