Merge develop feature web proto

.github/workflows/sync_protected_branches.yml

@@ -0,0 +1,73 @@
+name: Branch synchronizer
+
+on:
+  schedule:
+    - cron:  '0 04 * * *'
+
+jobs:
+  sync-master-with-released:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout released
+        uses: actions/checkout@v3
+        with:
+          submodules: true
+          fetch-depth: 0
+          ref: released
+      - name: Check for diff
+        id: check-diff
+        run: |
+          git fetch origin master
+          git checkout master
+          if [ -n "$(git diff master...released)" ]; then
+            echo "Master needs sync with released!";
+            echo "create_pull_request=1" >> $GITHUB_OUTPUT
+          else
+            echo "Master is already up to date.";
+            echo "create_pull_request=0" >> $GITHUB_OUTPUT
+          fi
+      - name: Create Pull Request if necessary
+        if: ${{ steps.check-diff.outputs.create_pull_request == 1 }}
+        uses: repo-sync/[email protected]
+        with:
+          github_token: ${{ secrets.GITHUB_TOKEN }}
+          source_branch: released
+          destination_branch: master
+          pr_title: Merge released into master
+          pr_body: Synchronizes changes of released branch into master branch.
+          pr_reviewer: Maintainers
+    outputs:
+      pr_opened: ${{ steps.check-diff.outputs.create_pull_request == 1 }}
+  sync-develop-with-master:
+    runs-on: ubuntu-latest
+    needs: sync-master-with-released
+    steps:
+      - name: Checkout master
+        uses: actions/checkout@v3
+        with:
+          submodules: true
+          fetch-depth: 0
+          ref: master
+      - name: Check for diff
+        id: check-diff
+        run: |
+          git fetch origin develop
+          git checkout develop
+          if [ -n "$(git diff develop...master)" ]; then
+            echo "Develop needs sync with master!";
+            echo "create_pull_request=1" >> $GITHUB_OUTPUT
+          else
+            echo "Develop is already up to date.";
+            echo "create_pull_request=0" >> $GITHUB_OUTPUT
+          fi
+      - name: Create Pull Request if necessary
+        if: ${{ steps.check-diff.outputs.create_pull_request == 1 }} || ${{ needs.sync-master-with-released.outputs.pr_opened == 1 }}
+        uses: repo-sync/[email protected]
+        with:
+          github_token: ${{ secrets.GITHUB_TOKEN }}
+          source_branch: master
+          destination_branch: develop
+          pr_title: Merge master into develop
+          pr_body: Synchronizes changes of master branch into develop branch.
+          pr_reviewer: Maintainers
+          pr_allow_empty: true

.github/workflows/test_suite_windows.yml

@@ -61,14 +61,17 @@ jobs:
       with:
          submodules: true
          fetch-depth: 15
+    - uses: actions/setup-python@v4
+      with:
+        python-version: '3.11'
     - name: Install Visual Studio 10 and OpenJDK 18
       shell: powershell
       run: |
         choco install -y openjdk --version=18.0.2
         choco install -y visualcpp-build-tools
     - name: Install Webots Compilation Dependencies
       run: |
-        export PYTHON_HOME=/C/hostedtoolcache/windows/Python/3.10.`ls $PYTHON_INSTALLATION_FOLDER | grep '^3\.10\.[0-9]\+$' | cut -c6- | sort -n | tail -n1`/x64
+        export PYTHON_HOME=/C/hostedtoolcache/windows/Python/3.11.`ls $PYTHON_INSTALLATION_FOLDER | grep '^3\.11\.[0-9]\+$' | cut -c6- | sort -n | tail -n1`/x64
         echo 'export JAVA_HOME=/C/Program\ Files/OpenJDK/`ls /C/Program\ Files/OpenJDK`' >> ~/.bash_profile
         echo 'export PYTHON_HOME='$PYTHON_HOME >> ~/.bash_profile
         echo 'export VISUAL_STUDIO_PATH="/C/Program Files (x86)/Microsoft Visual Studio/2017"' >> ~/.bash_profile
@@ -95,6 +98,7 @@ jobs:
     - name: Create/Update GitHub release
       if: ${{ (github.event_name == 'push' || github.event_name == 'schedule') }}
       run: |
+        export PATH=/c/hostedtoolcache/windows/Python/3.11.0/x64:$PATH
         python -m pip install requests PyGithub
         scripts/packaging/publish_release.py --key=${{ secrets.GITHUB_TOKEN }} --repo=${{ github.repository }} --branch=${{ github.ref }} --commit=$(git log -1 --format='%H') --tag=${{ github.ref }}
     - uses: actions/upload-artifact@v2

