cyberbotics · BenjaminDeleze · Jun 23, 2023 · Jun 13, 2023 · Jun 13, 2023 · Jun 13, 2023
@@ -0,0 +1,112 @@
+# Version R2023b Released
+
+<p id="publish-data">By Benjamin Délèze - 20th June 2023</p>
+
+---
+
+It is that time of the year again!
+Today we are happy to announce the release of Webots R2023b!
+This new version is packed with some new features, improvements and, of course, bug fixes.
+
+Here we are going to present some of the main new features, but for a comprehensive list of changes please refer to the [Change Log](../reference/changelog-r2023.md).
+
+## New Robot
+
+A new robot model has been added to the Webots library.
+The ROS-based four-wheeled ROSbot XL robot from [Husarion](https://husarion.com/) is now included in Webots.
+
+%figure "ROSbot XL"
+![Added Robots](images/rosbot_xl.thumbnail.png)
+%end
+
+You can discover this new robot in its demo world under `File > Open Sample World > rosbot_xl.wbt`.
+
+---
+
+## New Device Objects
+
+Several [Robotiq](https://robotiq.com/) grippers have also been added to the Webots library, namely the 2F-85 and the 2F-140 parallel grippers as well as the EPick vacuum gripper.
+
+%figure "New devices"
+![Added Devices](images/devices_r2023b.thumbnail.png)
+%end
+
+---
+
+## Changes for Solid Nodes
+
+In this new version, we removed the `scale` field from [Solid](../reference/solid.md) and its descendants.
+
+This decision was taken because the `scale` field was causing incoherent behavior in solid, devices and robot nodes as it makes no real sense to scale a sensor or a bounding object.
+
+To compensate, we introduced a new node: [Pose](../reference/pose.md) which is the new parent of [Solid](../reference/solid.md). Basically, a [Pose](../reference/pose.md) is a [Transform](../reference/transform.md) without scale.
+
+[Transform](../reference/transform.md) can still be used to scale geometries but not anymore in boundingObjects and it cannot contain any Solid or descendants of Solid like Device and Robot.
+
+A mecanism has been implemented in Webots to automatically convert the Transform in Pose when you open your world except for the case where the scale is not the default one.
+
+If you want to convert your protos, you can use [this script](https://github.com/cyberbotics/webots/blob/develop/scripts/converter/convert_transform_to_pose.py).
+
+---
+
+## New Device Node
+
+A new node has been added to Webots: the [vacuum gripper](../reference/vacuumgripper.md)
+
+You can see this new node at work in its demo world under `File > Open Sample World > vacuum_gripper.wbt`.
+
+---
+
+## Launcher for Extern Controller
+
+A new launcher is now available to run extern controllers.
+The launcher takes care of setting all environment variables based on the options specified, the platform and the type of controller being executed.
+
+All options and instructions on how to use this new launcher are available in the [User Guid](../guide/running-extern-robot-controllers.md).
+
+---
+
+## Overhaul of the Protos Documentation
+
+All the documentation concerning robots, sensors, actuators and objects have been moved to [webots.cloud](https://webots.cloud/proto).
+
+Not only is it now easier to navigate through the protos, but you can also change and test the parameters of protos directly online.
+
+You can also add your own proto to the library such that everybody can use it.
+
+Read more about the new documentation system for protos [here](https://cyberbotics.com/doc/guide/webots-cloud?#share-and-use-your-proto).
+
+---
+
+## ROS2
+
+With this release we continue to develop and improve the support for ROS 2 in Webots.
+New features include:
+
+- Added support for ROS 2 Iron Irwini.
+- Added interface for new devices: VacuumGripper, Pen, Compass, Emitter and Receiver.
+- Added a new node to start nodes only when Webots is ready.
+- Added a new node to start robot plugins in a cleaner way.
+- Added a new TIAGo launch file for full configuration.
+
+And many bug fixes.
+You can see all the changes in the [main changelog](https://github.com/cyberbotics/webots_ros2/blob/master/webots_ros2/CHANGELOG.rst) of the package.
