webots_ros2 repository

Repository Summary

Checkout URI https://github.com/omichel/webots_ros2.git
VCS Type git
VCS Version crystal
Last Updated 2019-08-09
Dev Status DEVELOPED
Released RELEASED

Packages

Name Version
webots_ros2 0.0.1

README

Build Status

Launch Node and Simulation

The following procedure should be used to compile the package and launch the simulation and node.

export WEBOTS_HOME=~/Downloads/webots
source /opt/ros/dashing/setup.bash
colcon build
source install/setup.bash
source install/local_setup.bash
ros2 launch webots_ros2 universal_robot.launch.py  # ros2 run webots_ros2 example_controller

Test Action Server

The action server can be tested directly using the ROS2 action CLI interface:

ros2 action send_goal /follow_joint_trajectory control_msgs/action/FollowJointTrajectory "{
  trajectory: {
    joint_names: [shoulder_pan_joint, shoulder_lift_joint, elbow_joint, wrist_1_joint, wrist_2_joint, wrist_3_joint],
    points: [
      { positions: [3.02, -1.63, -1.88, 1.01, 1.51, 1.13], velocities: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1], accelerations: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1], time_from_start: { sec: 5, nanosec: 500 } },
      { positions: [-1.01, 0.38, -0.63, -0.88, 0.25, -1.63], velocities: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1], accelerations: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1], time_from_start: { sec: 5, nanosec: 500 } },
      { positions: [-1.01, 0.38, -0.63, -0.88, 0.25, 6.2], velocities: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1], accelerations: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1], time_from_start: { sec: 50, nanosec: 500 } }
    ]
  }
}"