Merge branch 'master' into clearpath_heron_usv

cyberbotics · Sep 25, 2024 · 2be06b5 · 2be06b5
2 parents 4ab51e9 + 0a1f1eb
commit 2be06b5
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Showing 86 changed files with 657 additions and 791 deletions.
diff --git a/.github/workflows/test_suite_linux.yml b/.github/workflows/test_suite_linux.yml
@@ -74,14 +74,14 @@ jobs:
         sudo python -m pip install requests PyGithub
         pip install pyopenssl --upgrade
         scripts/packaging/publish_release.py --key=${{ secrets.GITHUB_TOKEN }} --repo=${{ github.repository }} --branch=${{ github.ref }} --commit=$(git log -1 --format='%H') --tag=${{ github.ref }}
-    - uses: actions/upload-artifact@v3
+    - uses: actions/upload-artifact@v4
       if: ${{ contains(github.event.pull_request.labels.*.name, 'test suite') || contains(github.event.pull_request.labels.*.name, 'test ros') || contains(github.event.pull_request.labels.*.name, 'test worlds') }}
       with:
         name: build-${{ matrix.os }}
         path: |
           distribution/*.tar.bz2
           distribution/*.zip
-    - uses: actions/upload-artifact@v3
+    - uses: actions/upload-artifact@v4
       if: ${{ !contains(github.event.pull_request.labels.*.name, 'test suite') && !contains(github.event.pull_request.labels.*.name, 'test ros') && !contains(github.event.pull_request.labels.*.name, 'test worlds') }}
       with:
         name: build-${{ matrix.os }}
@@ -100,7 +100,7 @@ jobs:
     steps:
     - uses: actions/checkout@v3
     - name: Download Artifacts
-      uses: actions/download-artifact@v3
+      uses: actions/download-artifact@v4.1.7
       with:
         name: build-ubuntu-20.04
         path: artifact
@@ -121,7 +121,7 @@ jobs:
         export TESTS_HOME=$PWD # required by cache group in the test suite
         export BRANCH_HASH=$(git log -1 --format='%H')
         xvfb-run --auto-servernum python tests/test_suite.py
-    - uses: actions/upload-artifact@v3
+    - uses: actions/upload-artifact@v4
       if: failure()
       with:
         name: test-results-${{ matrix.os }}
@@ -144,7 +144,7 @@ jobs:
       with:
          submodules: true
     - name: Download Artifacts
-      uses: actions/download-artifact@v3
+      uses: actions/download-artifact@v4.1.7
       with:
         name: build-${{ matrix.os }}
         path: artifact
@@ -171,7 +171,7 @@ jobs:
     runs-on: ubuntu-20.04
     steps:
     - name: Download Artifacts
-      uses: actions/download-artifact@v3
+      uses: actions/download-artifact@v4.1.7
       with:
         name: build-ubuntu-20.04
         path: artifact

