Run demo

• Open a terminal and go in your R0S2 workspace: cd PATH/TO/ros2_workspace
• Build the package: colcon build --packages-select webots_ros2_tiago
• Source the package: . install/setup.bash
• Launch the demo: ros2 launch webots_ros2_tiago tiago.launch.py
• In another terminal,
  • you can publish some velocity commands to control the robot: ros2 topic pub --once /cmd_vel geometry_msgs/msg/Twist '{linear: {x: 0.5, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}'
  • you can use teleop_twist_keyboard to use the keyboard to control the robot: ros2 run teleop_twist_keyboard teleop_twist_keyboard but make sure you have the teleop-twist-keyboard package installed.

Topics Overview

$ ros2 topic list -t
/clock [rosgraph_msgs/msg/Clock]
/cmd_vel [geometry_msgs/msg/Twist]
/parameter_events [rcl_interfaces/msg/ParameterEvent]
/rosout [rcl_interfaces/msg/Log]

Velocity

ros2 topic pub --once /cmd_vel  geometry_msgs/msg/Twist '{
  linear: {
    x: 0.5,
    y: 0.0,
    z: 0.0
  },
  angular: {
    x: 0.0,
    y: 0.0,
    z: 0.0
  }
}'

Visualization

You can visualize the odometry by running RViz2 in parallel with the driver:

ros2 launch webots_ros2_tiago tiago.launch.py rviz:=true