diff --git a/projects/robots/clearpath/heron/controllers/heron_usv_controller/heron_usv_controller.py b/projects/robots/clearpath/heron/controllers/heron_usv_controller/heron_usv_controller.py
new file mode 100644
index 00000000000..7b9ec4c72b4
--- /dev/null
+++ b/projects/robots/clearpath/heron/controllers/heron_usv_controller/heron_usv_controller.py
@@ -0,0 +1,61 @@
+# 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.
+# You may obtain a copy of the License at
+#
+#     https://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from controller import Robot, Keyboard
+
+# Create the Robot instance.
+robot = Robot()
+
+keyboard = Keyboard()
+keyboard.enable(1000)
+
+# Get the time step of the current world.
+timestep = int(robot.getBasicTimeStep())
+
+# Get left and right motors.
+left_motor = robot.getDevice('left_motor')
+right_motor = robot.getDevice('right_motor')
+
+# Enable position control mode for motors.
+left_motor.setPosition(float('inf'))
+right_motor.setPosition(float('inf'))
+
+# Set initial velocities.
+left_velocity = 0.0
+right_velocity = 0.0
+
+# Main loop:
+# - perform simulation steps until Webots is stopping the controller
+while robot.step(timestep) != -1:
+    # Read keyboard input.
+    key = keyboard.getKey()
+    # Process keyboard input.
+    if key == ord('W') or key == ord('w'):
+        left_velocity = 5.0
+        right_velocity = 5.0
+    elif key == ord('S') or key == ord('s'):
+        left_velocity = -5.0
+        right_velocity = -5.0
+    elif key == ord('A') or key == ord('a'):
+        left_velocity = -2.5
+        right_velocity = 2.5
+    elif key == ord('D') or key == ord('d'):
+        left_velocity = 2.5
+        right_velocity = -2.5
+    else:
+        left_velocity = 0.0
+        right_velocity = 0.0
+    # Set motor velocities.
+    left_motor.setVelocity(left_velocity)
+    right_motor.setVelocity(right_velocity)
diff --git a/projects/robots/clearpath/heron/protos/Heron.proto b/projects/robots/clearpath/heron/protos/Heron.proto
new file mode 100644
index 00000000000..c297c2fc0ef
--- /dev/null
+++ b/projects/robots/clearpath/heron/protos/Heron.proto
@@ -0,0 +1,182 @@
+#VRML_SIM R2024a utf8
+# license: Copyright Cyberbotics Ltd. Licensed for use only with Webots.
+# license url: https://cyberbotics.com/webots_assets_license
+# documentation url: https://webots.cloud/run?url=https://github.com/cyberbotics/webots/blob/released/projects/robots/clearpath/heron/protos/Heron.proto
+# keywords: robot/wheeled
+# Clearpath Heron USV is an autonomous watercraft designed for various marine tasks. 
+# It features electric propulsion, advanced navigation systems, and integration capabilities for collaborative missions.
+# With a streamlined hull and multiple sensor suites including cameras,
+# it excels in environmental monitoring, surveillance, and research.
+
+PROTO Heron [
+  field SFVec3f    translation     0 0 0.0     # Is `Pose.translation`.
+  field SFRotation rotation        0 0 1 0       # Is `Pose.rotation`.
+  field SFString   name            "heron"       # Is `Solid.name`.
+  field SFString   controller      "heron_usv_controller"      # Is `Robot.controller`.
+  field MFString   controllerArgs  []            # Is `Robot.controllerArgs`.
+  field SFString   window          "<generic>"   # Is `Robot.window`.
+  field SFBool     synchronization TRUE          # Is `Robot.synchronization`.
+  field MFNode     bodySlot        []            # Extends the robot with new nodes in the body slot.
