INTERFACE CHOREOGRAPH AND WEBOTS CODE

Then it creates a directory, a template source code file and a Makefile in your current project. Webots asks you to choose a programming language (C or C++) and a name for the new physics plugin. menu item will let you create a new physics plugin for your project.

Then, Webots will ask you to enter the name of your controller and finally it will create all the necessary files (including a template source code file) in your current project directory. If you choose C or C++ on Windows, Webots will offer you the possibility to create a Makefile / gcc project or a Visual Studio project. You will first be prompted to choose between a C, C++, Java, Python or MATLAB TM controller. menu item allows you to create a new robot controller program. menu item allows you to create a simple world file in the current simulation project, which may contain some optional components, including a rectangle arena. Webots remembers the current project directory and automatically opens and saves any type of file from the corresponding subdirectory of the current project directory. menu item first prompts you to choose a filesystem location and then it creates a project directory.Ī project directory contains several subdirectories that are used to store the files related to a particular Webots project, i.e., world files, controller files, data files, plugins, etc.

The New submenu allows you to create new simulation files: The File menu allows you to perform usual file operations: loading, saving, etc. The GUI has eight menus: File, Edit, View, Simulation, Build, Overlays, Tools and Help. You can launch this simulation with the following launch file: roslaunch webots_ros complete_test.Webots GUI is composed of four principal windows: the 3D window that displays and allows you to interact with the 3D simulation, the Scene tree which is a hierarchical representation of the current world, the Text editor that allows you to edit source code, and finally, the Console that displays both compilation and controller outputs. This simulation doesn't show any particular application but contains an almost exhaustive list of the services and topics available from the Webots-ROS interface. You can launch this simulation with the following launch file: roslaunch webots_ros robot_information_parser.launch It is a good base to start building your own node. This simulation is the most basic one, the node only parses the robot and show the list of devices. You can launch this simulation with the following launch file: roslaunch webots_ros catch_the_bird.launch

INTERFACE CHOREOGRAPH AND WEBOTS HOW TO

This simulation shows how to use a range-finder device. You can launch this simulation with the following launch file: roslaunch webots_ros panoramic_view_recorder.launch

INTERFACE CHOREOGRAPH AND WEBOTS MOVIE

This simulation shows how to record a movie and move the viewpoint from a node. You can launch this simulation with the following launch file: roslaunch webots_ros keyboard_teleop.launch This simulation shows how to use the keyboard to control a robot. You can launch this simulation with the following launch file: roslaunch webots_ros e_puck_line.launch This simulation shows an e-puck robot performing line-following. In addition, the simulation also includes a gmapping support: rosrun gmapping slam_gmapping scan:=/Hokuyo_URG_04LX_UG01/laser_scan _xmax:=5 _xmin:=-5 _ymax:=5 _ymin:=-5 _delta:=0.1Īnd you can control the robot using Twist commands: rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=/diff_drive_controller/cmd_vel It is enough to open rviz, include the MotionPlanning visualization, and you should be able to perform motion planning with the TIAGo arm. The simulation features the MoveIt integration. You can then enable SLAM with: rosrun gmapping slam_gmapping scan:=/pioneer3at/Sick_LMS_291/laser_scan _xmax:=30 _xmin:=-30 _ymax:=30 _ymin:=-30 _delta:=0.2Īnd move the robot using a keyboard: rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=/pioneer3at/pioneer_diff_drive_controller/cmd_vel You can launch this simulation with the following launch file: roslaunch webots_ros pioneer3at.launch The robot is performing slam using the gmapping package, the resulting map can be seen using rviz. This simulation shows a Pionneer 3 AT robot equipped with a Sick lidar sensor. For each simulation, the simplest solution is to use the associated launch file, but of course, if you prefer you can start Webots, open the corresponding world and then launch the node yourself.

Interface choreograph and webots