.github/workflows/test_suite_windows_develop.yml

@@ -57,14 +57,17 @@ jobs:
          submodules: true
          fetch-depth: 15
          ref: develop
+    - uses: actions/setup-python@v4
+      with:
+        python-version: '3.11'
     - name: Install Visual Studio 10 and OpenJDK 18
       shell: powershell
       run: |
         choco install -y openjdk --version=18.0.2
         choco install -y visualcpp-build-tools
     - name: Install Webots Compilation Dependencies
       run: |
-        export PYTHON_HOME=/C/hostedtoolcache/windows/Python/3.10.`ls $PYTHON_INSTALLATION_FOLDER | grep '^3\.10\.[0-9]\+$' | cut -c6- | sort -n | tail -n1`/x64
+        export PYTHON_HOME=/C/hostedtoolcache/windows/Python/3.11.`ls $PYTHON_INSTALLATION_FOLDER | grep '^3\.11\.[0-9]\+$' | cut -c6- | sort -n | tail -n1`/x64
         echo 'export JAVA_HOME=/C/Program\ Files/OpenJDK/`ls /C/Program\ Files/OpenJDK`' >> ~/.bash_profile
         echo 'export PYTHON_HOME='$PYTHON_HOME >> ~/.bash_profile
         echo 'export VISUAL_STUDIO_PATH="/C/Program Files (x86)/Microsoft Visual Studio/2017"' >> ~/.bash_profile
@@ -91,6 +94,7 @@ jobs:
     - name: Create/Update GitHub release
       if: ${{ (github.event_name == 'push' || github.event_name == 'schedule') }}
       run: |
+        export PATH=/c/hostedtoolcache/windows/Python/3.11.0/x64:$PATH
         python -m pip install requests PyGithub
         scripts/packaging/publish_release.py --key=${{ secrets.GITHUB_TOKEN }} --repo=${{ github.repository }} --branch=${{ github.ref }} --commit=$(git log -1 --format='%H') --tag=${{ github.ref }}
     - uses: actions/upload-artifact@v2

Contents/Info.plist

@@ -35,7 +35,7 @@
 	<key>CFBundleExecutable</key>
 	<string>webots</string>
 	<key>CFBundleGetInfoString</key>
-	<string>Webots R2023a, Copyright 1998-2023 Cyberbotics Ltd.</string>
+	<string>Webots R2023b, Copyright 1998-2023 Cyberbotics Ltd.</string>
 	<key>CFBundleIconFile</key>
 	<string>webots_icon</string>
 	<key>CFBundleIdentifier</key>
@@ -47,11 +47,11 @@
 	<key>CFBundlePackageType</key>
 	<string>APPL</string>
 	<key>CFBundleShortVersionString</key>
-	<string>R2023a</string>
+	<string>R2023b</string>
 	<key>CFBundleSignature</key>
 	<string>wbt </string>
 	<key>CFBundleVersion</key>
-	<string>R2023a</string>
+	<string>R2023b</string>
 	<key>LSMinimumSystemVersion</key>
 	<string>10.14</string>
 	<key>CSResourcesFileMapped</key>

Makefile

@@ -1,4 +1,4 @@
-# Copyright 1996-2022 Cyberbotics Ltd.
+# 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.

dependencies/codesign.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python
 
-# Copyright 1996-2022 Cyberbotics Ltd.
+# 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.