diff --git a/.github/workflows/test_suite_linux_develop.yml b/.github/workflows/test_suite_linux_develop.yml
@@ -70,14 +70,14 @@ jobs:
         sudo python -m pip install requests PyGithub
         pip install pyopenssl --upgrade
         scripts/packaging/publish_release.py --key=${{ secrets.GITHUB_TOKEN }} --repo=${{ github.repository }} --branch=${{ github.ref }} --commit=$(git log -1 --format='%H') --tag=${{ github.ref }}
-    - uses: actions/upload-artifact@v3
+    - uses: actions/upload-artifact@v4
       if: ${{ contains(github.event.pull_request.labels.*.name, 'test suite') || contains(github.event.pull_request.labels.*.name, 'test ros') || contains(github.event.pull_request.labels.*.name, 'test worlds') }}
       with:
         name: build-${{ matrix.os }}
         path: |
           distribution/*.tar.bz2
           distribution/*.zip
-    - uses: actions/upload-artifact@v3
+    - uses: actions/upload-artifact@v4
       if: ${{ !contains(github.event.pull_request.labels.*.name, 'test suite') && !contains(github.event.pull_request.labels.*.name, 'test ros') && !contains(github.event.pull_request.labels.*.name, 'test worlds') }}
       with:
         name: build-${{ matrix.os }}
@@ -98,7 +98,7 @@ jobs:
       with:
          ref: develop
     - name: Download Artifacts
-      uses: actions/download-artifact@v3
+      uses: actions/download-artifact@v4.1.7
       with:
         name: build-ubuntu-20.04
         path: artifact
@@ -137,7 +137,7 @@ jobs:
          submodules: true
          ref: develop
     - name: Download Artifacts
-      uses: actions/download-artifact@v3
+      uses: actions/download-artifact@v4.1.7
       with:
         name: build-${{ matrix.os }}
         path: artifact
@@ -164,7 +164,7 @@ jobs:
     runs-on: ubuntu-20.04
     steps:
     - name: Download Artifacts
-      uses: actions/download-artifact@v3
+      uses: actions/download-artifact@v4.1.7
       with:
         name: build-ubuntu-20.04
         path: artifact

diff --git a/.github/workflows/test_suite_mac.yml b/.github/workflows/test_suite_mac.yml
@@ -19,7 +19,7 @@ jobs:
     if: ${{ contains(github.event.pull_request.labels.*.name, 'test webots build') }}
     strategy:
       matrix:
-        os: [macos-14]
+        os: [macos-13]
     runs-on: ${{ matrix.os }}
     steps:
     - uses: actions/checkout@v3
@@ -33,7 +33,7 @@ jobs:
     if: ${{ github.event_name == 'push' || github.event_name == 'schedule' || contains(github.event.pull_request.labels.*.name, 'test distribution') || contains(github.event.pull_request.labels.*.name, 'test suite') }}
     strategy:
       matrix:
-        os: [macos-14]
+        os: [macos-13]
     runs-on: ${{ matrix.os }}
     steps:
     - uses: actions/checkout@v3
@@ -59,23 +59,23 @@ jobs:
       run: |
         sudo python -m pip install requests PyGithub
         scripts/packaging/publish_release.py --key=${{ secrets.GITHUB_TOKEN }} --repo=${{ github.repository }} --branch=${{ github.ref }} --commit=$(git log -1 --format='%H') --tag=${{ github.ref }}
-    - uses: actions/upload-artifact@v3
+    - uses: actions/upload-artifact@v4
       if: ${{ contains(github.event.pull_request.labels.*.name, 'test suite') || contains(github.event.pull_request.labels.*.name, 'test distribution') }}
       with:
         name: build-${{ matrix.os }}
         path: |
           distribution/*.dmg
   test-suite:
     needs: build
-    if: ${{ contains(github.event.pull_request.labels.*.name, 'test suite') }}
+    if: ${{ contains(github.event.pull_request.labels.*.name, 'test suite mac') }}
     strategy:
       matrix:
-        os: [macos-14]
+        os: [macos-13]
     runs-on: ${{ matrix.os }}
     steps:
     - uses: actions/checkout@v3
     - name: Download Artifacts
-      uses: actions/download-artifact@v3
+      uses: actions/download-artifact@v4.1.7
       with:
         name: build-${{ matrix.os }}
         path: artifact
@@ -89,17 +89,21 @@ jobs:
       with:
         python-version: 3.11
     - name: Test
-      run:
+      run: |
+        brew install urdfdom
         export WEBOTS_DISABLE_SAVE_SCREEN_PERSPECTIVE_ON_CLOSE=true
+        python scripts/packaging/update_urls.py $(git log -1 --format='%H')
         export WEBOTS_HOME=/Applications/Webots.app
-        # we currently can't run the test suite because of https://github.com/cyberbotics/webots/issues/2110
-        # python tests/test_suite.py
+        export TESTS_HOME=$PWD # required by cache group in the test suite
+        export WEBOTS_HOME_PATH=$PWD # required for tests to find Makefile.include
+        export BRANCH_HASH=$(git log -1 --format='%H')
+        python tests/test_suite.py
   delete-artifacts:
     needs: [build, test-suite]
     if: ${{ always() && !contains(github.event.pull_request.labels.*.name, 'test distribution')  && !contains(github.event.pull_request.labels.*.name, 'test webots build') }}
     strategy:
       matrix:
-        os: [macos-14]
+        os: [macos-13]
     runs-on: ubuntu-latest
     steps:
     - name: Delete artifacts

