id stringlengths 15 54 | text stringlengths 3 133k | title stringclasses 1
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webots_plugin/20231126_57.txt |
nano hello_webots/launch/robot_launch.py
import os
import launch
from launch import LaunchDescription
from ament_index_python.packages import get_package_share_directory
from webots_ros2_driver.webots_launcher import WebotsLauncher
from webots_ros2_driver.webots_cont... | |
webots_plugin/20231126_7.txt | * [ Home Automation ](/docs/category/home-automation) | |
webots_plugin/20231126_95.txt | From a terminal in your ROS2 workspace run: | |
webots_plugin/20231126_20.txt |
sudo mkdir -p /etc/apt/keyrings
cd /etc/apt/keyrings
sudo wget -q https://cyberbotics.com/Cyberbotics.asc
| |
webots_plugin/Ros2RangeFindercpp_12.txt | void Ros2RangeFinder::step() {
if (!preStep())
return; | |
webots_plugin/InstallationUbuntuht_18.txt | * Tasks | |
webots_plugin/20231126_23.txt | Then proceed to the installation of Webots using: | |
webots_plugin/20231126_47.txt | 1. The first method, named ` init(self, ...) ` , is actually the ROS node counterpart of the Python ` __init__(self, ...) ` constructor. | |
webots_plugin/20231126_63.txt | This sets-up the package and adds in the data_files variable the newly added
files: ` my_world.wbt ` , ` my_robot.urdf ` and ` robot_launch.py ` . | |
webots_plugin/20231126_19.txt | Start by importing the `Cyberbotics.asc`` signature file using these commands: | |
webots_plugin/InstallationUbuntuht_7.txt | __ [ ROS 2 文档 ](../../../../index.html) | |
webots_plugin/InstallationUbuntuht_30.txt | 2. If the ` WEBOTS_HOME ` environment variable is set, ROS 2 will use the Webots in this folder, regardless of its version. | |
webots_plugin/20231126_74.txt | ### Updating the Plugin Declaration | |
webots_plugin/20231126_101.txt | Extend a robot simulation with a reset handler to restart nodes when the reset
button of Webots is pressed. | |
webots_plugin/InstallationUbuntuht_3.txt | * [ Managing large projects ](../../../Intermediate/Launch/Using-ROS2-Launch-For-Large-Projects.html)
* [ ` tf2 ` ](../../../Intermediate/Tf2/Tf2-Main.html)
* [ Introducing ` tf2 ` ](../../../Intermediate/Tf2/Introduction-To-Tf2.html)
* [ Writing a static broadcaster (Python) ](../../../... | |
webots_plugin/20231126_61.txt | Before you can start the launch file, you have to modify the setup.py file to
include the extra files you added: | |
webots_plugin/InstallationUbuntuht_51.txt | ### 2 Launch the ` webots_ros2_universal_robot ` example | |
webots_plugin/InstallationUbuntuht_50.txt |
source install/local_setup.bash
| |
webots_plugin/Ros2RangeFindercpp_3.txt | #include <webots/robot.h> | |
webots_plugin/20231126_37.txt | The ` --dependencies rclpy geometry_msgs webots_ros2_driver ` option specifies
the packages needed by the ` my_webot_driver.py ` plugin in the ` package.xml
` file. | |
webots_plugin/20231126_108.txt | [ Previous Tello Drone - Getting Started
](/docs/Automation_and_Robotics/Robotics_Simulation/2023-12-16--tellopy-drone-
api/2023-12-16) [ Next ROS2 Gazebo Robot Simulation
](/docs/Automation_and_Robotics/Robotics_Simulation/2023-11-26--ros2-gazebo-
simulation/2023-11-26) | |
webots_plugin/20231126_94.txt | ### Test Run | |
webots_plugin/Ros2RangeFindercpp_2.txt | #include <sensor_msgs/image_encodings.hpp>