+
+---
+
+## Extra Goodies
+
+- A [new script](https://github.com/cyberbotics/webots/tree/master/scripts/proto_formatter), integrable in vscode, to correct the indentation of your protos.
+- Robot's gripper now used coupled motors.
+
+**Go and [download Webots R2023b](https://cyberbotics.com/#download) today, so you do not miss out on all these great new features!**
+
+---
+
+## Acknowledgements
+
+The current release includes contributions from [Daniel Dias](https://github.com/ad-daniel), [Kimberly McGuire](https://github.com/knmcguire), [Chandan Bharadwaj](https://github.com/Chandan-Bharadwaj), [Songyang Zhao](https://github.com/songyangZhao), [ShuffleWire](https://github.com/ShuffleWire), [Jakub Delicat](https://github.com/delihus), [Léo Duggan](https://github.com/Jean-Eudes-le-retour), [nilsjor](https://github.com/nilsjor), [Simon Gene Gottlieb](https://github.com/SGSSGene), [Tsubasaya](https://github.com/Minimerl), [Dean Brettle](https://github.com/brettle), [Chirath Pansilu](https://github.com/ChirathPansilu), [fparat](https://github.com/fparat), [Gaël Écorchard](https://github.com/galou), [Ian Burwell](https://github.com/IanBurwell), [Stephan Kunz](https://github.com/stepkun), [Kode Creer](https://github.com/kodecreer), [Toshiharu Tabuchi](https://github.com/toshiharutf), [Justin Beri](https://github.com/justinberi), [DrakerDG](https://github.com/DrakerDG), [Jolon Behrent](https://github.com/JolonB), [Darko Lukić](https://github.com/lukicdarkoo), [Angel Ayala](https://github.com/angel-ayala), [Sebastian Ohl](https://github.com/sebastianohl) and [GnSight](https://github.com/ftyghome).
+
+Special thanks go to these contributors and the many other members of our community who have contributed by reporting issues, bugs or provided support and moderation in our [Discord](https://discord.com/invite/nTWbN9m) channel.
+
+The development of Webots is also partially supported by several European research projects, including [OpenDR](https://opendr.eu) and [OPTIMA](https://optima-hpc.eu), the [SimGait](https://simgait.org) Swiss national research project and many other private and academic partners.
@@ -4,6 +4,7 @@ Welcome to the Webots blog!
 
 Here are the latest articles:
 
+- [Webots R2023b](Webots-2023-b-release.md)
 - [Webots R2023a](Webots-2023-a-release.md)
 - [Webots R2022b](Webots-2022-b-release.md)
 - [Webots R2022a](Webots-2022-a-release.md)

@@ -13,3 +13,4 @@
 - [Webots R2022a](Webots-2022-a-release.md)
 - [Webots R2022b](Webots-2022-b-release.md)
 - [Webots R2023a](Webots-2023-a-release.md)
+- [Webots R2023b](Webots-2023-b-release.md)
@@ -1,13 +1,23 @@
 # Webots R2023 Change Log
 
 ## Webots R2023b
-Released on ??
+Released on June 20th, 2023.
   - New Features
     - Added a new [Pose](pose.md) node which inherits from [Group](group.md) and derives to [Transform](transform.md) and [Solid](solid.md) ([#5978](https://github.com/cyberbotics/webots/pull/5978)).
     - Added a new [VacuumGripper](vacuumgripper.md) node ([#6127](https://github.com/cyberbotics/webots/pull/6127)).
     - Added a new launcher to simplify the start of extern controllers ([#5629](https://github.com/cyberbotics/webots/pull/5629)).
     - Added a warning when Webots and controller library versions are different ([#5896](https://github.com/cyberbotics/webots/pull/5896)).
   - Enhancements
+    - Greatly improved the performance of the Python API `Camera.getImage` method ([#5610](https://github.com/cyberbotics/webots/pull/5610)).
+    - Added default [Solid](solid.md).`recognitionColors` value for animals and `Barn` PROTO models ([#5606](https://github.com/cyberbotics/webots/pull/5606)).
+    - Added `recognitionColors` field to `SolidBox` and `Tractor` PROTO models ([#5606](https://github.com/cyberbotics/webots/pull/5606)).