+]
+{
+  Robot {
+    translation IS translation
+    rotation IS rotation
+    name IS name
+    model "Clearpath Heron"
+    controller IS controller
+    controllerArgs IS controllerArgs
+    window IS window
+    synchronization IS synchronization
+    children [
+      DEF BODY_SLOT Group {
+        children IS bodySlot
+      }
+      Transform {
+        translation -0.185 0 0
+        rotation 0 0 1 1.01503e-06
+        children [
+          Shape {
+            appearance PBRAppearance {
+              baseColor 0.964706 0.827451 0.176471
+              metalness 0
+            }
+            geometry Mesh {
+              url [
+                "../stl/plain-rear-plate.stl"
+              ]
+            }
+          }
+        ]
+      }
+      Transform {
+        translation 0 -0.35 0.05
+        children [
+          Shape {
+            appearance PBRAppearance {
+              baseColor 0.960784 0.760784 0.0666667
+              metalness 0
+            }
+            geometry Mesh {
+              url [
+                "../stl/right_panel.stl"
+              ]
+            }
+          }
+        ]
+      }
+      Transform {
+        translation 0 0.35 0.05
+        children [
+          Shape {
+            appearance PBRAppearance {
+              baseColor 0.960784 0.760784 0.0666667
+              metalness 0
+            }
+            geometry Mesh {
+              url [
+                "../stl/left_panel.stl"
+              ]
+            }
+          }
+        ]
+      }
+      Transform {
+        translation -0.73 0.38 -0.14
+        children [
+          Propeller {
+            device RotationalMotor {
+              name "left_motor"
+              maxVelocity 30
+            }
+            fastHelix Solid {
+              rotation 0 1 0 1.57
+              children [
+                Shape {
+                  appearance PBRAppearance {
+                    baseColor 0.368627 0.360784 0.392157
+                  }
+                  geometry Cylinder {
+                    height 0.1
+                    radius 0.05
+                  }
+                }
+              ]
+            }
+          }
+        ]
+      }
+      Transform {
+        translation -0.73 -0.38 -0.14
+        children [
+          Propeller {
+            device RotationalMotor {
+              name "right_motor"
+              maxVelocity 30
+            }
+            fastHelix Solid {
+              rotation 0 1 0 1.5708
+              children [
+                Shape {
+                  appearance PBRAppearance {
+                    baseColor 0.368627 0.360784 0.392157
+                  }
+                  geometry Cylinder {
+                    height 0.1
+                    radius 0.05
+                  }
+                }
+              ]
+            }
+          }
+        ]
+      }
+      DEF HERON Shape {
+        appearance Appearance {
+          material Material {
+            diffuseColor 0.239216 0.219608 0.27451
+          }
+          texture ImageTexture {
+          }
+          textureTransform TextureTransform {
+          }
+        }
+        geometry Mesh {
+          url [
+            "../stl/heron_base.stl"
+          ]
+        }
+      }
+    ]
+    name "heron_usv"
+    immersionProperties [
+      ImmersionProperties {
+        fluidName "fluid"
+        dragForceCoefficients 0.01 0 0
+        dragTorqueCoefficients 0.05 0 0
+        viscousResistanceForceCoefficient 400
+        viscousResistanceTorqueCoefficient 0.1
+      }
+    ]
+    boundingObject Transform {
+        scale 0.1 0.1 0.1
+        children [
+          Mesh {
+            url [
+              "../stl/heron_collision.stl"
+            ]
+          }
+        ]
+    }
+    physics Physics {
+      density 400
+      centerOfMass [
+        0 0 0
+      ]
+      damping Damping {
+        linear 0.5
+        angular 0.5
+      }
+    }
+  }
+}
diff --git a/projects/robots/clearpath/heron/protos/docs/heron.md b/projects/robots/clearpath/heron/protos/docs/heron.md
new file mode 100644
index 00000000000..b5dcce770ef
--- /dev/null
+++ b/projects/robots/clearpath/heron/protos/docs/heron.md
@@ -0,0 +1,44 @@
+The [clearpath's Heron USV](https://robots.ros.org/clearpath-heron-usv/) is a USV platform.
+
+### Motors
+
+There are 2 motor, motor name `left_motor`and `right_motor`.
+You can add new Camera, GPS or other sensors you want under `body_slot`.
+
+### Movie Presentation
+
+![youtube video](https://www.youtube.com/watch?v=qWRyCnJWVuM)
+
+### Heron PROTO
+
+Derived from [Robot](https://cyberbotics.com/doc/reference/robot).
+
+```js
+Heron {
+  SFVec3f    translation     0 0 0
+  SFRotation rotation        0 1 0 1.5708
+  SFString   name            "heron"
+  SFString   controller      "heron_usv_controller"
+  MFString   controllerArgs  []
+  SFBool     synchronization TRUE
+  MFNode     bodySlot        []
+}
+```
+
+#### Heron Field Summary
+
+- `bodySlot`: Extends the robot with new nodes.