#include <std_msgs/msg/color_rgba.hpp> | |
webots_plugin/20231126_1.txt | [   **Mike Polinowski**
](/) [ Docs ](/docs/intro) [ Blog ](/blog) [ Tags ](/docs/tags) [ Search
](/Search) [ About ](https://mpolinowski.github.io/Personal) | |
webots_plugin/InstallationUbuntuht_49.txt | Source this workspace. | |
webots_plugin/20231126_27.txt | Install ` webots_ros2 ` : | |
webots_plugin/InstallationUbuntuht_9.txt | * * * | |
webots_plugin/Ros2RangeFindercpp_20.txt | int idx;
float x, y, z; | |
webots_plugin/20231126_51.txt | You now have to create a **URDF** file to declare the ` MyRobotDriver `
plugin. This will allow the ` webots_ros2_driver ` ROS node to launch the
plugin and connect it to the target robot. | |
webots_plugin/20231126_99.txt | Your robot should go forward and before hitting the wall it should turn
clockwise. You can press Ctrl+F10 in Webots or go to the View menu, Optional
Rendering and Show DistanceSensor Rays to display the range of the distance
sensors of the robot. | |
webots_plugin/Ros2RangeFindercpp_4.txt | namespace webots_ros2_driver {
void Ros2RangeFinder::init(webots_ros2_driver::WebotsNode *node, std::unordered_map<std::string, std::string> ¶meters) {
Ros2SensorPlugin::init(node, parameters);
mIsEnabled = false;
mRangeFinder = wb_robot_get_device(parameters["name"].c_str()); | |
webots_plugin/InstallationUbuntuht_42.txt |
source /opt/ros/rolling/setup.bash
| |
webots_plugin/InstallationUbuntuht_60.txt |
ros2 launch webots_ros2_universal_robot multirobot_launch.py
| |
webots_plugin/InstallationUbuntuht_28.txt | If you have installed different versions of Webots on your computer, `
webots_ros2 ` will look for Webots at the following locations (in this
order): | |
webots_plugin/20231126_56.txt | Let’s create the launch file to easily launch the simulation and the ROS
controller with a single command: | |
webots_plugin/InstallationUbuntuht_8.txt | * [ ](../../../../index.html)
* [ 教程 ](../../../../Tutorials.html)
* [ Advanced ](../../../Advanced.html)
* [ Simulators ](../Simulation-Main.html)
* [ Webots ](Simulation-Webots.html)
* Installation (Ubuntu)
* [ Edit on GitHub ](https://github.com/ros2/ros2_documentation/blob/rolling/source/Tutorials/Ad... | |
webots_plugin/InstallationUbuntuht_52.txt | The following instructions explain how to start a provided example. | |
webots_plugin/20231126_24.txt |
sudo apt install webots
| |
webots_plugin/InstallationUbuntuht_20.txt | * 2 Launch the ` webots_ros2_universal_robot ` example | |
webots_plugin/20231126_52.txt | In the ` hello_webots/resource ` folder create a text file named `
my_robot.urdf ` with this content: | |
webots_plugin/InstallationUbuntuht_55.txt | Setting the ` WEBOTS_HOME ` environment variable allows you to start a
specific Webots installation. | |
webots_plugin/20231126_28.txt |
sudo apt install ros-iron-webots-ros2
| |
webots_plugin/Ros2RangeFindercpp_7.txt | const int width = wb_range_finder_get_width(mRangeFinder);
const int height = wb_range_finder_get_height(mRangeFinder); | |
webots_plugin/InstallationUbuntuht_37.txt | Run the following command in a terminal. | |
webots_plugin/InstallationUbuntuht_31.txt | 3. If none of these variables is set, ` webots_ros2 ` will look for Webots in the default installation paths for a compatible version: ` /usr/local/webots ` and ` /snap/webots/current/usr/share/webots ` . | |
