Clearpath Heron USV

projects/robots/clearpath/heron/protos/docs/heron.md

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+The [clearpath's Heron USV](https://robots.ros.org/clearpath-heron-usv/) is a USV platform.
+
+### Reliability: 
+  Heron is known for engineering quality and durability based on Clearpath Robotics' years of experience. This allows users to perform their tasks without worrying about reliability.
+### Flexibility: 
+  Heron's modular design allows it to be configured according to users' needs and task requirements. This facilitates the integration of different sensors, equipment and loads, making it suitable for a variety of applications.
+### Autonomous Capabilities: 
+  Heron has autonomous navigation capabilities that can perform complex tasks. This ensures it can travel designated routes and complete tasks without operator intervention.
+### High Performance: 
+  Heron is a high-performance platform optimized for long-range and long-duration missions. This provides the ability to cover large areas, collect data, and be continuously active throughout the mission.
+
+### Movie Presentation
+
+![youtube video](https://www.youtube.com/watch?v=qWRyCnJWVuM)
+
+### Heron PROTO
+
+Derived from [Robot](https://cyberbotics.com/doc/reference/robot).
+
+```
+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
+  SFColor    color           0.8 0.5 0.1
+  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)".
+
+#### [heron\ocean.wbt]({{ url.github_tree }}/projects/robots/clearpath/moose/worlds/heron\ocean.wbt)
+
+![moose_demo.wbt.png](images/moose/moose_demo.wbt.thumbnail.jpg) This simulation shows a Moose robot following a predefined path on an uneven terrain. It carries a cardboard box.2.wbt.thumbnail.jpg) This simulation shows a PR2 robot grabbing biscuit boxes from one table, and putting them on another table.