changed for webots address

ArduPilot · Sep 27, 2024 · 6f1451e · 6f1451e
1 parent ce6ea49
commit 6f1451e
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Showing 2 changed files with 18 additions and 13 deletions.
diff --git a/libraries/SITL/SIM_Webots_Python.cpp b/libraries/SITL/SIM_Webots_Python.cpp
@@ -58,11 +58,16 @@ void WebotsPython::set_interface_ports(const char* address, const int port_in, c
     socket_sitl.reuseaddress();
     socket_sitl.set_blocking(false);
 
-     if (is_wsl()) {
+    /*
+    
+    if (is_wsl()) {
         _webots_address = "0.0.0.0"; // Use 0.0.0.0 in WSL
     } else {
         _webots_address = address; // Use localhost otherwise
     }
+    */
+
+    _webots_address = address; // Use localhost otherwise
     _webots_port = port_out;
     printf("Setting Webots interface to %s:%d \n", _webots_address, _webots_port);
 }

diff --git a/libraries/SITL/examples/Webots_Python/worlds/heron_ocean.wbt b/libraries/SITL/examples/Webots_Python/worlds/heron_ocean.wbt
@@ -10,8 +10,8 @@ EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/project
 WorldInfo {
 }
 Viewpoint {
-  orientation 0.11417842104655657 0.09038023497047008 -0.9893405385882043 2.0878534292029074
-  position -5.301313912561586 0.8769520435623269 1.1371233590956247
+  orientation 0.18802303494067113 0.008368575014304897 -0.9821289657086432 2.6567413787072653
+  position -3.5173698357397702 0.9533488761989521 1.9238550170857296
 }
 TexturedBackground {
 }
@@ -40,10 +40,10 @@ DEF WATER Fluid {
   locked TRUE
 }
 Heron {
-  hidden linearVelocity_0 0 0 3.6785733076437055e-13
-  hidden angularVelocity_0 8.936961868228959e-13 -3.0793909374941e-13 -1.8046085461297246e-16
-  translation -6.6784157308512615 -0.49028637658352825 0.44500582684416695
-  rotation -0.010053065114515154 -0.04147340372230338 -0.9990890314008507 0.5175970204287123
+  hidden linearVelocity_0 0 0 -3.545123546997953e-14
+  hidden angularVelocity_0 4.609404596900323e-14 6.687054702593327e-13 2.3099636435669426e-16
+  translation -6.6784157308512615 -0.49028637658352825 0.4450058268441469
+  rotation -0.010053065114475615 -0.041473403722977586 -0.9990890314008232 0.517597020428728
   controller "ardupilot_vehicle_controller"
   controllerArgs [
     "--motors"
@@ -57,7 +57,7 @@ Heron {
     "--camera-port"
     "5599"
     "--sitl-address"
-    "172.24.107.226"
+    "localhost"
   ]
   bodySlot [
     JetsonNano {
@@ -80,7 +80,7 @@ Heron {
   ]
 }
 OilBarrel {
-  hidden linearVelocity_0 0 0 7.783035268975111e-16
+  hidden linearVelocity_0 0 0 1.4387456326881762e-15
   translation -5.769041604986175 5.7137363726152754 0.5595498919704248
   rotation -0.1699998685374228 -0.9047911400234424 0.39045235001513096 1.7528084979303689
   physics Physics {
@@ -97,9 +97,9 @@ OilBarrel {
   ]
 }
 OilBarrel {
-  hidden linearVelocity_0 0 0 7.783035268975111e-16
+  hidden linearVelocity_0 0 0 1.4387456326881762e-15
   translation -10.052079249302796 2.4814946123187727 0.5595498919704248
-  rotation -0.2751133038851126 -0.6601076264091589 0.6989782482895187 -2.843722039686052
+  rotation -0.27511330388511257 -0.6601076264091592 0.6989782482895184 -2.843722039686051
   name "oil barrel(1)"
   physics Physics {
     density 100
@@ -115,7 +115,7 @@ OilBarrel {
   ]
 }
 OilBarrel {
-  hidden linearVelocity_0 0 0 -7.631781365196398e-16
+  hidden linearVelocity_0 0 0 -1.5261006141050254e-15
   translation -9.806804324970415 -3.2705951440882433 0.5595498919704249
   rotation 0.9914248557443196 0.045597095586811014 0.12246493492588871 1.5859460279251565
   name "oil barrel(2)"
@@ -133,7 +133,7 @@ OilBarrel {
   ]
 }
 OilBarrel {
-  hidden linearVelocity_0 0 0 7.783035268975111e-16
+  hidden linearVelocity_0 0 0 1.4387456326881762e-15
   translation -9.046348837161165 3.2463636605243056 0.5595498919704248
   rotation 0.7378366847241952 0.14393236835260417 -0.6594546989866846 -2.4506564948848384
   name "oil barrel(3)"