webots_plugin/InstallationUbuntuht_13.txt | **Time:** 10 minutes | |
webots_plugin/20231126_62.txt |
nano hello_webots/setup.py
from setuptools import find_packages, setup
package_name = 'hello_webots'
data_files = []
data_files.append(('share/ament_index/resource_index/packages', ['resource/' + package_name]))
data_files.append(('share/' + package_name + '/launch'... | |
webots_plugin/20231126_73.txt | Implementing a ROS 2 node that avoids obstacles using the robot’s distance
sensors with the ` webots_ros2_driver ` interface. | |
webots_plugin/2aedceb8baaf7c27540a_2.txt | ■ Update CDR dependency for XCDR2 support - Sam Nosenzo (merged
2023-07-13)
■ - use yarn auth token - Sam Nosenzo (merged 2023-07-13)
■ Rename <code>omgidl-support</code> to <code>omgidl</code> - Sam
Nosenzo (merged 2023-07-13)
■ Fix CI - Sam Nosenzo (merged 2023-07-13)
■ Clean up jest output - Sam Nosenzo (merged 2023... | |
webots_plugin/InstallationUbuntuht_33.txt | ## Tasks | |
webots_plugin/20231126_35.txt | Create a new package named ` hello_webots ` from the ` src ` folder of your
ROS2 workspace. Change the current directory of your terminal to ` ros2_ws/src
` and run: | |
webots_plugin/20231126_82.txt |
nano hello_webots/hello_webots/obstacle_avoider.py
import rclpy
from rclpy.node import Node
from sensor_msgs.msg import Range
from geometry_msgs.msg import Twist
MAX_RANGE = 0.15
class ObstacleAvoider(Node):
def __init__(self):
... | |
webots_plugin/InstallationUbuntuht_24.txt | It is recommended to understand basic ROS principles covered in the beginner [
教程 ](../../../../Tutorials.html) . In particular, [ Creating a workspace
](../../../Beginner-Client-Libraries/Creating-A-Workspace/Creating-A-
Workspace.html) and [ Creating a package ](../../../Beginner-Client-
Libraries/Creating-Your-Fir... | |
webots_plugin/20231126_69.txt | Open a second terminal and send a command with: | |
webots_plugin/20231126_32.txt | ## Robot Simulation and Control | |
webots_plugin/InstallationUbuntuht_47.txt | Build the package using ` colcon ` . | |
webots_plugin/InstallationUbuntuht_5.txt | * [ Releasing a Package ](../../../../How-To-Guides/Releasing/Releasing-a-Package.html)
* [ First Time Release ](../../../../How-To-Guides/Releasing/First-Time-Release.html)
* [ Subsequent Releases ](../../../../How-To-Guides/Releasing/Subsequent-Releases.html)
* [ Release Team / Repository ](../.... | |
webots_plugin/20231126_107.txt | [ Edit this page
](https://github.com/facebook/docusaurus/tree/main/packages/create-
docusaurus/templates/shared/docs/Automation_and_Robotics/Robotics_Simulation/2023-11-26
--ros2-webots/index.md) | |
webots_plugin/20231126_79.txt | In addition to your custom plugin, the webots_ros2_driver will parse the `
<device> ` tags referring to the DistanceSensor nodes and use the standard
parameters in the ` <ros> ` tags to enable the sensors and name their topics. | |
webots_plugin/20231126_90.txt |
nano hello_webots/setup.py
'console_scripts': [
'my_robot_driver = hello_webots.my_robot_driver:main',
'obstacle_avoider = hello_webots.obstacle_avoider:main'
],
| |
webots_plugin/20231126_13.txt | # ROS2 Webots Robot Simulation | |
webots_plugin/20231126_116.txt | Copyright © 2024 Mike Polinowski, INSTAR Deutschland GmbH, Shenzhen - China. | |
