ZumoComSystem related worlds moved to a separate folder. The ZumoComS…

…ystem was added to the worlds too.
BlueAndi · May 15, 2024 · 5ceef8a · 5ceef8a
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diff --git a/README.md b/README.md
@@ -152,11 +152,11 @@ Example for the **LineFollowerTarget** application:
 | Application | Description | Standalone | DroidControlShop Required | Webots World |
 | - | - | - | - | - |
 | Calib | Application used for motor speed calibration. | Yes | No | ./webots/worlds/LargeTrack.wbt  ./webots/worlds/LineFollowerTrack.wbt |
-| ConvoyLeader | A line follower, providing information to the [DroidControlShip](https://github.com/BlueAndi/DroidControlShip) in a convoy leader role. | No | Yes | ./webots/worlds/PlatoonTrack.wbt |
-| ConvoyFollower | Convoy follower, providing information to the [DroidControlShip](https://github.com/BlueAndi/DroidControlShip) to drive to its target. | No | Yes | ./webots/worlds/PlatoonTrack.wbt |
+| ConvoyLeader | A line follower, providing information to the [DroidControlShip](https://github.com/BlueAndi/DroidControlShip) in a convoy leader role. | No | Yes | ./webots/worlds/zumo_with_com_system/PlatoonTrack.wbt |
+| ConvoyFollower | Convoy follower, providing information to the [DroidControlShip](https://github.com/BlueAndi/DroidControlShip) to drive to its target. | No | Yes | ./webots/worlds/zumo_with_com_system/PlatoonTrack.wbt |
 | LineFollower | Just a line follower, using a PID controller. | Yes | No | ./webots/worlds/ETrack.wbt  ./webots/worlds/LargeTrack.wbt  ./webots/worlds/LineFollowerTrack.wbt |
 | RemoteControl | The robot is remote controlled by e.g. the [DroidControlShip](https://github.com/BlueAndi/DroidControlShip) in a convoy follower role. | No | Yes | ./webots/world/zumo_with_com_system/* |
-| SensorFusion | The robot provides odometry and inertial data to the [DroidControlShip](https://github.com/BlueAndi/DroidControlShip), which calculates the sensor fusion based location information. | No | Yes | ./webots/worlds/SensorFusionTrack.wbt |
+| SensorFusion | The robot provides odometry and inertial data to the [DroidControlShip](https://github.com/BlueAndi/DroidControlShip), which calculates the sensor fusion based location information. | No | Yes | ./webots/worlds/zumo_with_com_system/SensorFusionTrack.wbt |
 | Test | Only for testing purposes on native environment. | Yes | No | N/A |
 
 # Documentation

diff --git a/webots/worlds/PlatoonTrack.wbt → ...lds/zumo_with_com_system/PlatoonTrack.wbt b/webots/worlds/PlatoonTrack.wbt → ...lds/zumo_with_com_system/PlatoonTrack.wbt
@@ -2,10 +2,11 @@
 
 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 "../protos/Zumo32U4.proto"
-EXTERNPROTO "../protos/PlatoonTrack.proto"
-EXTERNPROTO "../protos/Supervisor.proto"
-EXTERNPROTO "../protos/Obstacle.proto"
+EXTERNPROTO "../../protos/Zumo32U4.proto"
+EXTERNPROTO "../../protos/ZumoComSystem.proto"
+EXTERNPROTO "../../protos/PlatoonTrack.proto"
+EXTERNPROTO "../../protos/Supervisor.proto"
+EXTERNPROTO "../../protos/Obstacle.proto"
 
 WorldInfo {
   info [
@@ -41,18 +42,33 @@ DEF LEADER Zumo32U4 {
   name "leader"
   contactMaterial "rubber"
 }
+ZumoComSystem {
+  translation 0 0 0
+  rotation 0 0 1 0
+  name "ZumoComSystemLeader"
+}
 DEF FOLLOWER1 Zumo32U4 {
   translation -3.15 -1.2 0.013994298332013683
   rotation -1.0564747468923541e-06 8.746699709178704e-07 0.9999999999990595 1.5880805820884731
   name "follower_1"
   contactMaterial "rubber"
 }
+ZumoComSystem {
+  translation 0 0 0
+  rotation 0 0 1 0
+  name "ZumoComSystemFollower1"
+}
 DEF FOLLOWER2 Zumo32U4 {
   translation -3.15 -1.35 0.013994298332013683
   rotation -1.0564747468923541e-06 8.746699709178704e-07 0.9999999999990595 1.5880805820884731
   name "follower_2"
   contactMaterial "rubber"
 }
+ZumoComSystem {
+  translation 0 0 0
+  rotation 0 0 1 0
+  name "ZumoComSystemFollower2"
+}
 Supervisor {
   name "PlatoonSupervisor"
   controller "PlatoonSupervisor"

diff --git a/webots/worlds/SensorFusionTrack.wbt → ...umo_with_com_system/SensorFusionTrack.wbt b/webots/worlds/SensorFusionTrack.wbt → ...umo_with_com_system/SensorFusionTrack.wbt
@@ -2,9 +2,10 @@
 
 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 "../protos/Zumo32U4.proto"
-EXTERNPROTO "../protos/SensorFusionTrack.proto"
-IMPORTABLE EXTERNPROTO "../protos/Supervisor.proto"
+EXTERNPROTO "../../protos/Zumo32U4.proto"
+EXTERNPROTO "../../protos/ZumoComSystem.proto"
+EXTERNPROTO "../../protos/SensorFusionTrack.proto"
+IMPORTABLE EXTERNPROTO "../../protos/Supervisor.proto"
 
 WorldInfo {
   info [
@@ -39,6 +40,11 @@ DEF ROBOT Zumo32U4 {
   name "Zumo"
   contactMaterial "rubber"
 }
+ZumoComSystem {
+  translation 0 0 0
+  rotation 0 0 1 0
+  name "ZumoComSystem"
+}
 Supervisor {
   name "Supervisor"
   controller "Supervisor"