+    - Improved the bounding objects of the Nao robot PROTO so that `selfCollision` can be activated without any issue ([#5622](https://github.com/cyberbotics/webots/pull/5622)).
+    - Improved warnings when passing invalid arguments to [`wb_supervisor_node_enable_pose_tracking`/`wb_supervisor_node_disable_pose_tracking`](supervisor.md#wb_supervisor_node_enable_pose_tracking), [`wb_supervisor_node_enable_contact_points_tracking`/`wb_supervisor_node_disable_contact_points_tracking`](supervisor.md#wb_supervisor_node_enable_contact_points_tracking) and [`wb_supervisor_field_enable_sf_tracking`/`wb_supervisor_field_disable_sf_tracking`](supervisor.md#wb_supervisor_field_enable_sf_tracking) ([5638](https://github.com/cyberbotics/webots/pull/5638)).
+    - Disable `Select..` button in SFString editor if the field has restricted values ([5663](https://github.com/cyberbotics/webots/pull/5663)).
+    - Improved plot representation in default robot window when a NaN value is received from a device ([#5680](https://github.com/cyberbotics/webots/pull/5680)).
+    - Improved default selected tab in Field Editor when nodes are selected ([#5726](https://github.com/cyberbotics/webots/pull/5726)).
+    - Improved handling of non-ASCII robot names and possible crashes resulting from long names ([#5959](https://github.com/cyberbotics/webots/pull/5959)).
+    - Added `proto_formatter.py` script to automatically indent PROTO files ([#6167](https://github.com/cyberbotics/webots/pull/6167)).
     - Improved the error message path by including the [Solid](solid.md) name / DEF name ([#6026](https://github.com/cyberbotics/webots/pull/6026)).
     - Display the [Solid](solid.md) name / DEF name of the joint `endPoint` one level upper, to ease tree usage ([#6026](https://github.com/cyberbotics/webots/pull/6026)).
     - Removed "(PROTO)" text when copying a PROTO node name in the system clipboard ([#6026](https://github.com/cyberbotics/webots/pull/6026)).
@@ -21,31 +31,17 @@ Released on ??
     - Add parameters to change the glass color and opacity of the `Window.proto` ([#6106](https://github.com/cyberbotics/webots/pull/6106)).
     - Stop extern controller timeout counter during Webots world loading ([#6111](https://github.com/cyberbotics/webots/pull/6111)).
     - Relaxed constraints on [Physics](physics.md) node setup for [Connector](connector.md) devices ([#6190](https://github.com/cyberbotics/webots/pull/6190)).
+    - Disabled the computation of shadow reception on meshes when shadows are globally disabled([#6201](https://github.com/cyberbotics/webots/pull/6201)).
+    - Improved the performance of deleting and editing points in large [IndexedFaceSet](indexedfaceset.md) and [ElevationGrid](elevationgrid.md) nodes ([#3924](https://github.com/cyberbotics/webots/pull/3924)).
   - New Devices and Objects
     - Added model of the [Husarion](https://husarion.com/)'s ROSbot XL robot and a sample world ([#5973](https://github.com/cyberbotics/webots/pull/5973)).
     - Added 2-finger 2F-85 and 2F-140 grippers and vaccum EPick gripper from ROBOTIQ ([#6165](https://github.com/cyberbotics/webots/pull/6165)).
     - Added a model of suction cup ([#6165](https://github.com/cyberbotics/webots/pull/6165)).
   - Cleanup
     - Deprecated the C and MATLAB API functions `wb_supervisor_node_enable/disable_contact_point_tracking` in favor of `wb_supervisor_node_enable/disable_contact_points_tracking` to be more consistent with other APIs ([#5633](https://github.com/cyberbotics/webots/pull/5633)).
-
-## Webots R2023a Revision 1
-Released on ??
-  - Enhancements
-    - Improved the performance of deleting and editing points in large [IndexedFaceSet](indexedfaceset.md) and [ElevationGrid](elevationgrid.md) nodes ([#3924](https://github.com/cyberbotics/webots/pull/3924)).
-    - Greatly improved the performance of the Python API `Camera.getImage` method ([#5610](https://github.com/cyberbotics/webots/pull/5610)).