+
+### Samples
+
+You will find the following sample in this folder: "[WEBOTS\_HOME/projects/robots/clearpath/heron/worlds]({{ url.github_tree }}/projects/robots/clearpath/heron/worlds)".
+
+Ocean
+
+#### [heron\ocean.wbt]({{ url.github_tree }}/projects/robots/clearpath/heron/worlds/ocean.wbt)
+
+![ocean.png](images/heron/ocean.jpg) This simulation shows a basicly usv.
+
+#### [heron\swarm.wbt]({{ url.github_tree }}/projects/robots/clearpath/heron/worlds/swarm.wbt)
+
+![swarm.png](images/heron/swarm.jpg) This simulation shows a basicly swarm robotics.
diff --git a/projects/robots/clearpath/heron/protos/docs/images/heron/ocean.jpg b/projects/robots/clearpath/heron/protos/docs/images/heron/ocean.jpg
new file mode 100644
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diff --git a/projects/robots/clearpath/heron/protos/docs/images/heron/swarm.jpg b/projects/robots/clearpath/heron/protos/docs/images/heron/swarm.jpg
new file mode 100644
index 00000000000..63762fc734a
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diff --git a/projects/robots/clearpath/heron/protos/icons/Heron.png b/projects/robots/clearpath/heron/protos/icons/Heron.png
new file mode 100644
index 00000000000..1cfb8d6b241
Binary files /dev/null and b/projects/robots/clearpath/heron/protos/icons/Heron.png differ
diff --git a/projects/robots/clearpath/heron/stl/heron_base.stl b/projects/robots/clearpath/heron/stl/heron_base.stl
new file mode 100644
index 00000000000..808a9fd6c0c
Binary files /dev/null and b/projects/robots/clearpath/heron/stl/heron_base.stl differ
diff --git a/projects/robots/clearpath/heron/stl/heron_collision.stl b/projects/robots/clearpath/heron/stl/heron_collision.stl
new file mode 100644
index 00000000000..be9cf2a2458
Binary files /dev/null and b/projects/robots/clearpath/heron/stl/heron_collision.stl differ
diff --git a/projects/robots/clearpath/heron/stl/left_panel.stl b/projects/robots/clearpath/heron/stl/left_panel.stl
new file mode 100644
index 00000000000..fe005130323
Binary files /dev/null and b/projects/robots/clearpath/heron/stl/left_panel.stl differ
diff --git a/projects/robots/clearpath/heron/stl/plain-rear-plate.stl b/projects/robots/clearpath/heron/stl/plain-rear-plate.stl
new file mode 100644
index 00000000000..e809f832cc5
Binary files /dev/null and b/projects/robots/clearpath/heron/stl/plain-rear-plate.stl differ
diff --git a/projects/robots/clearpath/heron/stl/right_panel.stl b/projects/robots/clearpath/heron/stl/right_panel.stl
new file mode 100644
index 00000000000..5de9251df69
Binary files /dev/null and b/projects/robots/clearpath/heron/stl/right_panel.stl differ
diff --git a/projects/robots/clearpath/heron/webots.yaml b/projects/robots/clearpath/heron/webots.yaml
new file mode 100644
index 00000000000..342dd5324d2
--- /dev/null
+++ b/projects/robots/clearpath/heron/webots.yaml
@@ -0,0 +1 @@
+publish: true
diff --git a/projects/robots/clearpath/heron/worlds/.ocean.wbproj b/projects/robots/clearpath/heron/worlds/.ocean.wbproj
new file mode 100644
index 00000000000..c8658dcccd3
--- /dev/null
+++ b/projects/robots/clearpath/heron/worlds/.ocean.wbproj
@@ -0,0 +1,9 @@
+Webots Project File version R2024a
+perspectives: 000000ff00000000fd00000002000000010000011c00000313fc0200000001fb0000001400540065007800740045006400690074006f00720100000016000003130000004100ffffff0000000300000780000000d9fc0100000001fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c0100000000000007800000006900ffffff000006620000031300000001000000020000000100000008fc00000000
+simulationViewPerspectives: 000000ff000000010000000200000100000005620100000002010000000100
+sceneTreePerspectives: 000000ff000000010000000300000201000000d6000000000100000002010000000200
+maximizedDockId: -1
+centralWidgetVisible: 1
+orthographicViewHeight: 1
+textFiles: -1
