ardupilot/libraries/SITL/examples/Webots_Python/worlds/pioneer3at.wbt
Ian d358ca1b32 SITL: Add Webots 2023a support and examples
The various C Webots controllers are replaced by a single Python controller
- More readable (in my opinion)
- Does not require compilation
- Easily modifiable to run user code
- Can be blackboxed and configured via arguments when designing a robot model
- Optionally provides the ability to stream camera images over TCP
- Generalizable to copters and rovers (and probably more)
- Supports multi-vehicle simulation (including of multiple types)
- Requires no non-standard libraries (neither does current)

Higher fidelity example worlds
- Iris quadcopter demo world similar to gazebo
- Crazyflie quadcopter demo world (crazyflie models baked into webots)
- Pioneer3at rover demo world (pioneer models baked into webots)
2023-01-22 18:19:38 +11:00

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#VRML_SIM R2023a utf8
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/released/projects/robots/adept/pioneer3/protos/Pioneer3at.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/backgrounds/protos/TexturedBackground.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/road/protos/StraightRoadSegment.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/floors/protos/Floor.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/appearances/protos/Grass.proto"
WorldInfo {
title "Pioneer3at Ardupilot"
basicTimeStep 2
FPS 20
}
Viewpoint {
orientation 0.12905547789670888 -0.9264705889754452 -0.353549050894418 5.532540449151996
position -2.921033113316591 -0.8540816786630955 2.693602881281485
follow "Pioneer 3-AT"
followSmoothness 0.01
}
TexturedBackground {
}
TexturedBackgroundLight {
}
Floor {
size 300 100
appearance Grass {
}
}
StraightRoadSegment {
translation -15 0.3 0.02
rotation 0 0 1 0.105
width 16.5
rightBorder FALSE
leftBorder FALSE
length 140
}
Pioneer3at {
controller "ardupilot_vehicle_controller"
controllerArgs [
"--motors"
"front left wheel, back left wheel, front right wheel, back right wheel"
"--camera-fps"
"10"
"--motor-cap"
"100"
"--bidirectional-motors"
"true"
"--uses-propellers"
"false"
]
extensionSlot [
Accelerometer {
}
InertialUnit {
}
Gyro {
}
GPS {
}
]
}