![]() ![]() Please take a look at the following links to do so in C++ or Python: Tutorial-Creating-a-Custom-Cpp-Plugin and Tutorial-Creating-a-Custom-Python-Plugin. More information: This project has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement no. If the default interfaces don't suit you or is not enough, you can create your own custom plugin. Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components. This plugin can be loaded in the exact way you did in your question: ![]() You can find it in webots_ros2_driver/src/plugins/dynamic. There is also a plugin provided with webots_ros2_driver that interfaces IMU sensors. You can overwrite multiple parameters like topic names or the update rate in your URDF file in the tag. 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. It seems that the latest Webots build is still for the Ubuntu 20.04 (with ROS Foxy/Galactic), you are using Ubuntu 22.04 and ROS 2 Humble Hawksbill, right I think this may be in a way a problem that you can address in an issue in the Webots team repository. You can have a look at each of these plugins in webots_ros2_driver/src/plugins/static. The webotsjoystick package is part of the webots stack. Arising more stable than the others, Webots has been picked as the ideal solution to handle the VR requirements explained in the first paragraph of this section. A specific ROS package, webotsros 7, is provided so as to smoothly integrate the Webots API controllers into ROS nodes. This means that associated topics and services will be created. Conversely, the VRML97 description language is exploited. We are currently working on new tutorials for the official ROS 2 documentation.Ĭurrently, there are 10 devices that have an automatic interface with ROS 2:įor these devices, webots_ros2_driver will automatically load the static plugin. We are aware that there is a lack of documentation on current implemented device interfaces and how to use them. But I need to use ROS for the robot itself that uses a xacro file. The demos all work, but the vast majority are just from robots built IN Webots. The webotsros package contains examples for interfacing ROS nodes with the standard ROS controller of Webots. I've found the Ros2Lidar plugin locally (I think), but it doesn't seem to be able to find it. what(): The webots_ros2_driver::Ros2Lidar plugin cannot be found (C++ or Python). Even though our focus is the integration of Webots and ROS 2, we still actively maintain and develop our ROS 1 interface. terminate called after throwing an instance of 'std::runtime_error' roscontrol is now a part of the standard Webots ros controller. But the only error I have is this: ModuleNotFoundError: No module named 'webots_ros2_driver::Ros2Lidar' I'm not sure about the parameters since I just adapted it from the IMU plugin from the turtlebot webots_ros2 example. I am trying to set up a Lidar, IMU, and depth camera in Webots on a ROS 2 robot in its xacro file (starting with just the Lidar).
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