+consoles: Console:All:All
diff --git a/projects/robots/clearpath/heron/worlds/.swarm.wbproj b/projects/robots/clearpath/heron/worlds/.swarm.wbproj
new file mode 100644
index 00000000000..55caff450e0
--- /dev/null
+++ b/projects/robots/clearpath/heron/worlds/.swarm.wbproj
@@ -0,0 +1,9 @@
+Webots Project File version R2024a
+perspectives: 000000ff00000000fd00000002000000010000011c000002f1fc0200000001fb0000001400540065007800740045006400690074006f00720100000016000002f10000003f00ffffff0000000300000780000000d9fc0100000001fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c0100000000000007800000006900ffffff00000662000002f100000001000000020000000100000008fc00000000
+simulationViewPerspectives: 000000ff000000010000000200000100000005620100000002010000000100
+sceneTreePerspectives: 000000ff00000001000000030000001c000002b4000000fa0100000002010000000200
+maximizedDockId: -1
+centralWidgetVisible: 1
+orthographicViewHeight: 1
+textFiles: -1
+consoles: Console:All:All
diff --git a/projects/robots/clearpath/heron/worlds/ocean.wbt b/projects/robots/clearpath/heron/worlds/ocean.wbt
new file mode 100644
index 00000000000..c1369503bbc
--- /dev/null
+++ b/projects/robots/clearpath/heron/worlds/ocean.wbt
@@ -0,0 +1,110 @@
+#VRML_SIM R2024a utf8
+
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2024a/projects/objects/backgrounds/protos/TexturedBackground.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2024a/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2024a/projects/objects/obstacles/protos/OilBarrel.proto"
+EXTERNPROTO "../protos/Heron.proto"
+
+WorldInfo {
+}
+Viewpoint {
+  orientation -0.24219658556528326 0.039505018164956274 0.9694225948884753 2.986262471610857
+  position 6.727587480647112 -2.788009572581076 8.707663910740424
+}
+TexturedBackground {
+}
+TexturedBackgroundLight {
+}
+DEF WATER Fluid {
+  children [
+    Shape {
+      appearance PBRAppearance {
+        baseColor 0.0626841 0.552224 0.723339
+        transparency 0.7
+        roughness 1
+        metalness 0
+      }
+      geometry DEF WATER_BOX Box {
+        size 1000 1000 0.7
+      }
+    }
+  ]
+  viscosity 0.01
+  boundingObject Transform {
+    children [
+      USE WATER_BOX
+    ]
+  }
+  locked TRUE
+}
+Heron {
+  translation -6.6784157308512615 -0.49028637658352825 0.46070759689397855
+  rotation 0.0001714429217129001 0.0006475645044607216 -0.9999997756337433 0.5176249841363672
+}
+OilBarrel {
+  translation -5.769041604986175 5.7137363726152754 0.5595498936504114
+  rotation -0.17000006110990545 -0.9047921649529347 0.3904498911030834 1.7528146915175131
+  physics Physics {
+    density 100
+    damping Damping {
+      linear 0.5
+      angular 0.5
+    }
+  }
+  immersionProperties [
+    ImmersionProperties {
+      fluidName "fluid"
+    }
+  ]
+}
+OilBarrel {
+  translation -10.052079249302796 2.4814946123187727 0.5595498875102384
+  rotation -0.2751145870612611 -0.6601107052655576 0.6989748355841717 -2.8437234726044736
+  name "oil barrel(1)"
+  physics Physics {
+    density 100
+    damping Damping {
+      linear 0.5
+      angular 0.5
+    }
+  }
+  immersionProperties [
+    ImmersionProperties {
+      fluidName "fluid"
+    }
+  ]
+}
+OilBarrel {
+  translation -9.806804324970415 -3.2705951440882433 0.5595498919704249
+  rotation 0.9914248557443196 0.04559709558681102 0.12246493492588871 1.5859460279251565
+  name "oil barrel(2)"
+  physics Physics {
+    density 100
+    damping Damping {
+      linear 0.5
+      angular 0.5
+    }
+  }
+  immersionProperties [
+    ImmersionProperties {
+      fluidName "fluid"
+    }
+  ]
+}
+OilBarrel {
+  translation -9.046348837161165 3.2463636605243056 0.5595498964941401
+  rotation 0.737839555282382 0.14393292832237511 -0.6594513650036995 -2.4506597166551938
+  name "oil barrel(3)"
