The greatest thing with Webots is that you can code your robots right from You should have a scene like this! Except the robot should be moving around. You can then Ctrl-C + Ctrl-V your way to more crates! Of the wooden box, then modify the scale to 0.1 x 0.1 x 0.1, and translation It’s way too big, so select the drop down to the left Select the rectangle arena, then press the add button and search or “Box”, Let’s give him some more things to avoid… Crates! Simply rolls around the scene avoiding obstacles. Is the code that controls robots, and the default controller for this robot We have our first robot! Watch him running around.Įach robot has a controller attached to it which controls the robot. Then press the add button at the top to add the e-puck robot. On the left you can see all the elements of your world. You now have an arena! You can now put things inside this arena to play with. Then choose a directory to create the project.Īnd finally, check the final box saying you want a rectangle arena. We’ll be creating a new project directory with the wizard tab at the top:Ĭlick Next. Today we’ll be using webots to simulate and control a little e-puck robot. You can always comeīack, and I’ll even have little embeds so you can feel like you’re getting everything If you want to follow along with this tutorial It allows you to play with all sorts of robots on your computer. Thankfully, you can actually have your very own Nan robot without selling your soul. Oh wait, I think I have a spare lying around…. Oh wait, you tell me that you don’t have a spare 10 grand lying around? Well, that’s Go buy one! They’re only $7990 USD (10,720 AUD)! Bargain! You can launch this simulation with the following launch file: roslaunch webots_ros complete_test.Do you have a Nao lying around? If not. 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 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 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.
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