diff --git a/package.xml b/package.xml
index 2b9bb9f..57a747f 100644
--- a/package.xml
+++ b/package.xml
@@ -3,7 +3,7 @@
webots_ros
- 2022.1.0
+ 2023.0.0
The ROS package containing examples for interfacing ROS with the standard ROS controller of Webots
http://wiki.ros.org/webots_ros
diff --git a/plugins/robot_windows/info/info.js b/plugins/robot_windows/info/info.js
index 486c666..2bfe9bf 100644
--- a/plugins/robot_windows/info/info.js
+++ b/plugins/robot_windows/info/info.js
@@ -1,4 +1,4 @@
-import RobotWindow from 'https://cyberbotics.com/wwi/R2022b/RobotWindow.js';
+import RobotWindow from 'https://cyberbotics.com/wwi/R2023a/RobotWindow.js';
window.robotWindow = new RobotWindow();
window.onload = () => {
window.robotWindow.receive = function (message, robot) {
diff --git a/scripts/ros_controller.py b/scripts/ros_controller.py
index de28b94..4df6f70 100755
--- a/scripts/ros_controller.py
+++ b/scripts/ros_controller.py
@@ -1,6 +1,6 @@
#!/usr/bin/env python
-# Copyright 1996-2020 Cyberbotics Ltd.
+# 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.
diff --git a/scripts/ros_python.py b/scripts/ros_python.py
index 4d09c2c..14c9106 100755
--- a/scripts/ros_python.py
+++ b/scripts/ros_python.py
@@ -1,6 +1,6 @@
#!/usr/bin/env python
-# Copyright 1996-2020 Cyberbotics Ltd.
+# 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.
diff --git a/scripts/webots_launcher.py b/scripts/webots_launcher.py
index f3d2f01..f20a0ac 100755
--- a/scripts/webots_launcher.py
+++ b/scripts/webots_launcher.py
@@ -1,6 +1,6 @@
#!/usr/bin/env python
-# Copyright 1996-2022 Cyberbotics Ltd.
+# 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.
diff --git a/src/catch_the_bird.cpp b/src/catch_the_bird.cpp
index 03adddf..787c5d0 100644
--- a/src/catch_the_bird.cpp
+++ b/src/catch_the_bird.cpp
@@ -1,4 +1,4 @@
-// Copyright 1996-2022 Cyberbotics Ltd.
+// 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.
diff --git a/src/complete_test.cpp b/src/complete_test.cpp
index 62ce701..116814e 100644
--- a/src/complete_test.cpp
+++ b/src/complete_test.cpp
@@ -1,4 +1,4 @@
-// Copyright 1996-2022 Cyberbotics Ltd.
+// 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.
diff --git a/src/e_puck_line.cpp b/src/e_puck_line.cpp
index 9cc3bf2..3ed3d1b 100644
--- a/src/e_puck_line.cpp
+++ b/src/e_puck_line.cpp
@@ -1,4 +1,4 @@
-// Copyright 1996-2022 Cyberbotics Ltd.
+// 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.
diff --git a/src/keyboard_teleop.cpp b/src/keyboard_teleop.cpp
index bf5782e..963d107 100644
--- a/src/keyboard_teleop.cpp
+++ b/src/keyboard_teleop.cpp
@@ -1,4 +1,4 @@
-// Copyright 1996-2022 Cyberbotics Ltd.
+// 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.
diff --git a/src/panoramic_view_recorder.cpp b/src/panoramic_view_recorder.cpp
index 6b7c4e4..4c6380a 100644
--- a/src/panoramic_view_recorder.cpp
+++ b/src/panoramic_view_recorder.cpp
@@ -1,4 +1,4 @@
-// Copyright 1996-2022 Cyberbotics Ltd.
+// 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.
diff --git a/src/robot_information_parser.cpp b/src/robot_information_parser.cpp
index 4dd8b19..6608c53 100644
--- a/src/robot_information_parser.cpp
+++ b/src/robot_information_parser.cpp
@@ -1,4 +1,4 @@
-// Copyright 1996-2022 Cyberbotics Ltd.