diff --git a/.github/workflows/test_suite_mac_develop.yml b/.github/workflows/test_suite_mac_develop.yml
@@ -55,7 +55,7 @@ jobs:
       run: |
         sudo python -m pip install requests PyGithub
         scripts/packaging/publish_release.py --key=${{ secrets.GITHUB_TOKEN }} --repo=${{ github.repository }} --branch=${{ github.ref }} --commit=$(git log -1 --format='%H') --tag=${{ github.ref }}
-    - uses: actions/upload-artifact@v3
+    - uses: actions/upload-artifact@v4
       if: ${{ contains(github.event.pull_request.labels.*.name, 'test suite') || contains(github.event.pull_request.labels.*.name, 'test distribution') }}
       with:
         name: build-${{ matrix.os }}
@@ -73,7 +73,7 @@ jobs:
       with:
          ref: develop
     - name: Download Artifacts
-      uses: actions/download-artifact@v3
+      uses: actions/download-artifact@v4.1.7
       with:
         name: build-${{ matrix.os }}
         path: artifact

diff --git a/.github/workflows/test_suite_windows.yml b/.github/workflows/test_suite_windows.yml
@@ -87,14 +87,76 @@ jobs:
       run: |
         python -m pip install requests PyGithub
         scripts/packaging/publish_release.py --key=${{ secrets.GITHUB_TOKEN }} --repo=${{ github.repository }} --branch=${{ github.ref }} --commit=$(git log -1 --format='%H') --tag=${{ github.ref }}
-    - uses: actions/upload-artifact@v3
-      if: ${{ contains(github.event.pull_request.labels.*.name, 'test distribution') }}
+    - uses: actions/upload-artifact@v4
+      if: ${{ contains(github.event.pull_request.labels.*.name, 'test suite') || contains(github.event.pull_request.labels.*.name, 'test distribution') }}
       with:
         name: build-${{ matrix.os }}
         path: |
           distribution/*.exe
+  test-suite:
+    needs: build
+    if: ${{ contains(github.event.pull_request.labels.*.name, 'test suite') }}
+    strategy:
+      matrix:
+        os: [windows-2019]
+    runs-on: ${{ matrix.os }}
+    steps:
+    - uses: actions/checkout@v3
+    - name: Download Artifacts
+      uses: actions/download-artifact@v4
+      with:
+        name: build-${{ matrix.os }}
+        path: artifact
+    - uses: msys2/setup-msys2@v2
+      with:
+        update: false
+    - name: Install Visual Studio 10 and OpenJDK 18
+      shell: powershell
+      run: |
+        choco install -y openjdk --version=18.0.2
+        choco install -y visualcpp-build-tools
+    - name: Install Webots Compilation Dependencies
+      run: |
+        export PYTHON_INSTALLATION_FOLDER=/C/hostedtoolcache/windows/Python
+        export PYTHON_HOME=$PYTHON_INSTALLATION_FOLDER/3.11.`ls $PYTHON_INSTALLATION_FOLDER | grep '^3\.11\.[0-9]\+$' | cut -c6- | sort -n | tail -n1`/x64
+        echo 'export JAVA_HOME=/C/Program\ Files/OpenJDK/`ls /C/Program\ Files/OpenJDK`' >> ~/.bash_profile
+        echo 'export PYTHON_HOME='$PYTHON_HOME >> ~/.bash_profile