docs/blog/Webots-2023-a-release.md

@@ -0,0 +1,99 @@
+# Version R2023a Released
+
+<p id="publish-data">By Yannick Goumaz - XXth November 2022</p>
+
+---
+
+It is that time of the year again!
+Today we are happy to announce the release of Webots R2023a!
+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-r2023.md).
+
+## New Robot
+
+A new robot model has been added to the Webots library. 
+The ROS-based four-wheeled [ROSbot](../guide/rosbot.md) robot from [Husarion](https://husarion.com/) is now included in Webots.
+
+%figure "ROSbot"
+![Added Robots](images/rosbot.thumbnail.png)
+%end
+
+You can discover this new robot in its demo world under `File > Open Sample World > rosbot.wbt`.
+
+---
+
+## New Device Objects
+
+Devices embedded on the [ROSbot](../guide/rosbot.md) have also been added to the Webots library, namely the [Mpu-9250](../guide/imu-sensors.md#mpu-9250) IMU, the [RPLidarA2](../guide/lidar-sensors.md#slamtec-rplidar-a2) lidar and the [Astra](../guide/range-finder-sensors.md#orbbec-astra) RGB-D camera.
+
+%figure "New devices"
+![Added Devices](images/devices_r2023a.thumbnail.png)
+%end
+
+---
+
+## New Assets
+
+Additional models have been added to the Webots library, namely static animals (cow, horse, deer, sheep, dog, fox, cat and rabbit) and a barn.
+
+%figure "New objects"
+![Added Assets](images/assets_r2023a.thumbnail.png)
+%end
+
+---
+
+## New Python API
+
+Webots R2023a comes with a brand new Python API!
+This API has the advantage of being compatible with all Python distributions (including conda, anaconda, etc.). 
+The API will always be compatible with current and upcoming Python versions.
+
+This change of API does not induce any change to the methods. 
+Python controllers developed before Webots R2023a are fully compatible with this new version.
+
+Moreover, in order to enrich the collection of sample controllers, all sample worlds of the device nodes provide an additional Python controller equivalent to the C controller already included to demonstrate the usage of the API functions.
+
+---
+
+## New IMU Sample World
+
+So far, the [InertialUnit](../reference/inertialunit.md) was considered as an IMU, because it provides the ground truth data of the attitude (roll, pitch, yaw) of the object on which it is inserted. 
+This assumption is fundamentally wrong.
+An IMU gives the raw values of its sensors ([Accelerometer](../reference/accelerometer.md), [Gyroscope](../reference/gyro.md), [Compass](../reference/compass.md)) and can optionally provide the attitude output computed from the fusion of its sensors. 
+The [InertialUnit](../reference/inertialunit.md) just makes life easier for the user who does not want to use a sensor fusion library or algorithm to combine the data from an IMU and compute the attitude.
+
+In addition to the implementation of the [Mpu-9250](../guide/imu-sensors.md#mpu-9250) IMU, Webots R2023a contains a new sample world that demonstrates a simple algorithm for calculating the attitude of a robot from the sensors of an IMU.
+The results of the latter are compared to the values given by the [InertialUnit](../reference/inertialunit.md).
+
+You can explore this new sample world in its demo world under `File > Open Sample World > imu.wbt`.
+
+---
+
+## ROS2
+
+With this release we are continuing to develop and improve the support for ROS 2 in Webots.
+New features include:
+
+- Added support for Windows Subsystem for Linux (WSL) and macOS.
+- Added reset handler to all examples of [`webots_ros2`](https://github.com/cyberbotics/webots_ros2) to support simulation reset from Webots.
+
+And many bug fixes.
+
+---
+
+## Extra Goodies
+
+- A new non-interactive terminal for web streaming.
+- The possibility to choose between spherical and cylindrical projections in [Camera](../reference/camera.md) and [RangeFinder](../reference/rangefinder.md) nodes.
+
+**Go and [download Webots R2023a](https://cyberbotics.com/#download) today, so you do not miss out on all these great new features!**
+
+---
+
+## Acknowledgements
+
+The current release includes contributions from [Samuel Howell](https://github.com/RugnirViking), [Frederik](https://github.com/TheMangalex), [ShuffleWire](https://github.com/ShuffleWire), [Kouga](https://github.com/tsubota-kouga) and [Toshiharu Tabuchi](https://github.com/toshiharutf).
+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/index.md

@@ -4,6 +4,7 @@ Welcome to the Webots blog!
 
 Here are the latest articles:
 
+- [Webots R2023a](Webots-2023-a-release.md)
 - [Webots R2022b](Webots-2022-b-release.md)
 - [Webots R2022a](Webots-2022-a-release.md)
 - [Webots R2021b](Webots-2021-b-release.md)

docs/blog/menu.md

@@ -12,3 +12,4 @@
 - [Webots R2021b](Webots-2021-b-release.md)
 - [Webots R2022a](Webots-2022-a-release.md)
 - [Webots R2022b](Webots-2022-b-release.md)
+- [Webots R2023a](Webots-2023-a-release.md)

docs/css/webots-doc.css

@@ -600,7 +600,7 @@ body {
 .ui-icon {
   display: inline-block;
   background-repeat: no-repeat;
-  background-image: url('https://cyberbotics.com/wwi/R2023a/images/icons.svg');
+  background-image: url('https://cyberbotics.com/wwi/R2023b/images/icons.svg');
   background-color: transparent;
   border: none;
   width: 34px;

docs/discord/update.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 # -*- coding: utf-8 -*-
 
-# Copyright 1996-2022 Cyberbotics Ltd.
+# 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.

docs/generate_thumbnails.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python
 # -*- coding: utf-8 -*-
 
-# Copyright 1996-2022 Cyberbotics Ltd.
+# 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.

docs/guide/advanced-configuration.md

@@ -9,13 +9,13 @@ The version of Webots for the Docker image is automatically computed from the he
 For example if the world file starts with the following line:
 
 ```
-#VRML_SIM R2022b utf8
+#VRML_SIM R2023a utf8
 ```
 **Note**: Webots versions lower that R2022b are not supported.
 
