Merge branch 'develop' into sync-master-718dfe006

Author: Benjamin Délèze

projects/robots/husarion/rosbot_xl/protos/RosbotXl.proto

@@ -1,7 +1,7 @@
 #VRML_SIM R2023b utf8
 # license: Apache License 2.0
 # license url: http://www.apache.org/licenses/LICENSE-2.0
-# documentation url: https://webots.cloud/run?url=https://github.com/cyberbotics/webots/blob/doc-add-vehicles/projects/robots/husarion/rosbot_xl/protos/RosbotXl.proto
+# documentation url: https://webots.cloud/run?url=https://github.com/cyberbotics/webots/blob/released/projects/robots/husarion/rosbot_xl/protos/RosbotXl.proto
 # This is a proto file for Webots for the RosbotXl
 
 EXTERNPROTO "webots://projects/devices/slamtec/protos/RpLidarA2.proto"

projects/robots/husarion/rosbot_xl/protos/docs/images/rosbot_xl/rosbot_xl.wbt.png

@@ -0,0 +1,85 @@
+The ROSbot XL by [Husarion](https://husarion.com/) is a universal, ROS2-native autonomous mobile robot platform dedicated to R&D, rapid prototyping and custom robot development for indoor use cases.
+It is equipped with a LIDAR and an IMU.
+
+More information on specifications is available at the following link: [ROSbot XL - Specifications](https://husarion.com/manuals/rosbot-xl/#specification).
+
+### ROSbot XL
+
+%figure "ROSbot XL characteristics"
+
+| Characteristics             | Values       |
+| --------------------------- | ------------ |
+| Length                      | 332 mm       |
+| Width                       | 284 mm       |
+| Height                      | 131 mm       |
+| Max. forward/backward speed | 0.8 m/s      |
+
+%end
+
+The ROSbot XL motors are [RotationalMotor](https://cyberbotics.com/doc/reference/rotationalmotor) nodes, each motor is associated with a [PositionSensor](https://cyberbotics.com/doc/reference/positionsensor).
+They are named the following way:
+
+%figure "ROSbot XL wheel names"
+
+| Wheel                | Motor name     | Position sensor name           |
+| -------------------- | ---------------| ------------------------------ |
+| Front right wheel    | fr\_wheel\_joint | front right wheel motor sensor |
+| Front left wheel     | fl\_wheel\_joint | front left wheel motor sensor  |
+| Rear left wheel      | rl\_wheel\_joint | rear left wheel motor sensor   |
+| Rear right wheel     | rr\_wheel\_joint | rear right wheel motor sensor  |
+
+%end
+
+The `wb_set_motor_position` and `wb_set_motor_velocity` functions allow the user to control the rotation of the wheels.
+`wb_position_sensor_get_value` allows the user to get the value of the position sensor.
+
+The [MPU-9250](https://webots.cloud/run?url=https://github.com/cyberbotics/webots/blob/develop/projects/devices/tdk/protos/Mpu-9250.proto) IMU allows the user to get acceleration, angular rate and heading values.
+The following table shows the names to access the different components of the IMU:
+
+%figure "IMU components names"
+
+| Device        | Name                        |
+| ------------- | --------------------------- |
+| Accelerometer | imu accelerometer           |
+| Gyroscope     | imu gyro                    |
+| Compass       | imu compass                 |
+
+%end
+
+The [RpLidar A2](https://webots.cloud/run?url=https://github.com/cyberbotics/webots/blob/develop/projects/devices/slamtec/protos/RpLidarA2.proto) rotational lidar is fixed on the ROSbot.
+It is named "laser".
+It can be removed to place another sensor.
+
+### Rosbot XL PROTO
+
+Derived from [Robot](https://cyberbotics.com/doc/reference/robot).
+
+```
+RosbotXl {
+  SFVec3f    translation     0 0 0
+  SFRotation rotation        0 0 1 0
+  SFString   name            "rosbot_xl"
+  SFString   controller      "<generic>"
+  MFString   controllerArgs  []
+  SFString   customData      ""
+  SFBool     supervisor      FALSE
+  SFBool     synchronization TRUE
+  SFBool     selfCollision   FALSE
+  MFNode     lidarSlot       [ RpLidarA2 { name "laser" } ]
+}
+```
+
+#### Rosbot XL Field Summary
+
+- `lidarSlot`: Extends the robot with a RpLidar A2 lidar.
+
+### Samples
+
+You will find the following sample in the folder: "[$WEBOTS\_HOME/projects/robots/husarion/rosbot\_xl/worlds]({{ url.github_tree }}/projects/robots/husarion/rosbot\_xl/worlds)".
+
+#### [rosbot\_xl.wbt]({{ url.github_tree }}/projects/robots/husarion/rosbot\_xl/worlds/rosbot\_xl.wbt)
+
+![rosbot\_xl.png](images/rosbot_xl/rosbot_xl.wbt.thumbnail.jpg)
+
+The "[rosbot\_xl.wbt]({{ url.github_tree }}/projects/robots/husarion/rosbot\_xl/worlds/rosbot\_xl.wbt)" shows the ROSbot XL in a simple environment.
+The default controller is set to `<extern>` as this robot is meant to be controlled using ROS2.