New Vehicle Heron USV for Webots #28251
Conversation
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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 |
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Mr. @rmackay9, it is working, what should I do now? I did not add any file confusion that would prevent Ardupilot from working. |
The information you're after is here: https://ardupilot.org/dev/docs/git-interactive-rebase.html |
| @@ -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 | |||
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| _webots_address = address; | ||
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| /* | ||
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| if (is_wsl()) { | ||
| _webots_address = "0.0.0.0"; // Use 0.0.0.0 in WSL | ||
| } else { | ||
| _webots_address = address; // Use localhost otherwise | ||
| } | ||
| */ | ||
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| @@ -128,6 +141,21 @@ void WebotsPython::recv_fdm(const struct sitl_input &input) | |||
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| } | |||
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| bool WebotsPython::is_wsl(){ | |||
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| @@ -67,6 +70,10 @@ class WebotsPython : public Aircraft { | |||
| double position_xyz[3]; | |||
| }; | |||
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| /// @brief check for wsl env | |||
| bool is_wsl(); | |||
| @@ -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. | |||
| """ | |||
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bad whitespace change?
| # 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)) | ||
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| # 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}") |
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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 :-)
| @@ -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 | |||
| """ | |||
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| # 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] |
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Add a comment as to why this is needed, please.
| SERVO4_FUNCTION 0 # Disabled (no steering required) | ||
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| AHRS_EKF_TYPE 10 # Use sim AHRS | ||
| #ARMING_CHECK 1045534 # No RC requirements |
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Why remove RC here? Simulation has it by default?
If this was copied from elsewhere that's fine.
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.