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omichelygoumaz
omichel
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ygoumaz
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Fixed compilation on macOS (#5289)
* Fixed compilation, echo output on macOS * Fixed echo -e * Set JAVA_HOME automatically * remove codesign from Makefile.include * Update Makefile * Update Makefile * Compiles fixes for arm64 * Fixed compilation on arm64 * Update changelog-r2022.md * Update changelog-r2022.md * Got rid of aseba * Removed aseba dependency * Removed aseba documentation * removed python brew * Fixed mac distro on arm64 Co-authored-by: Yannick Goumaz <61198661+ygoumaz@users.noreply.github.com>
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‎.gitmodules‎

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[submodule "src/glm"]
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path = src/glm
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url = https://github.com/g-truc/glm.git
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[submodule "projects/robots/mobsya/thymio/libraries/dashel-src"]
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path = projects/robots/mobsya/thymio/libraries/dashel-src
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url = https://github.com/aseba-community/dashel.git
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[submodule "projects/robots/mobsya/thymio/controllers/thymio2_aseba/aseba"]
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path = projects/robots/mobsya/thymio/controllers/thymio2_aseba/aseba
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url = https://github.com/aseba-community/aseba.git
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[submodule "src/stb"]
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path = src/stb
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url = https://github.com/nothings/stb.git

‎Makefile‎

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help:
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@+echo
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@+echo -e "\033[32;1mWebots Makefile targets:\033[0m"
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@+$(ECHO) "\033[32;1mWebots Makefile targets:\033[0m"
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@+echo
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@+echo -e "\033[33;1mmake -j$(THREADS) release\033[0m\t# compile with maximum optimization (default)"
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@+echo -e "\033[33;1mmake -j$(THREADS) debug\033[0m \t# compile with gdb debugging symbols"
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@+echo -e "\033[33;1mmake -j$(THREADS) profile\033[0m\t# compile with gprof profiling information"
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@+echo -e "\033[33;1mmake -j$(THREADS) distrib\033[0m\t# compile in release mode & create distribution package"
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@+echo -e "\033[33;1mmake -j$(THREADS) clean\033[0m \t# clean-up the compilation output"
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@+echo -e "\033[33;1mmake -j$(THREADS) cleanse\033[0m\t# deep clean-up (dependencies are also removed)"
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@+echo -e "\033[33;1mmake help\033[0m\t\t# display this message and exit"
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@+$(ECHO) "\033[33;1mmake -j$(THREADS) release\033[0m\t# compile with maximum optimization (default)"
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@+$(ECHO) "\033[33;1mmake -j$(THREADS) debug\033[0m \t# compile with gdb debugging symbols"
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@+$(ECHO) "\033[33;1mmake -j$(THREADS) profile\033[0m\t# compile with gprof profiling information"
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@+$(ECHO) "\033[33;1mmake -j$(THREADS) distrib\033[0m\t# compile in release mode & create distribution package"
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@+$(ECHO) "\033[33;1mmake -j$(THREADS) clean\033[0m \t# clean-up the compilation output"
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@+$(ECHO) "\033[33;1mmake -j$(THREADS) cleanse\033[0m\t# deep clean-up (dependencies are also removed)"
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@+$(ECHO) "\033[33;1mmake help\033[0m\t\t# display this message and exit"
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@+echo
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@+echo -e "\033[32;1mNote:\033[0m You seem to have a processor with $(NUMBER_OF_PROCESSORS) virtual cores,"
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@+echo -e " hence the \033[33;1m-j$(THREADS)\033[0m option to speed-up the compilation."
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@+$(ECHO) "\033[32;1mNote:\033[0m You seem to have a processor with $(NUMBER_OF_PROCESSORS) virtual cores,"
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@+$(ECHO) " hence the \033[33;1m-j$(THREADS)\033[0m option to speed-up the compilation."

