You have to specify in the constructor which world file the simulator will open.įrom setuptools import setup package_name = 'my_package' data_files = data_files. The WebotsLauncher object is a custom action that allows you to start a Webots simulation instance. join ( package_dir, 'worlds', 'my_world.wbt' ) ) ros2_supervisor = Ros2SupervisorLauncher () my_robot_driver = Node ( package = 'webots_ros2_driver', executable = 'driver', output = 'screen', additional_env =, ] ) return LaunchDescription (, ) ) ]) read_text () webots = WebotsLauncher ( world = os. join ( package_dir, 'resource', 'my_robot.urdf' )). Import os import pathlib import launch from launch_ros.actions import Node from launch import LaunchDescription from ament_index_python.packages import get_package_share_directory from webots_ros2_driver.webots_launcher import WebotsLauncher, Ros2SupervisorLauncher from webots_ros2_driver.utils import controller_url_prefix def generate_launch_description (): package_dir = get_package_share_directory ( 'my_package' ) robot_description = pathlib. Then, it gets the two motor instances and initializes them with a target position and a target velocity.įinally a ROS node is created and a callback method is registered for a ROS topic named /cmd_vel that will handle Twist messages. It first gets the robot instance from the simulation (which can be used to access the Webots robot API). ), is actually the ROS node counterpart of the Python _init_(self. setVelocity ( command_motor_right )Īs you can see, the MyRobotDriver class implements three methods. z command_motor_left = ( forward_speed - angular_speed * HALF_DISTANCE_BETWEEN_WHEELS ) / WHEEL_RADIUS command_motor_right = ( forward_speed + angular_speed * HALF_DISTANCE_BETWEEN_WHEELS ) / WHEEL_RADIUS self. _node, timeout_sec = 0 ) forward_speed = self.
_target_twist = twist def step ( self ): rclpy. _cmd_vel_callback, 1 ) def _cmd_vel_callback ( self, twist ): self. create_subscription ( Twist, 'cmd_vel', self. Import rclpy from geometry_msgs.msg import Twist HALF_DISTANCE_BETWEEN_WHEELS = 0.045 WHEEL_RADIUS = 0.025 class MyRobotDriver : def init ( self, webots_node, properties ): self.
On the mixing of ament and catkin (catment).
Building ROS 2 with tracing instrumentation.Visualizing ROS 2 data with Foxglove Studio.Working with multiple ROS 2 middleware implementations.Passing ROS arguments to nodes via the command-line.Migrating YAML parameter files from ROS 1 to ROS 2.Using ROS 2 launch to launch composable nodes.Using Python, XML, and YAML for ROS 2 Launch Files.Migrating launch files from ROS 1 to ROS 2.Building a package with Eclipse 2021-06.Recording and playing back data with rosbag using the ROS 1 bridge.Setting up efficient intra-process communication.Using quality-of-service settings for lossy networks.Setting up a robot simulation (Ignition Gazebo).Unlocking the potential of Fast DDS middleware.Using Fast DDS Discovery Server as discovery protocol.Adding physical and collision properties.Building a visual robot model from scratch.Running Tests in ROS 2 from the Command Line.Using stamped datatypes with tf2_ros::MessageFilter.Integrating launch files into ROS 2 packages.Composing multiple nodes in a single process.Writing an action server and client (Python).Writing an action server and client (C++).Writing a simple service and client (Python).Writing a simple service and client (C++).Writing a simple publisher and subscriber (Python).Writing a simple publisher and subscriber (C++).ROS 2 Iron Irwini (codename ‘iron’ May, 2023).
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