webots_plugin/InstallationUbuntuht_1.txt | * [ 安装 ](../../../../Installation.html)
* [ Ubuntu (Debian) ](../../../../Installation/Ubuntu-Install-Debians.html)
* [ Windows（二进制） ](../../../../Installation/Windows-Install-Binary.html)
* [ RHEL (RPM) ](../../../../Installation/RHEL-Install-RPMs.html)
* [ 替代方案 ](../../../../Installation/Alternative... | |
webots_plugin/InstallationUbuntuht_46.txt |
sudo apt install python3-pip python3-rosdep python3-colcon-common-extensions
sudo rosdep init && rosdep update
rosdep install --from-paths src --ignore-src --rosdistro rolling
| |
webots_plugin/20231126_81.txt | The robot will use a standard ROS node to detect the wall and send motor
commands to avoid it. In the ` hello_webots/hello_webots/ ` folder, create a
file named `obstacle_avoider.py`` with this code: | |
webots_plugin/20231126_102.txt | The Webots reset button reverts the world to the initial state and restarts
controllers. It is convenient as it quickly resets the simulation, but in the
context of ROS 2, robot controllers are not started again making the
simulation stop. The reset handler allows you to restart specific nodes or
perform additional act... | |
webots_plugin/20231126_96.txt |
cd ~/ros2_ws
colcon build
source install/local_setup.bash
ros2 launch hello_webots robot_launch.py
| |
webots_plugin/Ros2RangeFindercpp_15.txt | if (mAlwaysOn)
return; | |
webots_plugin/20231126_17.txt | ## Installation | |
webots_plugin/20231126_41.txt | The ` webots_ros2_driver ` sub-package automatically creates a ROS2 interface
for most sensors. We can create custom plugin as a ROS node to access the
Webots robot API and create custom topics and services to control your robot. | |
webots_plugin/Ros2RangeFindercpp_21.txt | float *data = (float *)mPointCloudMessage.data.data();
for (int j = 0; j < height; j++) {
for (int i = 0; i < width; i++) {
idx = i + j * width;
x = image[idx];
y = -(i - cx) * x / fx;
z = -(j - cy) * x / fy;
memcpy(data + idx * 3, &x, sizeof(float))... | |
webots_plugin/Ros2RangeFindercpp_11.txt | if (mAlwaysOn) {
wb_range_finder_enable(mRangeFinder, mPublishTimestepSyncedMs);
mIsEnabled = true;
}
} | |
webots_plugin/20231126_15.txt | > Excerpt from [ ROS 2 Documentation (IRON)
> ](https://docs.ros.org/en/iron/index.html) : The Robot Operating System
> (ROS) is a set of software libraries and tools for building robot
> applications. From drivers and state-of-the-art algorithms to powerful
> developer tools, ROS has the open source tools you need for... | |
webots_plugin/20231126_10.txt | * [ Tello Drone - Getting Started ](/docs/Automation_and_Robotics/Robotics_Simulation/2023-12-16--tellopy-drone-api/2023-12-16)
* [ ROS2 Webots Robot Simulation ](/docs/Automation_and_Robotics/Robotics_Simulation/2023-11-26--ros2-webots/2023-11-26)
* [ ROS2 Gazebo Robot Simulation ](/docs/Automation_a... | |
webots_plugin/20231126_103.txt | On reset, Webots kills all driver nodes. Therefore, to start them again after
reset, you should set the `respawn`` property of the driver node in the launch
file to True. It will ensure driver nodes are up and running after the reset: | |
webots_plugin/2aedceb8baaf7c27540a_7.txt | (https://github.com/cyberbotics/webots_ros2/pull/810).
■ Added deprecation message when declaring driver node in launch file
(https://github.com/cyberbotics/webots_ros2/pull/815).