+        echo 'export VISUAL_STUDIO_PATH="/C/Program Files (x86)/Microsoft Visual Studio/2017"' >> ~/.bash_profile
+        echo 'export INNO_SETUP_HOME="/C/Program Files (x86)/Inno Setup 6"' >> ~/.bash_profile
+        echo 'export PATH=$PYTHON_HOME:$PYTHON_HOME/Scripts:$GITHUB_WORKSPACE/msys64/mingw64/bin:$GITHUB_WORKSPACE/bin/node:/mingw64/bin:/usr/bin:$JAVA_HOME/bin:$PATH' >> ~/.bash_profile
+        export WEBOTS_HOME=$GITHUB_WORKSPACE
+        ./scripts/install/msys64_installer.sh --all
+    - name: Extract Webots
+      run: |
+        ./artifact/webots-*.exe //SUPPRESSMSGBOXES //VERYSILENT //NOCANCEL //NORESTART //ALLUSERS
+    - name: Set up Python 3.11
+      uses: actions/setup-python@v4
+      with:
+        python-version: 3.11
+    - name: Install Software Renderer
+      uses: ssciwr/setup-mesa-dist-win@v2
+      with:
+        version: '24.2.1'
+        build-type: 'release-mingw'
+    - name: Test
+      run: |
+        export WEBOTS_DISABLE_SAVE_SCREEN_PERSPECTIVE_ON_CLOSE=true
+        python scripts/packaging/update_urls.py $(git log -1 --format='%H')
+        export TESTS_HOME=$PWD # required by cache group in the test suite
+        export WEBOTS_HOME="/c/Program Files/Webots"
+        export PATH="${WEBOTS_HOME}/msys64/mingw64/bin:$PATH"
+        export WEBOTS_HOME_PATH=$PWD # required for tests to find Makefile.include
+        export BRANCH_HASH=$(git log -1 --format='%H')
+        export MESA_GL_VERSION_OVERRIDE=3.3
+        export LIBGL_ALWAYS_SOFTWARE=true
+        python tests/test_suite.py
+    - name: Setup tmate session
+      if: ${{ failure() }}
+      uses: mxschmitt/action-tmate@v3
+      with:
+        detached: true
   delete-artifacts:
-    needs: [build]
+    needs: [build, test-suite]
     if: ${{ always() && !contains(github.event.pull_request.labels.*.name, 'test distribution') && !contains(github.event.pull_request.labels.*.name, 'test webots build') }}
     strategy:
       matrix:

diff --git a/.github/workflows/test_suite_windows_develop.yml b/.github/workflows/test_suite_windows_develop.yml
@@ -83,7 +83,7 @@ jobs:
       run: |
         python -m pip install requests PyGithub
         scripts/packaging/publish_release.py --key=${{ secrets.GITHUB_TOKEN }} --repo=${{ github.repository }} --branch=${{ github.ref }} --commit=$(git log -1 --format='%H') --tag=${{ github.ref }}
-    - uses: actions/upload-artifact@v3
+    - uses: actions/upload-artifact@v4
       if: ${{ contains(github.event.pull_request.labels.*.name, 'test distribution') }}
       with:
         name: build-${{ matrix.os }}

diff --git a/dependencies/Makefile.linux b/dependencies/Makefile.linux
@@ -6,19 +6,19 @@ include $(WEBOTS_HOME)/resources/Makefile.os.include
 
 DEPENDENCIES_URL = https://cyberbotics.com/files/repository/dependencies/linux64/release
 