+// 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.
diff --git a/worlds/.catch_the_bird.wbproj b/worlds/.catch_the_bird.wbproj
index eb1d22b..ecd1fc8 100644
--- a/worlds/.catch_the_bird.wbproj
+++ b/worlds/.catch_the_bird.wbproj
@@ -1,4 +1,4 @@
-Webots Project File version R2021b
+Webots Project File version R2023a
perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000002fc00000000ffffffff0000000000fffffffc0200000001fb00000012005300630065006e0065005400720065006501000000190000033d0000000000000000fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000006900ffffff00000001000002ec0000025efc0200000001fb0000001400540065007800740045006400690074006f007200000000190000025e0000003f00ffffff00000003000004e20000005afc0100000002fb0000000e0043006f006e0073006f006c006501000000000000073f0000000000000000fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c0100000000000004e20000006900ffffff000004e20000015700000001000000020000000100000008fc00000000
simulationViewPerspectives: 000000ff00000001000000020000016c000002060100000002010000000101
sceneTreePerspectives: 000000ff0000000100000002000000c0000000fc0100000002010000000201
diff --git a/worlds/.complete_test.wbproj b/worlds/.complete_test.wbproj
index 45f5eb4..845c711 100644
--- a/worlds/.complete_test.wbproj
+++ b/worlds/.complete_test.wbproj
@@ -1,4 +1,4 @@
-Webots Project File version R2021b
+Webots Project File version R2023a
perspectives: 000000ff00000000fd00000003000000000000018f00000482fc0100000004fc00000000ffffffff0000000000fffffffc0200000001fb00000012005300630065006e0065005400720065006501000000190000033d0000000000000000fb0000002c0052006f0062006f0074003a002000660075006c006c005f00730075007000650072007600690073006f007201000000000000018f0000000000000000fb0000001e00480074006d006c0052006f0062006f007400570069006e0064006f007701000000000000018f0000005400fffffffb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000005400ffffff00000001000001ed000003a2fc0200000001fb0000001400540065007800740045006400690074006f00720100000000000003a20000003c00ffffff00000003000005aa000000dafc0100000001fb0000000e0043006f006e0073006f006c00650100000195000005aa0000005400ffffff000003b7000003a200000004000000040000000100000008fc00000000
simulationViewPerspectives: 000000ff000000010000000200000170000003490100000006010000000101
sceneTreePerspectives: 000000ff0000000100000002000000c0000000fc0100000006010000000201
diff --git a/worlds/.e-puck_line.wbproj b/worlds/.e-puck_line.wbproj
index a0361e0..c38e684 100644
--- a/worlds/.e-puck_line.wbproj
+++ b/worlds/.e-puck_line.wbproj
@@ -1,4 +1,4 @@
-Webots Project File version R2021b
+Webots Project File version R2023a
perspectives: 000000ff00000000fd00000003000000000000016c0000033dfc0200000001fb00000012005300630065006e0065005400720065006500000000190000033d0000000000000000000000010000016200000309fc0200000001fb0000001400540065007800740045006400690074006f00720100000019000003090000003e00ffffff000000030000073f000000e2fc0100000001fb0000000e0043006f006e0073006f006c006501000000000000073f0000005a00ffffff000005d70000030900000004000000040000000100000008fc00000000
simulationViewPerspectives: 000000ff00000001000000020000016c000002850100000006010000000101
sceneTreePerspectives: 000000ff0000000100000002000000c0000000a80100000006010000000201
diff --git a/worlds/.keyboard_teleop.wbproj b/worlds/.keyboard_teleop.wbproj
index 2dff954..e68835c 100644
--- a/worlds/.keyboard_teleop.wbproj
+++ b/worlds/.keyboard_teleop.wbproj
@@ -1,4 +1,4 @@
-Webots Project File version R2021b
+Webots Project File version R2023a
perspectives: 000000ff00000000fd00000003000000000000016c0000033dfc0200000001fb00000012005300630065006e0065005400720065006501000000190000033d000000000000000000000001000001e100000258fc0200000001fb0000001400540065007800740045006400690074006f00720100000019000002580000003e00ffffff000000030000073f00000193fc0100000001fb0000000e0043006f006e0073006f006c006501000000000000073f0000005a00ffffff000005580000025800000001000000020000000100000008fc00000000
simulationViewPerspectives: 000000ff00000001000000020000016c000002060100000006010000000101
sceneTreePerspectives: 000000ff0000000100000002000000c0000000a80100000006010000000201
diff --git a/worlds/.panoramic_view_recorder.wbproj b/worlds/.panoramic_view_recorder.wbproj
index 19379cb..28685ac 100644
--- a/worlds/.panoramic_view_recorder.wbproj
+++ b/worlds/.panoramic_view_recorder.wbproj
@@ -1,4 +1,4 @@
-Webots Project File version R2021b
+Webots Project File version R2023a
perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000001fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000005400ffffff000000010000012e000003a2fc0200000001fb0000001400540065007800740045006400690074006f00720100000000000003a20000003c00ffffff000000030000073f000000dafc0100000001fb0000000e0043006f006e0073006f006c006501000000000000073f0000005400ffffff0000060b000003a200000001000000020000000100000008fc00000000
simulationViewPerspectives: 000000ff00000001000000020000016c000004a00100000006010000000101
sceneTreePerspectives: 000000ff0000000100000002000000c0000001120100000006010000000201
diff --git a/worlds/.pioneer3at.wbproj b/worlds/.pioneer3at.wbproj
index 86294d3..8c24c1a 100644
--- a/worlds/.pioneer3at.wbproj
+++ b/worlds/.pioneer3at.wbproj
@@ -1,4 +1,4 @@
-Webots Project File version R2021b
+Webots Project File version R2023a
perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000001fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000005400ffffff000000010000012e000002d9fc0200000001fb0000001400540065007800740045006400690074006f00720000000019000002d9000000a200ffffff000000030000073f000000bbfc0100000001fb0000000e0043006f006e0073006f006c006501000000000000073f0000005400ffffff0000073f000003c100000001000000020000000100000008fc00000000
simulationViewPerspectives: 000000ff00000001000000020000011e000004db0100000006010000000101
sceneTreePerspectives: 000000ff0000000100000002000000c0000001240100000006010000000201
diff --git a/worlds/.ros_python.wbproj b/worlds/.ros_python.wbproj
index 9022d0c..ecc7adf 100644
--- a/worlds/.ros_python.wbproj
+++ b/worlds/.ros_python.wbproj
@@ -1,4 +1,4 @@
-Webots Project File version R2021b
+Webots Project File version R2023a
perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000001fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000006900ffffff00000001000001c900000375fc0200000001fb0000001400540065007800740045006400690074006f00720100000000000003750000008900ffffff000000030000073f00000093fc0100000001fb0000000e0043006f006e0073006f006c006501000000000000073f0000006900ffffff000005740000037500000001000000020000000100000008fc00000000
simulationViewPerspectives: 000000ff000000010000000200000100000005210100000002010000000100
sceneTreePerspectives: 000000ff0000000100000002000002aa000000fa0100000002010000000200
diff --git a/worlds/.tiago.wbproj b/worlds/.tiago.wbproj
index b876f99..e0a2349 100644
--- a/worlds/.tiago.wbproj
+++ b/worlds/.tiago.wbproj
@@ -1,4 +1,4 @@
-Webots Project File version R2021b
+Webots Project File version R2023a
perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000001fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000006900ffffff000000010000011c0000038ffc0200000001fb0000001400540065007800740045006400690074006f007200000000170000038f0000003f00ffffff000000030000078000000087fc0100000001fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c0100000000000007800000006900ffffff000007800000034100000001000000020000000100000008fc00000000
simulationViewPerspectives: 000000ff000000010000000200000100000003820100000002010000000100
sceneTreePerspectives: 000000ff0000000100000002000000e0000000fa0100000002010000000200
diff --git a/worlds/catch_the_bird.wbt b/worlds/catch_the_bird.wbt
index 6890d8e..1b119f6 100644
--- a/worlds/catch_the_bird.wbt
+++ b/worlds/catch_the_bird.wbt
@@ -1,8 +1,8 @@
-#VRML_SIM R2022b utf8
+#VRML_SIM R2023a utf8
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/backgrounds/protos/TexturedBackground.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/floors/protos/RectangleArena.proto"
+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 "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/floors/protos/RectangleArena.proto"
WorldInfo {
}
diff --git a/worlds/complete_test.wbt b/worlds/complete_test.wbt
index 84a0697..9482f61 100644
--- a/worlds/complete_test.wbt
+++ b/worlds/complete_test.wbt
@@ -1,9 +1,9 @@
-#VRML_SIM R2022b utf8
+#VRML_SIM R2023a utf8
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/backgrounds/protos/TexturedBackground.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/floors/protos/RectangleArena.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/humans/skin_animated_humans/protos/CharacterSkin.proto"
+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 "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/floors/protos/RectangleArena.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/humans/skin_animated_humans/protos/CharacterSkin.proto"
WorldInfo {
}
diff --git a/worlds/e-puck_line.wbt b/worlds/e-puck_line.wbt
index 1075532..602b4b4 100644
--- a/worlds/e-puck_line.wbt
+++ b/worlds/e-puck_line.wbt
@@ -1,10 +1,10 @@
-#VRML_SIM R2022b utf8
+#VRML_SIM R2023a utf8
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/backgrounds/protos/TexturedBackground.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/floors/protos/RectangleArena.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/robots/gctronic/e-puck/protos/E-puck.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/robots/gctronic/e-puck/protos/E-puckGroundSensors.proto"
+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 "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/floors/protos/RectangleArena.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/robots/gctronic/e-puck/protos/E-puck.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/robots/gctronic/e-puck/protos/E-puckGroundSensors.proto"
WorldInfo {
}
@@ -22,7 +22,7 @@ RectangleArena {
floorAppearance PBRAppearance {
baseColorMap ImageTexture {
url [
- "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/robots/gctronic/e-puck/worlds/textures/floor.png"
+ "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/robots/gctronic/e-puck/worlds/textures/floor.png"
]
}
roughness 1
diff --git a/worlds/keyboard_teleop.wbt b/worlds/keyboard_teleop.wbt
index d54e84f..df1c48a 100644
--- a/worlds/keyboard_teleop.wbt
+++ b/worlds/keyboard_teleop.wbt
@@ -1,11 +1,11 @@
-#VRML_SIM R2022b utf8
+#VRML_SIM R2023a utf8
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/backgrounds/protos/TexturedBackground.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/floors/protos/RectangleArena.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/factory/containers/protos/CardboardBox.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/factory/containers/protos/WoodenBox.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/robots/adept/pioneer3/protos/Pioneer3dx.proto"
+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 "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/floors/protos/RectangleArena.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/factory/containers/protos/CardboardBox.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/factory/containers/protos/WoodenBox.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/robots/adept/pioneer3/protos/Pioneer3dx.proto"
WorldInfo {
}
diff --git a/worlds/panoramic_view_recorder.wbt b/worlds/panoramic_view_recorder.wbt
index 1d6b66f..e723fc4 100644
--- a/worlds/panoramic_view_recorder.wbt
+++ b/worlds/panoramic_view_recorder.wbt
@@ -1,10 +1,10 @@
-#VRML_SIM R2022b utf8
+#VRML_SIM R2023a utf8
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/backgrounds/protos/TexturedBackground.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/floors/protos/Floor.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/appearances/protos/Parquetry.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/robots/softbank/nao/protos/Nao.proto"
+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 "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/floors/protos/Floor.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/appearances/protos/Parquetry.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/robots/softbank/nao/protos/Nao.proto"
WorldInfo {
}
diff --git a/worlds/pioneer3at.wbt b/worlds/pioneer3at.wbt
index 4d9c951..425d217 100644
--- a/worlds/pioneer3at.wbt
+++ b/worlds/pioneer3at.wbt
@@ -1,37 +1,37 @@
-#VRML_SIM R2022b utf8
+#VRML_SIM R2023a utf8
