This simulation doesn't show any particular application but contains an almost exhaustive list of the services and topics available from the Webots-ROS interface. You can launch this simulation with the following launch file: roslaunch webots_ros robot_information_parser.launch It is a good base to start building your own node. This simulation is the most basic one, the node only parses the robot and show the list of devices. You can launch this simulation with the following launch file: roslaunch webots_ros catch_the_bird.launch This simulation shows how to use a range-finder device. You can launch this simulation with the following launch file: roslaunch webots_ros panoramic_view_recorder.launch This simulation shows how to record a movie and move the viewpoint from a node. You can launch this simulation with the following launch file: roslaunch webots_ros keyboard_teleop.launch This simulation shows how to use the keyboard to control a robot. You can launch this simulation with the following launch file: roslaunch webots_ros e_puck_line.launch This simulation shows an e-puck robot performing line-following. In addition, the simulation also includes a gmapping support: rosrun gmapping slam_gmapping scan:=/Hokuyo_URG_04LX_UG01/laser_scan _xmax:=5 _xmin:=-5 _ymax:=5 _ymin:=-5 _delta:=0.1Īnd you can control the robot using Twist commands: rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=/diff_drive_controller/cmd_vel It is enough to open rviz, include the MotionPlanning visualization, and you should be able to perform motion planning with the TIAGo arm. The simulation features the MoveIt integration. You can then enable SLAM with: rosrun gmapping slam_gmapping scan:=/pioneer3at/Sick_LMS_291/laser_scan _xmax:=30 _xmin:=-30 _ymax:=30 _ymin:=-30 _delta:=0.2Īnd move the robot using a keyboard: rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=/pioneer3at/pioneer_diff_drive_controller/cmd_vel You can launch this simulation with the following launch file: roslaunch webots_ros pioneer3at.launch The robot is performing slam using the gmapping package, the resulting map can be seen using rviz. This simulation shows a Pionneer 3 AT robot equipped with a Sick lidar sensor. */ #ifndef WEBOTSCORE_HPP #define WEBOTSCORE_HPP // ros #include "ros/ros.h" #include // webots #include #include #include #include namespace webots ROS_INFO ( "Keyboard enabled.For each simulation, the simplest solution is to use the associated launch file, but of course, if you prefer you can start Webots, open the corresponding world and then launch the node yourself. You should have received a copy of the GNU General Public License along with this program. See the GNU General Public License for more details. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. * webots_node.hpp Copyright (C) 2020 Niryo All rights reserved. To do that you will have to open a new terminal The first part of this tutorial consists in installing ROS and the webots_ros package on your computer. How to use the digital twin Installing ROS and “webots_ros” Package You can find the ROS package on our github. In the second part of the tutorial, you will learn from scratch how to implement a ROS controller for Ned on Webots using the webots_ros packageĪnd how to develop a digital twin between Webots and Ned.īy finishing this tutorial, you will be able to modify the ROS package and do your own projects with Ned, Webots and ROS. In the first part of the tutorial you will learn how to use the digital twin we created to control a real Ned with a simulated one on the robotics simulator Webots.īy controlling Ned on Webots, you will be able to send the same commands on the real robot, in realtime. You can find a sample of Ned on their website. To do this tutorial we used “Ubuntu 18.04” and “Webots R2021a”.
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