Merge pull request cyberbotics#6502 from cyberbotics/sync-master-3ce8b1596

Merge master into develop

Author: omichel

.github/ISSUE_TEMPLATE/config.yml

@@ -6,8 +6,8 @@ contact_links:
   - name: GitHub Discussions
     url: https://github.com/cyberbotics/webots/discussions/new
     about: Ask a question or request a new feature in Webots
-  - name: StackOverflow
-    url: https://stackoverflow.com/questions/tagged/webots
+  - name: Robotics StackExchange
+    url: https://robotics.stackexchange.com
     about: Ask technical questions (be sure to use the 'webots' tag).
   - name: Discord Server
     url: https://discordapp.com/invite/nTWbN9m

docs/reference/changelog-r2023.md

@@ -18,6 +18,8 @@ Released on XXX XXth, 2023.
     - Fixed values returned by the [Receiver.getEmitterDirection](https://cyberbotics.com/doc/reference/receiver?tab-language=python#wb_receiver_get_emitter_direction) Python method ([#6394](https://github.com/cyberbotics/webots/pull/6394)).
     - Fixed recognition of omnidirectional cameras with fov > pi/2 in [WbObjectDetection] ([#6396](https://github.com/cyberbotics/webots/pull/6396)).
     - Fixed [ElevationGrid](elevationgrid.md) collisions not matching the displayed when the x and y dimensions are different ([#6412](https://github.com/cyberbotics/webots/pull/6412))
+    - Fixed JNILIB_FLAGS relative reference for Java controllers ([#5181](https://github.com/cyberbotics/webots/issues/5181))
+
 
 ## Webots R2023b
 Released on June 28th, 2023.

src/controller/java/Makefile

@@ -113,7 +113,7 @@ CFLAGS1               = -isysroot $(MACOSX_SDK_PATH) -mmacosx-version-min=$(MACO
 PLATFORM_INCLUDE      = -I"$(MACOSX_SDK_PATH)/System/Library/Frameworks/JavaVM.framework/Versions/Current/Headers"
 TARGET                = $(WEBOTS_CONTROLLER_LIB_PATH)/java/lib$(LIBNAME).jnilib
 CFLAGS2               = -c -Wall -isysroot $(MACOSX_SDK_PATH) -mmacosx-version-min=$(MACOSX_MIN_SDK_VERSION) -Wno-unused-function
-JNILIB_FLAGS          = -dynamiclib -install_name @rpath/Contents/lib/controller/java/libJavaController.jnilib -Wl,-rpath,@loader_path/../../..
+JNILIB_FLAGS          = -dynamiclib -install_name @rpath/Contents/lib/controller/java/libJavaController.jnilib -Wl,-rpath,@loader_path/../../../..
 JAVA_INCLUDES         = -I"$(JAVA_HOME)/include" -I"$(JAVA_HOME)/include/darwin"
 LIBCONTROLLER         = $(WEBOTS_CONTROLLER_LIB_PATH)/libController.dylib
 LIBCPPCONTROLLER      = $(WEBOTS_CONTROLLER_LIB_PATH)/libCppController.dylib