‎docs/guide/images/robots/thymio2/aseba_target_selection.png‎

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‎docs/guide/thymio2.md‎

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Webots contains an accurate model of the Thymio II robot.
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Almost all the Thymio II devices have been modeled and calibrated.
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Moreover Aseba studio and VPL for Thymio II can be connected on the simulated model allowing you to program the simulated robot using Aseba.
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Many Aseba examples are working directly with the simulated robot.
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Finally several objects related to the Thymio II are available, including a pen which can draw on any 3D object.
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### Thymio II Model
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SFVec3f translation 0 0 0
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SFRotation rotation 0 0 1 0
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SFString name "Thymio II"
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SFString controller "thymio2_aseba"
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MFString controllerArgs "port=33333"
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SFString controller "thymio2_demo"
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MFString controllerArgs []
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SFString customData ""
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SFBool supervisor FALSE
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SFBool synchronization TRUE
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- `bodySlot`: Extends the robot with new nodes in the body slot.
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### Connect Aseba to the Thymio II Model
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### Robot Window
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The default controller of the Thymio II PROTO is the `thymio2_demo` controller.
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It should be changed to `thymio2_aseba` to allow the connection to Aseba programming environment.
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However, most world files including the Thymio II robot are already configured to use `thymio2_aseba` as a controller for the Thymio II robot.
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Technically, `thymio2_aseba` creates a TCP/IP server on which Aseba can be connected, and it wraps the Aseba API with the Webots API.
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Here is how to proceed to connect Aseba to the Thymio II model in Webots.
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Make sure that the simulation is running (the controller has started) and that the controller of the Thymio II robot is `thymio2_aseba`.
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You can check this from the Webots scene tree, by opening the Thymio2 node.
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Aseba Studio or VPL for Thymio II can then be started.
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From the Aseba target selection dialog (see the [figure](#aseba-studio-and-vpl-target-selection-dialog).), select the `Network TCP/IP` option with the following parameters: `Host = localhost` and `Port = 33333`.
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Then just click on the `Connect` button.
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In case of a simulation containing several Thymio II, the TCP/IP port of the `thymio2_aseba` controller should be unique for each robot instance.
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This value can be modified by editing the `Thymio2::controllerArgs` field.
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%figure "Aseba Studio and VPL target selection dialog"
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![aseba_target_selection.png](images/robots/thymio2/aseba_target_selection.png)
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%end
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The Thymio II window (see the [figure](#thymio-ii-robot-window)) can help you to raise some events easily.
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These events are mainly useful when using the VPL for Thymio II software.
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To open the Thymio II window, select the "Show Robot Window" option in the robot [context menu](the-3d-window.md#context-menu).
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%figure "Thymio II robot window"

‎lib/controller/.gitignore‎

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/python38
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/python39
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/python310
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/python37_brew
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/python38_brew
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/python39_brew
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/python310_brew
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/*.so.*

‎projects/default/controllers/ros/Makefile‎

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PYTHON_COMMAND ?= python3
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ifeq (, $(ROS_DISTRO))
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release debug profile clean:
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@echo "# \033[0;33mROS not installed or 'ROS_DISTRO' not defined\033[0m"
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@$(ECHO) "# \033[0;33mROS not installed or 'ROS_DISTRO' not defined\033[0m"
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else
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ifeq (2, $(ROS_VERSION))
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release debug profile clean:
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@echo "# \033[0;33mROS_DISTRO should not be a ROS2 distribution\033[0m"
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@$(ECHO) "# \033[0;33mROS_DISTRO should not be a ROS2 distribution\033[0m"
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else
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CXX_SOURCES = $(wildcard *.cpp)
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CXX_SOURCES += $(wildcard highlevel/*.cpp)

‎projects/default/libraries/vehicle/java/Makefile‎

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# rules
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ifeq ($(SWIG_EXISTS),)
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all release debug profile:
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@echo -e "# \033[0;33mSWIG not installed, skipping Java API\033[0m"
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@$(ECHO) "# \033[0;33mSWIG not installed, skipping Java API\033[0m"
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else ifeq ($(JAVA_HOME),)
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all release debug profile:
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@echo -e "# \033[0;33mJava not installed or 'JAVA_HOME' not set, skipping Java API\033[0m"
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@$(ECHO) "# \033[0;33mJava not installed or 'JAVA_HOME' not set, skipping Java API\033[0m"
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else
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all release debug profile: $(JAR) $(LIBRARY)
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‎projects/robots/Makefile‎

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LIBRARIES=robotis/darwin-op/libraries.Makefile \
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neuronics/ipr/libraries.Makefile \
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mobsya/thymio/libraries.Makefile \
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kuka/youbot/libraries.Makefile
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CONTROLLERS=\
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neuronics/ipr/controllers.Makefile: neuronics/ipr/libraries.Makefile
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mobsya/thymio/controllers.Makefile: mobsya/thymio/libraries.Makefile
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kuka/youbot/controllers.Makefile: kuka/youbot/libraries.Makefile
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%.Makefile:

‎projects/robots/mobsya/thymio/controllers/Makefile‎

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# limitations under the License.
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TARGETS = thymio2_demo.Makefile
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ifneq (,$(wildcard ../libraries/dashel/dashel/dashel.h))
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ADD_THYMIO2_ASEBA = 1
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endif
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ifeq ($(MAKECMDGOALS),clean)
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ADD_THYMIO2_ASEBA = 1
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endif
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ifdef ADD_THYMIO2_ASEBA
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TARGETS += thymio2_aseba.Makefile
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endif
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.PHONY: release debug profile clean
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release debug profile clean: $(TARGETS)

‎projects/robots/mobsya/thymio/controllers/thymio2_aseba/.gitignore‎

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