![]() A Webots project is simply a directory containing a number of sub-directories including 'controllers' and 'worlds'. In order to proceed, you can use the Webots wizard to create a new Webots project. The Webots Joystick package should be installed in a new Webots project. To run this specific example, you will also need a standard joystick or gamepad connected to your Linux box. The setup details (repository URL and authentication key file) are provided here. However, in order for ROS to be able to install it automatically, you will need to setup the correct Webots deb repository in your apt system. Webots was declared as a rosdep dependency in the webots packages and is referred to in the rosdep.yaml file of the Webots stack. It will nevertheless allow you to run the Webots Joystick ROS code. Such a version is actually equivalent to the full version of Webots PRO, but is limited to 30 days. Webots is a commercial software and if you don't already have a copy of it, you can get a free 30 day trial version from Cyberbotics. You will obviously need to install Webots in order to be able to use this package. It is a good starting point to implement a C++ interface between Webots and ROS for controlling simulated robots in Webots from ROS. This input is used to drive a simulated robot in Webots. This controller launches the ROS joy node and subscribes to its 'joy' topic to read the input from a joystick. It contains a sample ROS node that is actually a Webots robot controller. It is a simple example of interfacing Webots and ROS using a C++ Webots controller and roscpp. The webots_joystick package is part of the webots stack. Going further with the Webots / ROS interface.Overview of the Webots Joystick package.
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