-QT_VERSION = 6.4.3
+QT_VERSION = 6.5.3
 QT_PACKAGE = webots-qt-$(QT_VERSION)-linux64-release.tar.bz2
-OPENAL_PACKAGE = openal-linux64-1.16.0.tar.bz2
 OIS_PACKAGE = libOIS.1.4.tar.bz2
 ASSIMP_PACKAGE = libassimp-5.2.3.tar.bz2
 PICO_PACKAGE = libpico.tar.bz2
 LUA_PACKAGE = lua-5.2.3.tar.gz
-OPENSSL_PACKAGE = libssl_1.1.tar.xz
+OPENSSL_VERSION=3.0.14
+OPENSSL_SRC_PACKAGE=openssl-$(OPENSSL_VERSION).tar.gz
 
 PACKAGES = qt open-al ois pico lua assimp
 PACKAGES_CLEAN = $(addsuffix -clean, $(PACKAGES))
 
-ifeq ($(UBUNTU_VERSION), 22.04)
+ifeq ($(UBUNTU_VERSION), 20.04)
 	PACKAGES += open-ssl
 endif
 
@@ -51,29 +51,19 @@ $(WEBOTS_HOME_LIB)/libQt6Core.so.$(QT_VERSION): $(WEBOTS_DEPENDENCY_PATH)/$(QT_P
 
 $(WEBOTS_DEPENDENCY_PATH)/$(QT_PACKAGE):
 	@rm -f $(WEBOTS_DEPENDENCY_PATH)/$(QT_PACKAGE)
-	@echo "# downloading $(QT_PACKAGE)"
-	@wget -qq $(DEPENDENCIES_URL)/$(QT_PACKAGE) -P $(WEBOTS_DEPENDENCY_PATH)
-	@if [ "$$(md5sum $(QT_PACKAGE) | awk '{print $$1;}')" != "a5448e2005fa981278f5348b43809932" ]; then echo "MD5 checksum failed for $(QT_PACKAGE)"; exit 1; fi
+	@echo "# Installing $(QT_PACKAGE)"
+	$(WEBOTS_HOME)/scripts/install/qt_linux_installer.sh
 	@touch $(WEBOTS_DEPENDENCY_PATH)/$(QT_PACKAGE)
 
 
 open-al-clean:
-	@rm -rf $(WEBOTS_DEPENDENCY_PATH)/openal $(WEBOTS_DEPENDENCY_PATH)/$(OPENAL_PACKAGE)* $(WEBOTS_HOME_LIB)/libopenal.so*
+	@rm -rf $(WEBOTS_HOME_LIB)/libopenal.so*
 
 open-al: $(WEBOTS_HOME_LIB)/libopenal.so
 
-$(WEBOTS_HOME_LIB)/libopenal.so: $(WEBOTS_DEPENDENCY_PATH)/openal
-	@cp -a $(WEBOTS_DEPENDENCY_PATH)/openal/build/libopenal.so* $(WEBOTS_HOME_LIB)/
-
-$(WEBOTS_DEPENDENCY_PATH)/openal:
-	@echo "# downloading $(OPENAL_PACKAGE)"
-	@rm -f $(WEBOTS_DEPENDENCY_PATH)/$(OPENAL_PACKAGE)
-	@wget -qq $(DEPENDENCIES_URL)/$(OPENAL_PACKAGE) -P $(WEBOTS_DEPENDENCY_PATH)
-	@if [ "$$(md5sum $(OPENAL_PACKAGE) | awk '{print $$1;}')" != "6c7c9a77dec67f42c51d0f035a94a090" ]; then echo "MD5 checksum failed for $(OPENAL_PACKAGE)"; exit 1; fi
-	@echo "# uncompressing $(OPENAL_PACKAGE)"
-	@tar xfm $(WEBOTS_DEPENDENCY_PATH)/$(OPENAL_PACKAGE) -C $(WEBOTS_DEPENDENCY_PATH)
-	@rm -f $(WEBOTS_DEPENDENCY_PATH)/$(OPENAL_PACKAGE)
-
+.LIBPATTERNS = lib%.so lib%.so.1 lib%.a
+$(WEBOTS_HOME_LIB)/libopenal.so: -lopenal
+	@cp -a $<* $(WEBOTS_HOME_LIB)/
 
