Package Summary

Tags No category tags.
Version 1.0.0
License Apache License 2.0
Build type AMENT_PYTHON
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/cyberbotics/webots_ros2.git
VCS Type git
VCS Version foxy
Last Updated 2020-05-27
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

TIAGo robots ROS2 interface for Webots.

Additional Links

Maintainers

  • Cyberbotics

Authors

No additional authors.

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

CHANGELOG
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Changelog for package webots_ros2_tiago
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

1.0.0 (2020-XX-YY)
------------------
* Initial version


Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged webots_ros2_tiago at answers.ros.org

Package Summary

Tags No category tags.
Version 1.0.0
License Apache License 2.0
Build type AMENT_PYTHON
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/cyberbotics/webots_ros2.git
VCS Type git
VCS Version eloquent
Last Updated 2020-04-14
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

TIAGo robots ROS2 interface for Webots.

Additional Links

Maintainers

  • Cyberbotics

Authors

No additional authors.

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

CHANGELOG
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Changelog for package webots_ros2_tiago
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

1.0.0 (2020-XX-YY)
------------------
* Initial version


Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged webots_ros2_tiago at answers.ros.org

Package Summary

Tags No category tags.
Version 1.0.0
License Apache License 2.0
Build type AMENT_PYTHON
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/cyberbotics/webots_ros2.git
VCS Type git
VCS Version dashing
Last Updated 2020-04-14
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

TIAGo robots ROS2 interface for Webots.

Additional Links

Maintainers

  • Cyberbotics

Authors

No additional authors.

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

CHANGELOG
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Changelog for package webots_ros2_tiago
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

1.0.0 (2020-XX-YY)
------------------
* Initial version


Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged webots_ros2_tiago at answers.ros.org

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