 The simulation server will create a `Dockerfile` starting with:
 ```
-FROM docker image cyberbotics/webots.cloud:R2022b-ubuntu20.04
+FROM docker image cyberbotics/webots.cloud:R2023a-ubuntu20.04
 ```
 
 Running Webots inside a Docker container is a very little overhead, but guarantees that the simulation server remains secure, regardless of the running simulations.
@@ -46,21 +46,21 @@ This can be achieve with svn on the master branch:
 
 `svn checkout https://github.com/cyberbotics/webots/branches/master/projects/languages/python`
 
-Or on the R2022b tag:
+Or on the R2023a tag:
 
-`svn checkout https://github.com/cyberbotics/webots/tags/R2022b/projects/languages/python`
+`svn checkout https://github.com/cyberbotics/webots/tags/R2023a/projects/languages/python`
 
 To check if a branch or a tag exists:
 
 `svn ls https://github.com/cyberbotics/webots/branches/master`
 
-`svn ls https://github.com/cyberbotics/webots/tags/R2022b`
+`svn ls https://github.com/cyberbotics/webots/tags/R2023a`
 
 `git ls-remote --quiet --heads https://github.com/cyberbotics/webots.git master`
 
-`git ls-remote --quiet --tags https://github.com/cyberbotics/webots.git R2022b`
+`git ls-remote --quiet --tags https://github.com/cyberbotics/webots.git R2023a`
 
-`git ls-remote --quiet https://github.com/cyberbotics/webots.git R2022b` will tell whether `R2022b` is a branch or a tag.
+`git ls-remote --quiet https://github.com/cyberbotics/webots.git R2023a` will tell whether `R2023a` is a branch or a tag.
 
 ### Tips and Troubleshooting
 

docs/guide/generate_objects_doc.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python
 # -*- coding: utf-8 -*-
 
-# Copyright 1996-2022 Cyberbotics Ltd.
+# 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.
@@ -49,7 +49,7 @@
 FIELDS_STATE = 1
 BODY_STATE = 2
 
-TAG = 'R2022b'
+TAG = 'R2023a'
 
 fileList = []
 upperCategories = {'projects': ['appearances']}

docs/guide/installation-procedure.md

@@ -141,7 +141,7 @@ 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 R2022b, the download size of the snap is 766MB compared to 201MB of the Debian package.
+For Webots R2023a, the download size of the snap is 775MB compared to 183MB of the Debian package.
 
 ##### Extern Controllers
 

docs/guide/object-advertising-board.md

@@ -18,8 +18,8 @@ AdvertisingBoard {
   SFVec3f     translation       0 0 0
   SFRotation  rotation          0 0 1 0
   SFString    name              "advertising board"
-  MFString    frontTexture      "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/default/worlds/textures/webots_billboard.jpg"
-  MFString    backTexture       "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/default/worlds/textures/webots_billboard.jpg"
+  MFString    frontTexture      "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/default/worlds/textures/webots_billboard.jpg"
+  MFString    backTexture       "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/default/worlds/textures/webots_billboard.jpg"
   MFColor     recognitionColors [ 1 1 1, 0.75 0 0 ]
   SFBool      displayBackLight  FALSE
   SFFloat     displayWidth      4

docs/guide/object-road.md

@@ -1021,7 +1021,7 @@ Roundabout {
          SFFloat              innerRadius              4
          SFFloat              outerRadius              8
          SFBool               center                   TRUE
-         MFString             centerTexture            "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/default/worlds/textures/grass.jpg"
+         MFString             centerTexture            "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/default/worlds/textures/grass.jpg"
          SFVec2f              centerTextureScale       4 4
          SFInt32              roadNumber               4
          MFFloat              startRoadsLength         [5]
@@ -1220,4 +1220,3 @@ StraightRoadSegment {
 - `leftBarrierBoundingObject`: Defines whether the left crash barrier (if any) should have a bounding object.
 
 - `castShadows`: Defines whether the road should cast shadows.
-