No version for distro dashing. Known supported distros are highlighted in the buttons above.
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
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 } }
]
}
}"
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro melodic. Known supported distros are highlighted in the buttons above.
No version for distro kinetic. Known supported distros are highlighted in the buttons above.
No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro lunar. Known supported distros are highlighted in the buttons above.
No version for distro jade. Known supported distros are highlighted in the buttons above.
No version for distro indigo. Known supported distros are highlighted in the buttons above.
No version for distro hydro. Known supported distros are highlighted in the buttons above.