○ Version 2023.1.2 of webots_ros2 (to be released soon):
■ Fixed Ros2Supervisor import and remove Webots node
(https://github.com/cyberbotic... | |
webots_plugin/InstallationUbuntuht_0.txt | [ ROS 2 文档 ](../../../../index.html) | |
webots_plugin/20231126_9.txt | * [ Robotics & Simulation ](/docs/category/robotics--simulation) | |
webots_plugin/InstallationUbuntuht_12.txt | **Tutorial level:** Advanced | |
webots_plugin/20231126_84.txt | This node will create a publisher for the command and subscribe to the sensors
topics here: | |
webots_plugin/InstallationUbuntuht_63.txt | © Copyright 2023, GrantLi. | |
webots_plugin/20231126_76.txt | * [ Camera ](https://github.com/cyberbotics/webots_ros2/wiki/References-Devices#camera-device)
* [ Compass ](https://github.com/cyberbotics/webots_ros2/wiki/References-Devices#compass-device)
* [ DistanceSensor ](https://github.com/cyberbotics/webots_ros2/wiki/References-Devices#distance-sensor-device)
* [ GPS ... | |
webots_plugin/20231126_106.txt | * [ Robotics ](/docs/tags/robotics)
* [ Simulation ](/docs/tags/simulation)
* [ ROS ](/docs/tags/ros)
* [ Webots ](/docs/tags/webots) | |
webots_plugin/20231126_5.txt | * [ Machine Learning, AI and Computer Vision ](/docs/category/machine-learning-ai-and-computer-vision) | |
webots_plugin/20231126_42.txt | > The purpose of this tutorial is to show a basic example with a minimum
> number of dependencies. However, you could avoid the use of this plugin by
> using another webots_ros2 sub-package named webots_ros2_control, introducing
> a new dependency. This other sub-package creates an interface with the
> ros2_control pac... | |
webots_plugin/InstallationUbuntuht_58.txt |
cd ~/ros2_ws
source install/local_setup.bash
| |
webots_plugin/20231126_39.txt |
mkdir hello_webots/{launch,worlds}
wget https://docs.ros.org/en/iron/_downloads/5ad123fc6a8f1ea79553d5039728084a/my_world.wbt -P hello_webots/worlds
hello_webots/
├── hello_webots
│ ├── __init__.py
│ └── my_webot_driver.py
├── launch
├── LICENSE
├── packa... | |
webots_plugin/InstallationUbuntuht_38.txt |
sudo apt-get install ros-rolling-webots-ros2
| |
webots_plugin/InstallationUbuntuht_25.txt | The Webots software should be installed in order to use the ` webots_ros2 `
interface. You can follow the [ installation procedure
](https://cyberbotics.com/doc/guide/installation-procedure) or [ build it from
sources ](https://github.com/cyberbotics/webots/wiki/Linux-installation/) . | |
webots_plugin/20231126_104.txt |
nano ~/ros2_ws/src/hello_webots/launch/robot_launch.py
def generate_launch_description():
robot_driver = WebotsController(
robot_name='my_robot',
parameters=[
{'robot_description': robot_description_path}
],
# ... | |
webots_plugin/InstallationUbuntuht_40.txt |
mkdir -p ~/ros2_ws/src
| |
webots_plugin/20231126_44.txt |
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.__robot = webots_node.robot
self.__left_motor = self.__robot.getDevic... | |
webots_plugin/20231126_97.txt | This will launch the simulation: | |
webots_plugin/2aedceb8baaf7c27540a_1.txt | ■ Fix for rosbag2_transport::Recorder failures due to the unhandled
exceptions - Michael Orlov (merged 2023-06-17)
○
● Bosch: Christian Henkel
○ rosdistro
■ Adding libbdd
○ rclc
■ rclc_executor: improve enum type names
● Canonical: Jeremie Deray
○
● eProsima: Jaime Martin Losa
○ Fast DDS 2.11.0
■ Some new minor feature... | |
webots_plugin/InstallationUbuntuht_14.txt | Contents | |
webots_plugin/20231126_48.txt | * The init method always takes two arguments:
* The webots_node argument contains a reference on the Webots instance.
* The properties argument is a dictionary created from the XML tags given in the URDF files ( ` my_robot.urdf ` file see below) and allows you to pass parameters to the controller.
* The ... | |
webots_plugin/InstallationUbuntuht_23.txt | ## Prerequisites | |
webots_plugin/20231126_66.txt |
cd ~/ros2_ws
colcon build
source install/local_setup.bash
ros2 launch hello_webots robot_launch.py
| |
webots_plugin/20231126_80.txt | ### Creating a ROS Sensor Node | |
webots_plugin/20231126_34.txt | ### Create the Package Structure |
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