Please take a look at the following links to do so in C++ or Python: Tutorial-Creating-a-Custom-Cpp-Plugin and Tutorial-Creating-a-Custom-Python-Plugin. This controller launches the ROS joy node and subscribes to its joy topic to read the input from a joystick. It contains a sample ROS node that is actually a Webots robot controller. It is a simple example of interfacing Webots and ROS using a C++ Webots controller and roscpp. If the default interfaces don't suit you or is not enough, you can create your own custom plugin. The webotsjoystick package is part of the webots stack. This plugin can be loaded in the exact way you did in your question: You can find it in webots_ros2_driver/src/plugins/dynamic. There is also a plugin provided with webots_ros2_driver that interfaces IMU sensors. This change allows for a better user experience with improved support for RViz on ARM-based macOS machines. You can overwrite multiple parameters like topic names or the update rate in your URDF file in the tag. Dear ROS community, The Webots development team has recently switched from using Docker containers to UTM Virtual Machines (VM) for running ROS 2 packages with Webots on macOS devices. You can have a look at each of these plugins in webots_ros2_driver/src/plugins/static. This means that associated topics and services will be created. We are currently working on new tutorials for the official ROS 2 documentation.Ĭurrently, there are 10 devices that have an automatic interface with ROS 2:įor these devices, webots_ros2_driver will automatically load the static plugin. Olivier Michel at the Swiss Federal Institute of Technology ( EPFL ) in Lausanne, Switzerland and then from 1998 by Cyberbotics Ltd. The Webots project started in 1996, initially developed by Dr. as a proprietary licensed software. Olivier Michel at the Swiss Federal Institute of Technology in Lausanne, Switzerland and then from 1998 by Cyberbotics Ltd. We are aware that there is a lack of documentation on current implemented device interfaces and how to use them. Webots is a free and open-source 3D robot simulator used in industry, education and research. Webots is a free and open-source 3D robot simulator used in industry, education and research. But I need to use ROS for the robot itself that uses a xacro file. The demos all work, but the vast majority are just from robots built IN Webots. I've found the Ros2Lidar plugin locally (I think), but it doesn't seem to be able to find it. what(): The webots_ros2_driver::Ros2Lidar plugin cannot be found (C++ or Python). terminate called after throwing an instance of 'std::runtime_error' But the only error I have is this: ModuleNotFoundError: No module named 'webots_ros2_driver::Ros2Lidar' I'm not sure about the parameters since I just adapted it from the IMU plugin from the turtlebot webots_ros2 example. I am trying to set up a Lidar, IMU, and depth camera in Webots on a ROS 2 robot in its xacro file (starting with just the Lidar).
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