+  physics Physics {
+    density 100
+    damping Damping {
+      linear 0.5
+      angular 0.5
+    }
+  }
+  immersionProperties [
+    ImmersionProperties {
+      fluidName "fluid"
+    }
+  ]
+}
diff --git a/projects/robots/clearpath/heron/worlds/swarm.wbt b/projects/robots/clearpath/heron/worlds/swarm.wbt
new file mode 100644
index 00000000000..7b77f9a385f
--- /dev/null
+++ b/projects/robots/clearpath/heron/worlds/swarm.wbt
@@ -0,0 +1,125 @@
+#VRML_SIM R2024a utf8
+
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2024a/projects/objects/backgrounds/protos/TexturedBackground.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2024a/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2024a/projects/objects/obstacles/protos/OilBarrel.proto"
+EXTERNPROTO "../protos/Heron.proto"
+
+WorldInfo {
+}
+Viewpoint {
+  orientation -0.18176804184458514 0.0956506889908684 0.978678356080054 2.3939203875238824
+  position 9.724896539150558 -16.953124456807643 11.603646524687557
+}
+TexturedBackground {
+}
+TexturedBackgroundLight {
+}
+DEF WATER Fluid {
+  children [
+    Shape {
+      appearance PBRAppearance {
+        baseColor 0.0626841 0.552224 0.723339
+        transparency 0.7
+        roughness 1
+        metalness 0
+      }
+      geometry DEF WATER_BOX Box {
+        size 1000 1000 0.7
+      }
+    }
+  ]
+  viscosity 0.01
+  boundingObject Transform {
+    children [
+      USE WATER_BOX
+    ]
+  }
+  locked TRUE
+}
+OilBarrel {
+  translation -5.769041604986175 5.7137363726152754 0.5595498919704249
+  rotation -0.16995723822816233 -0.9045642485178795 0.39099623716493703 1.751439322141487
+  physics Physics {
+    density 100
+    damping Damping {
+      linear 0.5
+      angular 0.5
+    }
+  }
+  immersionProperties [
+    ImmersionProperties {
+      fluidName "fluid"
+    }
+  ]
+}
+OilBarrel {
+  translation -10.052079249302796 2.4814946123187727 0.5595498919704248
+  rotation -0.2750758106273439 -0.660017664982181 0.6990779501022608 -2.8436801772670055
+  name "oil barrel(1)"
+  physics Physics {
+    density 100
+    damping Damping {
+      linear 0.5
+      angular 0.5
+    }
+  }
+  immersionProperties [
+    ImmersionProperties {
+      fluidName "fluid"
+    }
+  ]
+}
+OilBarrel {
+  translation -9.806804324970415 -3.2705951440882433 0.5595498919704248
+  rotation 0.9914248557443196 0.045597095586811014 0.12246493492588871 1.5859460279251565
+  name "oil barrel(2)"
+  physics Physics {
+    density 100
+    damping Damping {
+      linear 0.5
+      angular 0.5
+    }
+  }
+  immersionProperties [
+    ImmersionProperties {
+      fluidName "fluid"
+    }
+  ]
+}
+OilBarrel {
+  translation -9.210530377900385 3.4633481997220334 0.5595498864740154
+  rotation 0.7706881417390529 0.22496315694279187 -0.5961806489656792 -2.154322256155228
+  name "oil barrel(3)"
+  physics Physics {
+    density 100
+    damping Damping {
+      linear 0.5
+      angular 0.5
+    }
+  }
+  immersionProperties [
+    ImmersionProperties {
+      fluidName "fluid"
+    }
+  ]
+}
+Heron {
+  translation -6.615901389647778 -0.10311821791702494 0.4607076736909942
+  rotation -4.6247733909052664e-05 -0.002706298153373231 -0.9999963368990169 0.03417465445606993
+}
+Heron {
+  translation -6.52386 -1.44172 0.46070752315447433
+  rotation 0.00048045640364142506 0.030233731683355424 -0.9995427407720706 0.031794666209612875
+  name "heron(3)"
+}
+Heron {
+  translation -6.432764992739735 1.126054508316503 0.46070790263066325
+  rotation -2.9648308687466188e-05 -0.001213445947895377 -0.9999992633346834 0.04885661841190292
+  name "heron(1)"
+}
+Heron {
+  translation -6.32039 2.49159 0.4607075538980211
+  rotation -0.00040473384668264804 -0.029653153639982166 -0.9995601666081523 0.027308176523216297
+  name "heron(2)"
+}