 ois-clean:
 	@rm -rf $(WEBOTS_DEPENDENCY_PATH)/$(OIS_PACKAGE) $(WEBOTS_HOME_LIB)/libOIS* $(WEBOTS_HOME)/include/libOIS
@@ -142,20 +132,22 @@ $(WEBOTS_DEPENDENCY_PATH)/lua-5.2.3/src/liblua.a: $(WEBOTS_DEPENDENCY_PATH)/lua-
 	+@make --silent -C $(WEBOTS_DEPENDENCY_PATH)/lua-5.2.3 linux 2> /dev/null
 
 open-ssl-clean:
-	@rm -rf $(WEBOTS_DEPENDENCY_PATH)/openssl-1.1 $(WEBOTS_DEPENDENCY_PATH)/$(OPENSSL_PACKAGE) $(WEBOTS_HOME_LIB)/libcrypto.so* $(WEBOTS_HOME_LIB)/libssl.so*
+	@rm -rf $(WEBOTS_DEPENDENCY_PATH)/$(OPENSSL_SRC_PACKAGE) $(WEBOTS_DEPENDENCY_PATH)/openssl-$(OPENSSL_VERSION) $(WEBOTS_DEPENDENCY_PATH)/openssl-3.0 $(WEBOTS_HOME_LIB)/libcrypto.so* $(WEBOTS_HOME_LIB)/libssl.so*
 