-    - Added default [Solid](solid.md).`recognitionColors` value for animals and `Barn` PROTO models ([#5606](https://github.com/cyberbotics/webots/pull/5606)).
-    - Added `recognitionColors` field to `SolidBox` and `Tractor` PROTO models ([#5606](https://github.com/cyberbotics/webots/pull/5606)).
-    - Improved the bounding objects of the Nao robot PROTO so that `selfCollision` can be activated without any issue ([#5622](https://github.com/cyberbotics/webots/pull/5622)).
-    - Improved warnings when passing invalid arguments to [`wb_supervisor_node_enable_pose_tracking`/`wb_supervisor_node_disable_pose_tracking`](supervisor.md#wb_supervisor_node_enable_pose_tracking), [`wb_supervisor_node_enable_contact_points_tracking`/`wb_supervisor_node_disable_contact_points_tracking`](supervisor.md#wb_supervisor_node_enable_contact_points_tracking) and [`wb_supervisor_field_enable_sf_tracking`/`wb_supervisor_field_disable_sf_tracking`](supervisor.md#wb_supervisor_field_enable_sf_tracking) ([5638](https://github.com/cyberbotics/webots/pull/5638)).
-    - Disable `Select..` button in SFString editor if the field has restricted values ([5663](https://github.com/cyberbotics/webots/pull/5663)).
-    - Improved plot representation in default robot window when a NaN value is received from a device ([#5680](https://github.com/cyberbotics/webots/pull/5680)).
-    - Improved default selected tab in Field Editor when nodes are selected ([#5726](https://github.com/cyberbotics/webots/pull/5726)).
-    - Improved handling of non-ASCII robot names and possible crashes resulting from long names ([#5959](https://github.com/cyberbotics/webots/pull/5959)).
-    - Added `proto_formatter.py` script to automatically indent PROTO files ([#6167](https://github.com/cyberbotics/webots/pull/6167)).
-    - Disabled the computation of shadow reception on meshes when shadows are globally disabled([#6201](https://github.com/cyberbotics/webots/pull/6201)).
   - Bug Fixes
+    - Fixed random crashes while creating [Skin](skin.md) and [Mesh](mesh.md) nodes ([#6218](https://github.com/cyberbotics/webots/pull/6218)).
     - Fixed the size of the Kondo [KHR-3HV](https://webots.cloud/run?url={{ url.github_tree }}/projects/robots/kondo/khr-3hv/protos/Khr3hv.proto) robot which was twice too large ([#6228](https://github.com/cyberbotics/webots/pull/6228)).
-    - Fixed random crashes while creating [Skin](skin.md) and Mesh(mesh.md) nodes ([#6218](https://github.com/cyberbotics/webots/pull/6218)).
     - Fixed the MATLAB `wb_camera_recognition_get_objects` API function ([#6172](https://github.com/cyberbotics/webots/pull/6172)).
     - Fixed the clean-up of the motion API which was firing warnings in Python ([#6029](https://github.com/cyberbotics/webots/pull/6029)).
     - Fixed the behavior of the [Connector](connector.md) after a reset to return to the controller the correct status ([#5889](https://github.com/cyberbotics/webots/pull/5889))
@@ -105,6 +101,8 @@ Released on ??
   - Dependency Updates
     - Change the Windows version of SUMO to 1.13 to match the one used on Linux and macOS and avoid a potiental Log4J vulnerability ([#6010](https://github.com/cyberbotics/webots/pull/6010)).
     - Upgraded to Qt6.4.3 on Ubuntu ([#6065](https://github.com/cyberbotics/webots/pull/6065)) and macOS ([#6157](https://github.com/cyberbotics/webots/pull/6157)).
+  - Cleanup
+    - Deprecated the C and MATLAB API functions `wb_supervisor_node_enable/disable_contact_point_tracking` in favor of `wb_supervisor_node_enable/disable_contact_points_tracking` to be more consistent with other APIs ([#5633](https://github.com/cyberbotics/webots/pull/5633)).
 
 ## Webots R2023a
 Released on November 29th, 2022.