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/backgrounds/protos/TexturedBackground.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/floors/protos/Floor.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/living_room_furniture/protos/Carpet.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/living_room_furniture/protos/Sofa.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/traffic/protos/TrafficCone.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/apartment_structure/protos/Door.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/apartment_structure/protos/Wall.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/apartment_structure/protos/Window.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/panels/protos/PanelWithTubes.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/panels/protos/Panel.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/obstacles/protos/OilBarrel.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/factory/containers/protos/WoodenBox.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/factory/pallet/protos/WoodenPallet.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/tables/protos/Desk.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/tables/protos/Table.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/chairs/protos/Chair.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/stairs/protos/StraightStairsRail.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/stairs/protos/StraightStairs.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/chairs/protos/WoodenChair.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/kitchen/oven/protos/Oven.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/kitchen/fridge/protos/Fridge.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/kitchen/components/protos/HotPlate.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/kitchen/components/protos/Sink.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/kitchen/components/protos/Worktop.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/plants/protos/PottedTree.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/solids/protos/SolidBox.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/cabinet/protos/CabinetHandle.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/cabinet/protos/Cabinet.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/appearances/protos/ThreadMetalPlate.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/robots/adept/pioneer3/protos/Pioneer3at.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/devices/sick/protos/SickLms291.proto"
+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 "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/floors/protos/Floor.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/living_room_furniture/protos/Carpet.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/living_room_furniture/protos/Sofa.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/traffic/protos/TrafficCone.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/apartment_structure/protos/Door.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/apartment_structure/protos/Wall.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/apartment_structure/protos/Window.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/panels/protos/PanelWithTubes.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/panels/protos/Panel.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/obstacles/protos/OilBarrel.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/factory/containers/protos/WoodenBox.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/factory/pallet/protos/WoodenPallet.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/tables/protos/Desk.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/tables/protos/Table.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/chairs/protos/Chair.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/stairs/protos/StraightStairsRail.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/stairs/protos/StraightStairs.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/chairs/protos/WoodenChair.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/kitchen/oven/protos/Oven.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/kitchen/fridge/protos/Fridge.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/kitchen/components/protos/HotPlate.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/kitchen/components/protos/Sink.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/kitchen/components/protos/Worktop.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/plants/protos/PottedTree.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/solids/protos/SolidBox.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/cabinet/protos/CabinetHandle.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/cabinet/protos/Cabinet.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/appearances/protos/ThreadMetalPlate.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/robots/adept/pioneer3/protos/Pioneer3at.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/devices/sick/protos/SickLms291.proto"
WorldInfo {
info [
diff --git a/worlds/ros_python.wbt b/worlds/ros_python.wbt
index 579c3bd..36ee396 100644
--- a/worlds/ros_python.wbt
+++ b/worlds/ros_python.wbt
@@ -1,9 +1,9 @@
-#VRML_SIM R2022b utf8
+#VRML_SIM R2023a utf8
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/backgrounds/protos/TexturedBackground.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/floors/protos/CircleArena.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/robots/mobsya/thymio/protos/Thymio2.proto"
+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 "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/floors/protos/CircleArena.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/robots/mobsya/thymio/protos/Thymio2.proto"
WorldInfo {
info [
diff --git a/worlds/tiago.wbt b/worlds/tiago.wbt
index 09e71ed..60f056e 100644
--- a/worlds/tiago.wbt
+++ b/worlds/tiago.wbt
@@ -1,44 +1,44 @@
-#VRML_SIM R2022b utf8
+#VRML_SIM R2023a utf8
