sas_robot_driver_webots

A SAS driver based on cpp-interface-webots and DQ Robotics to integrate Webots in ROS2 Jazzy.

Warning

This project is under active development. Do not use it for production or important demos.

sas_driver_webots_example.mp4

Instructions (for Devs)

Prerequisites

• DQ Robotics
• cpp-interface-webots
• ROS Jazzy and SAS
• Webots
• Open the ur3.wbt scene

Update LD_LIBRARY_PATH to include /usr/local/webots/lib/controller/

Warning

Run this only once.

echo "# Update the environment variable LD_LIBRARY_PATH to include /usr/local/webots/lib/controller/, as instructed in https://ros2-tutorial.readthedocs.io" >> ~/.bashrc
echo "export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/webots/lib/controller/" >> ~/.bashrc

Note

If you installed cpp-interface-webots in a custom folder, you may need to update the ENV variables too. Check this tutorial.

Build this ROS Package.

For instance, if you build your ROS packages in ~/ros2_ws/:

cd ~/ros2_ws/src/
git clone https://github.com/juanjqo/sas_robot_driver_webots
cd ..
colcon build && source install/setup.bash

ros2 launch sas_robot_driver_webots example_launch.py 

Move the robot on Webots:

ros2 topic pub /sas/ur3/set/target_joint_positions std_msgs/msg/Float64MultiArray "data: [-0.5,0,0,0,0,0]"