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Arnaud Blanchard authored
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controllers/epuck_ros2_controller
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README.md

webots_ros2

Exemple e-puck2 with a camera of 640x480

install ROS2 ( at the moment the latest is Jazzy vesion https://docs.ros.org/en/jazzy/index.html ) install all the package needed.

launch webots with world/e-puck2.wbt

With ros2 topic list you can see the topics available:

/camera/image_raw #image from the camera
/cmd_vel #Speed command of the robot
/distance_sensors #array of floats distances from the sensors
/odom #Position of the robot as the integration of the wheel's movements
/parameter_events
/rosout

You can see and modify these values with rqt ot through your one program.

With ros2 on OSX

Install ros2 with robostack https://robostack.github.io/GettingStarted.html ( probably replace humble by jazzy to have the latest version )

Install the needed packages like rclpy : conda install -c ros-forge ros-humble-rclpy

conda install -c ros-forge ros-humble-sensor-msgs ros-humble-cv-bridge ros-humble-nav-msgs opencv ros-humble-cv-bridge
...

Launch Webot in your conda environment with ros2 activated i.e.:

conda activate ros2
/Applications/Webots.app/Contents/MacOS/webots

Open the world file world/e-puck2.wbt and run the simulation see above.