Fixing missing libcar.dylib and libdriver.dylib on MacOS (#6482)

* Fixing missing libcar.dylib and libdriver.dylib on MacOS when using extern controller. These dylibs are located at `Contents/lib/controller`. However, the code is looking for them in `Contents/MacOS/lib/controller`. Removing the extra `.../MacOS/...` from the path fixes the issue. * Update changelog-r2023.md * Update changelog-r2023.md --------- Co-authored-by: Olivier Michel <[email protected]>
cyberbotics · Jan 18, 2024 · 3c3f849 · 3c3f849
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diff --git a/docs/reference/changelog-r2023.md b/docs/reference/changelog-r2023.md
@@ -8,6 +8,7 @@ Released on XXX XXth, 2023.
     - Enabled the launching of MATLAB desktop from the extern launcher ([#6366](https://github.com/cyberbotics/webots/pull/6366)). 
     - Improved overlays visible in Overlays menu by adding all the robots in the menu list ([#6297](https://github.com/cyberbotics/webots/pull/6297)).
   - Bug fixes
+    - Fixed Python path for `libcar.dylib` and `libdriver.dylib` on macOS ([#6482](https://github.com/cyberbotics/webots/pull/6482)).
     - Avoided crash and provided better warnings when attempting to access PROTO nodes in a wrong way from the supervisor API ([#6473](https://github.com/cyberbotics/webots/pull/6473)).
     - Fixed errors loading template PROTO if the system user name, the project path, or the temporary directory path contains the `\` character ([#6288](https://github.com/cyberbotics/webots/pull/6288)).
     - Fixed Webots and libController version comparison not to take revisions into account ([#6315](https://github.com/cyberbotics/webots/pull/6315)).

diff --git a/lib/controller/python/vehicle/car.py b/lib/controller/python/vehicle/car.py
@@ -41,7 +41,7 @@ def __init__(self):
         elif sys.platform == 'win32':
             path = os.path.join('lib', 'controller', 'car.dll')
         elif sys.platform == 'darwin':
-            path = os.path.join('Contents', 'MacOS', 'lib', 'controller', 'libcar.dylib')
+            path = os.path.join('Contents', 'lib', 'controller', 'libcar.dylib')
         self.api = ctypes.cdll.LoadLibrary(os.path.join(os.environ['WEBOTS_HOME'], path))
         self.api.wbu_car_get_front_wheel_radius.restype = ctypes.c_double
         self.api.wbu_car_get_indicator_period.restype = ctypes.c_double

diff --git a/lib/controller/python/vehicle/driver.py b/lib/controller/python/vehicle/driver.py
@@ -43,7 +43,7 @@ def loadApi() -> ctypes.cdll:
             car = 'car.dll'
             driver = 'driver.dll'
         elif sys.platform == 'darwin':
-            path = os.path.join('Contents', 'MacOS', 'lib', 'controller')
+            path = os.path.join('Contents', 'lib', 'controller')
             car = 'libcar.dylib'
             driver = 'libdriver.dylib'
         ctypes.cdll.LoadLibrary(os.path.join(os.environ['WEBOTS_HOME'], path, car))