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/backgrounds/protos/TexturedBackground.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/floors/protos/RectangleArena.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/cabinet/protos/Cabinet.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/cabinet/protos/CabinetHandle.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/kitchen/oven/protos/Oven.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/kitchen/fridge/protos/Fridge.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/tables/protos/Table.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/chairs/protos/Chair.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/plants/protos/PottedTree.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/plants/protos/BunchOfSunFlowers.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/living_room_furniture/protos/Sofa.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/living_room_furniture/protos/Carpet.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/living_room_furniture/protos/Armchair.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/apartment_structure/protos/Door.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/apartment_structure/protos/DoorLever.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/apartment_structure/protos/Wall.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/apartment_structure/protos/Window.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/kitchen/components/protos/Sink.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/kitchen/components/protos/Worktop.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/kitchen/components/protos/HotPlate.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/chairs/protos/WoodenChair.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/drinks/protos/Can.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/fruits/protos/FruitBowl.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/school_furniture/protos/Book.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/robots/pal_robotics/tiago_steel/protos/TiagoSteel.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/lights/protos/CeilingLight.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/lights/protos/FloorLight.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/paintings/protos/PortraitPainting.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/paintings/protos/LandscapePainting.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/create_wall/protos/CreateWall.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/appearances/protos/PaintedWood.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/appearances/protos/Parquetry.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/appearances/protos/Roughcast.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/fruits/protos/Orange.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/fruits/protos/Apple.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/tables/protos/Desk.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/robots/gctronic/e-puck/protos/E-puck.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/robots/gctronic/e-puck/protos/E-puckGroundSensors.proto"
+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 "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/floors/protos/RectangleArena.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/cabinet/protos/Cabinet.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/cabinet/protos/CabinetHandle.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/kitchen/oven/protos/Oven.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/kitchen/fridge/protos/Fridge.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/tables/protos/Table.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/chairs/protos/Chair.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/plants/protos/PottedTree.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/plants/protos/BunchOfSunFlowers.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/living_room_furniture/protos/Sofa.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/living_room_furniture/protos/Carpet.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/living_room_furniture/protos/Armchair.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/apartment_structure/protos/Door.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/apartment_structure/protos/DoorLever.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/apartment_structure/protos/Wall.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/apartment_structure/protos/Window.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/kitchen/components/protos/Sink.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/kitchen/components/protos/Worktop.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/kitchen/components/protos/HotPlate.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/chairs/protos/WoodenChair.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/drinks/protos/Can.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/fruits/protos/FruitBowl.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/school_furniture/protos/Book.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/robots/pal_robotics/tiago_steel/protos/TiagoSteel.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/lights/protos/CeilingLight.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/lights/protos/FloorLight.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/paintings/protos/PortraitPainting.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/paintings/protos/LandscapePainting.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/create_wall/protos/CreateWall.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/appearances/protos/PaintedWood.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/appearances/protos/Parquetry.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/appearances/protos/Roughcast.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/fruits/protos/Orange.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/fruits/protos/Apple.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/tables/protos/Desk.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/robots/gctronic/e-puck/protos/E-puck.proto"
+EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/robots/gctronic/e-puck/protos/E-puckGroundSensors.proto"
WorldInfo {
info [