BlueAndi · BlueAndi · Feb 24, 2026 · Feb 22, 2026 · Feb 22, 2026 · Feb 22, 2026
diff --git a/README.md b/README.md
@@ -19,8 +19,12 @@ It provides different kind of exclusive applications, used for educational purpo
 
 - [The ZumoComSystem Shield](#the-zumocomsystem-shield)
 - [The simulation](#the-simulation)
-- [Installation for simulation](#installation-for-simulation)
+  - [Installation for simulation](#installation-for-simulation)
   - [How to start?](#how-to-start)
+  - [Run](#run)
+    - [Run with Webots launcher (recommended)](#run-with-webots-launcher-recommended)
+    - [Run without Webots launcher](#run-without-webots-launcher)
+    - [Run via terminal](#run-via-terminal)
 - [The target](#the-target)
   - [Installation for target](#installation-for-target)
   - [Build and flash procedure](#build-and-flash-procedure)
@@ -48,7 +52,7 @@ The simulation is based on the open source robot simulator *Webots*. The applica
 
 ![simulation-deployment](http://www.plantuml.com/plantuml/proxy?cache=no&src=https://raw.githubusercontent.com/BlueAndi/DroidControlShip/main/doc/architecture/uml/PhysicalView/SimulationDeployment.plantuml)
 
-## Installation for simulation
+### Installation for simulation
 
 1. Install the native compiler toolchain:
     - Linux
@@ -64,7 +68,7 @@ The simulation is based on the open source robot simulator *Webots*. The applica
 
 ### How to start?
 
-After you built the application, you will find in in ```.pio/build/<APPLICATION-NAME>/program.exe```. It provides several command line arguments to configure certain features. Use -h or --help to get a short user friendly overview about them.
+After you built the application, you will find it in ```.pio/build/<APPLICATION-NAME>/program[.exe]```. It provides several command line arguments to configure certain features. Use -h or --help to get a short user friendly overview about them.
 
 The applications are using a configuration file in JSON format to retrieve certain settings. In the very first run, such a configuration file will be automatically be created. If there exists already one, it will be loaded without modifications (regardless of any other program arguments).
 
@@ -78,6 +82,42 @@ MQTT Broker --> Webots World --> RadonUlzer --> DroidControlShip
 
 In order to simplify this process, the [Launcher](https://github.com/gabryelreyes/Launcher) project is under active development.
 
+### Run
+
+There are 3 ways how to run now the application. Choose according to your needs.
+
+#### Run with Webots launcher (recommended)
+
+The Webots launcher is recommended to connect to the simulation.
+
+It is mandatory if the simulation contains more than one robot. The robot is identified by its name. Adapt the robot name in the [platformio_override.ini](./platformio_override.ini), see *webots_robot_name*.
+
+The Webots documentation has more details about [Single Simulation and Multiple Local Extern Robot Controllers](https://cyberbotics.com/doc/guide/running-extern-robot-controllers?tab-os=windows#single-simulation-and-multiple-local-extern-robot-controllers).
+
+It is mandatory too if the simulation does not run locally (e.g. Webots runs on windows host and RadonUlzer in WSL).
+Set the IP address and the port in [platformio_override.ini](./platformio_override.ini), see *webots_ip_address* and *webots_protocol*.
+
+Use *ipc* as *webots_protocol* for local connections and *tcp* for remote connections.
+
+| Key | Description |
+| --- | ----------- |
+| webots\_ip\_address | The IP address of the Webots simulation, which is used for TCP communication. |
+| webots\_protocol | \[ipc\|tcp\] - ipc is faster but only works on the same machine, tcp works also over network. |
+| webots\_robot\_name | The robot name used to identify the robot in the Webots world. See Webots world robot prototype. |
+
+PlatformIO project tasks --> &lt;APP-NAME&gt; --> Custom --> Launch
+
+#### Run without Webots launcher
+
+This can be choosen in case the simulation waits just for one robot.
+
+PlatformIO project tasks --> &lt;APP-NAME&gt; --> General --> Upload
+
+#### Run via terminal
+
+1. Open a command line (shell) and change to the folder with the built executable in ```.pio/build/<APP-NAME>```. This folder contains all necessary shared libraries as well.
+2. Start the executable.
+
 ## The target
 
 The main target of the firmware is the [ZumoComSystem](https://github.com/NewTec-GmbH/ZumoComSystem) from NewTec GmbH, which is a shield for the [Pololu 32U4 Zumo](https://www.pololu.com/product/2510) robot.

diff --git a/doc/ROS2/README.md b/doc/ROS2/README.md
@@ -71,11 +71,14 @@ The following diagram illustrates the component deployment of micro-ROS in the D
 
 ## Installation Steps
 
+The installation procedure handles how the WSL in Windows is used to install the Ubuntu Linux distribution, the ROS2, Webots and micro-ROS parts.
+
 1. [WSL with Ubuntu](./setup/wsl.md)
 2. [ROS2 Jazzy](./setup/ROS2_Jazzy.md)
 3. [Webots](./setup/Webots.md)
-4. [micro-ROS Native](./setup/microROS_Native.md)
-5. [micro-ROS Agent](./setup/Agent.md)
+4. [VSCode in WSL](./setup/vscode.md)
+5. [micro-ROS Native](./setup/microROS_Native.md)
+6. [micro-ROS Agent](./setup/Agent.md)
 
 ## Execution Steps
 

diff --git a/doc/ROS2/setup/Agent.md b/doc/ROS2/setup/Agent.md
@@ -2,17 +2,17 @@
 
 Sources: [here](https://micro-xrce-dds.docs.eprosima.com/en/latest/index.html)
 
-* [Micro XRCE-DDS Agent](#micro-xrce-dds-agent)
-  * [Installation](#installation)
-  * [Using the agent with the serial interface](#using-the-agent-with-the-serial-interface)
-  * [Using the agent with the UDP interface](#using-the-agent-with-the-udp-interface)
-  * [Using the agent with the TCP interface](#using-the-agent-with-the-tcp-interface)
-  * [Troubleshooting on WSL environment](#troubleshooting-on-wsl-environment)
-  * [Testing the node](#testing-the-node)
+- [Micro XRCE-DDS Agent](#micro-xrce-dds-agent)
+  - [Installation](#installation)
+  - [Using the agent with the serial interface](#using-the-agent-with-the-serial-interface)
+  - [Using the agent with the TCP interface (recommended)](#using-the-agent-with-the-tcp-interface-recommended)
+  - [Using the agent with the UDP interface](#using-the-agent-with-the-udp-interface)
+  - [Troubleshooting on WSL environment](#troubleshooting-on-wsl-environment)
+  - [Testing the node](#testing-the-node)
 
 ## Installation
 
-Follow the instructions detailed [here](https://micro-xrce-dds.docs.eprosima.com/en/latest/installation.html). It has only been tested as standalone executable (without Docker neither using Snap).
+Follow the instructions detailed in [eProsima Micro XRCE-DDS documentation](https://micro-xrce-dds.docs.eprosima.com/en/latest/installation.html). It has only been tested as standalone executable (without Docker neither using Snap).
 `cmake` and `make` are required to build the Agent.
 
 ## Using the agent with the serial interface
@@ -38,7 +38,7 @@ Once the Agent and the Client are connected, the terminal should show something
 [1723186868.574254] info     | ProxyClient.cpp       | create_datawriter        | datawriter created     | client_key: 0x64C59DFF, datawriter_id: 0x000(5), publisher_id: 0x000(3)
 ```
 
-## Using the agent with the TCP interface
+## Using the agent with the TCP interface (recommended)
 
 Start the MicroXRCEAgent binary to listen to **TCP** connections:
 
@@ -60,7 +60,7 @@ Start the MicroXRCEAgent binary to listen to **TCP** connections:
 > [!WARNING]  
 > Note: UDP ports on WSL are not working properly if you need to access them outside of the WSL VM (Status 2024-10-31). Use TCP with WSL instead.
 > See [https://github.com/micro-ROS/micro-ROS-Agent/issues/194](https://github.com/micro-ROS/micro-ROS-Agent/issues/194) for further details.
-> The mentioned ```netsh`` tool for port proxy forwarding only supports TCP.
+> The mentioned ```netsh``` tool for port proxy forwarding only supports TCP.
 
 Start the MicroXRCEAgent binary to listen to UDP connections:
 
@@ -87,6 +87,7 @@ Update: 2024-10-30: TCP transport is available in DroidControlShip, making UDP u
 In order to test your node, you can use `ros2 topic list` to list all topics used, or `ros2 topic echo <topic_name>` to listen to incoming data in a specific topic.
 
 Publish some test messages (1Hz twist message):
+
 ```bash
 ros2 topic pub -r 1.0 cmd_vel geometry_msgs/msg/Twist "{linear: {x: 2.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 1.8}}"
 ```
diff --git a/doc/ROS2/setup/Webots.md b/doc/ROS2/setup/Webots.md
@@ -1,9 +1,52 @@
-# Installation of Webots
+# Installation of Webots <!-- omit in toc -->
 
-## Webots Setup Procedure
+- [Windows](#windows)
+  - [Webots ROS2 Package (Webots on Windows)](#webots-ros2-package-webots-on-windows)
+  - [Running Webots ROS2 Universal Robot (on Windows)](#running-webots-ros2-universal-robot-on-windows)
+- [Linux](#linux)
+  - [Webots Setup Procedure](#webots-setup-procedure)
+  - [Launching Webots](#launching-webots)
+  - [Webots ROS2 Package (Webots in WSL)](#webots-ros2-package-webots-in-wsl)
+  - [Running Webots ROS2 Universal Robot (on Linux)](#running-webots-ros2-universal-robot-on-linux)
+- [Setting up a Webots Simulation with ROS2 controller](#setting-up-a-webots-simulation-with-ros2-controller)
+- [Webots Supervisor](#webots-supervisor)
 
-Follow the official installation guide for Webots on Linux with APT on the 
-[Webots installation Page](https://cyberbotics.com/doc/guide/installation-procedure#installing-the-debian-package-with-the-advanced-packaging-tool-apt).
+## Windows
+
+Follow the official installation guide for Webots on Windows in the [Webots User Guide Installation Procedure](https://cyberbotics.com/doc/guide/installation-procedure#installation-on-windows).
+
+ROS2 requires Linux, therefore in this setup RadonUlzer and DroidControlShip are running inside the WSL. They will connect via TCP to Webots running on the host system.
+
+### Webots ROS2 Package (Webots on Windows)
+
+The setup procedure is described on [this page](https://docs.ros.org/en/jazzy/Tutorials/Advanced/Simulators/Webots/Installation-Windows.html) from the Jazzy documentation. If the listed package is not found by apt, you will need to install it by building from source.
+
+### Running Webots ROS2 Universal Robot (on Windows)
+
+See Task 2 from this [Jazzy documentaion page](https://docs.ros.org/en/jazzy/Tutorials/Advanced/Simulators/Webots/Installation-Ubuntu.html#launch-the-webots-ros2-universal-robot-example)
+
+Replace ```<DRIVE>/<WEBOTS-INSTALLATION_DIRECTORY>``` in the following terminal commands:
+
+```bash
+    export WEBOTS_HOME=/mnt/<DRIVE>/<WEBOTS-INSTALLATION_DIRECTORY>
+    export WEBOTS_CONTROLLER_LIB_PATH=$WEBOTS_HOME/lib
+    export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$WEBOTS_CONTROLLER_LIB_PATH/controller
+
+    cd ros2_webots_ws
+    source install/local_setup.bash
+
+    ros2 launch webots_ros2_universal_robot multirobot_launch.py
+```
+
+You should get the following simulation on the screen:
+
+![Webots ROS2 Example](./img/Webots_ros2_example.png)
+
+## Linux
+
+### Webots Setup Procedure
+
+Follow the official installation guide for Webots on Linux with APT in the [Webots User Guide Installation Procedure](https://cyberbotics.com/doc/guide/installation-procedure#installing-the-debian-package-with-the-advanced-packaging-tool-apt).
 
 > **_NOTE:_**
 Some of the steps result in larger package downloads.
@@ -17,7 +60,7 @@ Set environment variables for Webots home directory, the Webots controller libra
     source $HOME/.bashrc
 ```
 
-## Launching Webots
+### Launching Webots
 
 Try
 
@@ -36,31 +79,25 @@ If you get an error like "cannot open Display", try the following:
 
 - try running Webots again
 
-## Webots ROS2 Package
-
-The setup procedure is described on [this page](https://docs.ros.org/en/jazzy/Tutorials/Advanced/Simulators/Webots/Installation-Ubuntu.html)
-from the Jazzy documentation. The listed package is not found by apt, so
-install it using building from source.
+### Webots ROS2 Package (Webots in WSL)
 
-Note: For the time being, we need to install a patched version from https://github.com/nhjschulz/webots_ros2.git.
-The official one doesn't seem to support webots running inside WSL, but expects msys2/mingw.
+The setup procedure is described on [this page](https://docs.ros.org/en/jazzy/Tutorials/Advanced/Simulators/Webots/Installation-Ubuntu.html) from the Jazzy documentation. If the listed package is not found by apt, you will need to install it by building from source.
 
-transcript:
+Because of [Webots Issue 6570 in webots-ros2-driver](https://github.com/cyberbotics/webots/issues/6570), running Webots inside the WSL requires a small local change.  If it detects that the system is a WSL system, it will try to run ```webots.exe``` instead of ```webots```.
 
 ```bash
-    mkdir -p ros2_webots_ws/src
-    cd ros2_webots_ws
-    git clone --recurse-submodules https://github.com/nhjschulz/webots_ros2.git src/webots_ros2
-
-    sudo apt install python3-pip python3-rosdep python3-colcon-common-extensions
-    sudo rosdep init && rosdep update
-    rosdep install --from-paths src --ignore-src --rosdistro jazzy
+sudo nano /opt/ros/jazzy/lib/python3.12/site-packages/webots_ros2_driver/utils.py
+```
 
-    colcon build
+Required change:
 
+```python
+def is_wsl():
+    # return 'microsoft-standard' in uname().release
+    return False                                                                                                        
 ```
 
-## Running Webots ROS2 Universal Robot
+### Running Webots ROS2 Universal Robot (on Linux)
 
 See Task 2 from this [Jazzy documentaion page](https://docs.ros.org/en/jazzy/Tutorials/Advanced/Simulators/Webots/Installation-Ubuntu.html#launch-the-webots-ros2-universal-robot-example)
 

diff --git a/doc/ROS2/setup/vscode.md b/doc/ROS2/setup/vscode.md
@@ -0,0 +1,29 @@
+# VSCode in WSL
+
+All of the following steps are applied in the Ubuntu terminal.
+
+If DroidControlShip is not cloned yet, this will be the first step:
+
+```bash
+cd ~
+git clone https://github.com/BlueAndi/DroidControlShip.git
+```
+
+In VSCode the PlatformIO extension is required. The PlatformIO extension requires Python with virtual environment capabilities.
+
+```bash
+sudo apt install -y python3-venv
+```
+
+Start VSCode inside the DroidControlShip folder.
+
+```bash
+cd DroidControlShip
+vscode .
+```
+
+Install now the PlatformIO extension (extension id: platformio.platformio-ide) in VSCode and wait until installation is complete.
+
+After that a VSCode restart is required and VSCode is ready.
+
+Install additionally the C/C++ Extension Pack (extension id: ms-vscode.cpptools-extension-pack).
diff --git a/doc/ROS2/setup/wsl.md b/doc/ROS2/setup/wsl.md
@@ -1,10 +1,10 @@
 # Installation of WSL for ROS2 Jazzy
 
-Each ROS2 distribution targets a specific Linux environment. 
-For Jazzy it is *Ubuntu 24.04*. To run it on Windows 10/11, 
+Each ROS2 distribution targets a specific Linux environment.
+For Jazzy it is *Ubuntu 24.04*. To run it on Windows 10/11,
 the WSL2 feature will be used.
 
-## Install WSL 
+## Install WSL
 
 Installing WSL (Linux on Windows) is officially supported by Microsoft.
 For details refer to the following
@@ -18,9 +18,12 @@ But all you need is this from a windows power shell:
 ```
 
 > **_NOTE:_**
-A Windows message dialog may popup in the background, to ask for elevated rights. 
+A Windows message dialog may popup in the background, to ask for elevated rights.
 Check for such a window if the installation does not progress.
 
+> **_NOTE:_**
+If windows requests to restart after trying to install Ubuntu, do so and try to install again.
+
 ## First time use
 
 A console window should appear with installation messages. It will ask you
@@ -51,6 +54,8 @@ Configure Ubuntu to login by default with your user in the windows power shell:
 
 Check that you have the right distribution installed (Ubuntu 24.04 LTS):
 
+In the Ubuntu terminal:
+
 ```bash
     $  lsb_release -a
     No LSB modules are available.
@@ -62,7 +67,7 @@ Check that you have the right distribution installed (Ubuntu 24.04 LTS):
 
 ## New Terminal Window
 
-Is is recommended to install the new Microsoft Terminal Window 
+Is is recommended to install the new Microsoft Terminal Window
 if not done already. It is available from
 
 [Github Microsoft Terminal](https://github.com/microsoft/terminal).
@@ -71,20 +76,31 @@ It offers tabs, history and embedds all kinds of shells (cmd, powershell, Ubuntu
 
 ![New Shell](./img/new_shell.png)
 
-## Exposing WSL UDP Ports to the Network
+## Exposing WSL Ports to the Network
 
-To make UDP ports listening in WSL accessible from your local network, follow these steps:
-Find your WSL IP address by running this command in WSL:
+To make TCP/UDP ports listening in WSL accessible from your local network, follow these steps:
+
+Find your WSL IP address by running this command **in WSL**:
 
 ```bash
 ip addr show eth0
 ```
 
+or this **in a windows powershell**:
+
+```bat
+wsl hostname -I
+```
+
 > **_NOTE:_**
-UDP port forwarding to wsl is not supported without mirrored networking (WSL 2.0.0 on win11)
+TCP/UDP port forwarding to WSL is not supported without mirrored networking (WSL 2.0.0 on win11)
 
 Open a terminal in an administrator shell on Windows.
-Run the following command to forward the UDP port, replacing [PORT] with your desired port number (usually 8888) and [WSL_IP] with the IP address:
+Run the following commands to forward the TCP/UDP port, replacing [PORT] with your desired port number and [WSL_IP] with the IP address.
+
+| Port | Description        |
+| ---- | ------------------ |
+| 8888 | ROS2 network port  |
 
 ```bat
 netsh interface portproxy add v4tov4 listenport=[PORT] listenaddress=0.0.0.0 connectport=[PORT] connectaddress=[WSL_IP]

diff --git a/doc/ROS2/webots/webots.md b/doc/ROS2/webots/webots.md
@@ -34,13 +34,3 @@ The `ros2_dcs_turtlesim` package is availabe from it's own GIT repository at
 
 Create a Webots ros2 workspace as described in [setup/Webots.md](../setup/Webots.md),
 then follow the instructions in `ros2_dcs_turtlesim` readme.md for building and launching.
-
-## Notes
-
-If the robot display shows an MCAL error, the calibration for the RadonUlzer is missing. Perform it first or manipulate the settings:
-
-```bash
-nano .pio/build/RemoteControlSim/settings.json
-```
-
-Set the maxSpeed value to 4200.
diff --git a/lib/APPTurtle/src/App.cpp b/lib/APPTurtle/src/App.cpp
@@ -296,7 +296,7 @@ void App::handleTurtle()
         RobotSpeed    payload;
         const int32_t MILLI_CONVERSION_FACTOR = 1000;
         int32_t       linearSpeed = m_turtleSpeedSetpoint.linear.x * MILLI_CONVERSION_FACTOR; /* Linear speed in mm/s */
-        int32_t angularSpeed = m_turtleSpeedSetpoint.angular.z * MILLI_CONVERSION_FACTOR; /* Angular speed in mrad/s */
+        int32_t       angularSpeed = m_turtleSpeedSetpoint.angular.z * MILLI_CONVERSION_FACTOR; /* Angular speed in mrad/s */
 
         payload.linearCenter = linearSpeed;
         payload.angular      = angularSpeed;