 open-ssl: $(WEBOTS_HOME_LIB)/libcrypto.so
 
-$(WEBOTS_HOME_LIB)/libcrypto.so: $(WEBOTS_DEPENDENCY_PATH)/openssl-1.1
-	@cp -a $(WEBOTS_DEPENDENCY_PATH)/openssl-1.1/libcrypto.so* $(WEBOTS_HOME_LIB)
-	@cp -a $(WEBOTS_DEPENDENCY_PATH)/openssl-1.1/libssl.so* $(WEBOTS_HOME_LIB)
-
-$(WEBOTS_DEPENDENCY_PATH)/openssl-1.1:
-	@echo "# downloading $(OPENSSL_PACKAGE)"
-	@rm -f $(WEBOTS_DEPENDENCY_PATH)/$(OPENSSL_PACKAGE)
-	@wget -qq $(DEPENDENCIES_URL)/$(OPENSSL_PACKAGE) -P $(WEBOTS_DEPENDENCY_PATH)
-	@if [ "$$(md5sum $(OPENSSL_PACKAGE) | awk '{print $$1;}')" != "f86af67eb474f562c14c16cfac100aa3" ]; then echo "MD5 checksum failed for $(OPENSSL_PACKAGE)"; exit 1; fi
-	@echo "# uncompressing $(OPENSSL_PACKAGE)"
-	@tar xfm $(WEBOTS_DEPENDENCY_PATH)/$(OPENSSL_PACKAGE) -C $(WEBOTS_DEPENDENCY_PATH)
-	@rm -f $(WEBOTS_DEPENDENCY_PATH)/$(OPENSSL_PACKAGE)
-	@touch $(WEBOTS_DEPENDENCY_PATH)/$(OPENSSL_PACKAGE)
+$(WEBOTS_HOME_LIB)/libcrypto.so: $(WEBOTS_DEPENDENCY_PATH)/openssl-3.0
+	@cp -a $(WEBOTS_DEPENDENCY_PATH)/openssl-3.0/libcrypto.so* $(WEBOTS_HOME_LIB)
+	@cp -a $(WEBOTS_DEPENDENCY_PATH)/openssl-3.0/libssl.so* $(WEBOTS_HOME_LIB)
+
+$(WEBOTS_DEPENDENCY_PATH)/openssl-3.0:
+	@echo "# downloading $(OPENSSL_SRC_PACKAGE)"
+	@rm -f $(WEBOTS_DEPENDENCY_PATH)/$(OPENSSL_SRC_PACKAGE)
+	@wget -qq https://github.com/openssl/openssl/releases/download/openssl-$(OPENSSL_VERSION)/$(OPENSSL_SRC_PACKAGE) -P $(WEBOTS_DEPENDENCY_PATH)
+	@if [ "$$(sha256sum $(OPENSSL_SRC_PACKAGE) | awk '{print $$1;}')" != "eeca035d4dd4e84fc25846d952da6297484afa0650a6f84c682e39df3a4123ca" ]; then echo "SHA256 checksum failed for $(OPENSSL_SRC_PACKAGE)"; exit 1; fi
+	@echo "# uncompressing $(OPENSSL_SRC_PACKAGE)"
+	@tar xfm $(WEBOTS_DEPENDENCY_PATH)/$(OPENSSL_SRC_PACKAGE) -C $(WEBOTS_DEPENDENCY_PATH)
+	@cd $(WEBOTS_DEPENDENCY_PATH)/openssl-$(OPENSSL_VERSION) && ./Configure shared --prefix=/usr --openssldir=/usr/lib/ssl --libdir=lib/x86_64-linux-gnu no-idea no-mdc2 no-rc5 no-zlib no-ssl3 enable-unit-test no-ssl3-method enable-rfc3779 enable-cms no-capieng enable-ec_nistp_64_gcc_128 && $(MAKE) -j4
+	@mkdir $(WEBOTS_DEPENDENCY_PATH)/openssl-3.0
+	@cp -a $(WEBOTS_DEPENDENCY_PATH)/openssl-$(OPENSSL_VERSION)/libcrypto.so* $(WEBOTS_DEPENDENCY_PATH)/openssl-3.0
+	@cp -a $(WEBOTS_DEPENDENCY_PATH)/openssl-$(OPENSSL_VERSION)/libssl.so* $(WEBOTS_DEPENDENCY_PATH)/openssl-3.0
diff --git a/dependencies/Makefile.mac b/dependencies/Makefile.mac
@@ -6,7 +6,7 @@ WEBOTS_HOME_LIB = $(WEBOTS_HOME)/Contents/lib/webots
 DEPENDENCIES_URL = https://cyberbotics.com/files/repository/dependencies/mac/release
 WGET = LANG=en_US.UTF-8 wget -qq
 
-QT_PACKAGE = qt-6.4.3-release.tar.bz2
+QT_PACKAGE = qt-6.5.3-release.tar.bz2
 ASSIMP_PACKAGE = assimp-5.2.3.tar.bz2
 FFMPEG_PACKAGE = ffmpeg.tar.bz2
 FREETYPE_PACKAGE = freetype2.tar.bz2
@@ -69,10 +69,9 @@ $(WEBOTS_HOME)/Contents/Frameworks/QtCore.framework/Versions/A/QtCore: $(WEBOTS_
 	@python3 codesign.py
 
 $(WEBOTS_DEPENDENCY_PATH)/$(QT_PACKAGE):
-	@echo "# downloading $(QT_PACKAGE)"
 	@rm -f $(WEBOTS_DEPENDENCY_PATH)/$(QT_PACKAGE)
-	@$(WGET) $(DEPENDENCIES_URL)/$(QT_PACKAGE) -P $(WEBOTS_DEPENDENCY_PATH)
-	@if [ "71c339a01c8cf324bc8c00b39d6fbd1e" != `md5 -q $(QT_PACKAGE)` ]; then echo "MD5 checksum failed for $(QT_PACKAGE)"; exit 1; fi
+	@echo "# Installing $(QT_PACKAGE)"
+	$(WEBOTS_HOME)/scripts/install/qt_mac_installer.sh
 	@touch $(WEBOTS_DEPENDENCY_PATH)/$(QT_PACKAGE)
 
 assimp-clean: