##<<StackHeader(kaist_webots)>>
'''''kaist_webots:''''' ''[[webots_run]] | [[webots_joy_demo]] | [[webots_controllers]]''

This stack contains some tools for using ROS with the [[http://www.cyberbotics.com|Webots]] commercial simulation software.

It includes nodes for starting Webots directly from a ROS launch file, a controller for joystick tele-operation, and a joint position controller with joint state publisher that can be quickly adapted to any joint-based robot. These controllers utilise the Webots C++ API.

Tested with Webots 6.4.4 and ROS Fuerte.
 * Author: David Butterworth
 * License: BSD
 * Repository: [[kaist-ros-pkg]]
 * Source: [[http://kaist-ros-pkg.googlecode.com/svn/trunk/kaist_webots/|http://kaist-ros-pkg.googlecode.com/svn/trunk/kaist_webots/]]

<<BR>>

== Documentation ==
 * See the installation instructions below.

 * Read the wiki pages for each stack.

 * For questions, please use http://answers.ros.org

 * Webots User Guide, Section 4.8: [[https://www.cyberbotics.com/guide/using-ros.php|Using ROS]].

 * The Cyberbotics website: [[http://www.cyberbotics.com/overview|Webots overview]].

<<BR>>

== Installation ==

This section describes how to install the Webots commercial simulator and the `kaist_webots` stack. Webots is installed as a stand-alone program. If you want to have ROS install it within your ROS workspace, look at the [[webots_simulator]] package. 

=== Installing Webots: ===

Add the Cyberbotics repository to your Linux package source list:
{{{
$ sudo pico /etc/apt/sources.list
}}}
Add the following line to the bottom and save the file: <<BR>>
(Replace ''i386'' with ''amd64'' for 64-bit systems)
{{{
deb http://www.cyberbotics.com/debian/ binary-i386/
}}}
Add Cyberbotics public key:
{{{
$ cd ~/
$ wget http://www.cyberbotics.com/Cyberbotics.asc
$ sudo apt-key add Cyberbotics.asc
}}}
Update software package list:
{{{
$ sudo aptitude update
}}}
Check what version of Webots is available:
{{{
$ sudo apt-cache policy webots
}}}
Install Webots: 
{{{
$ sudo apt-get install webots
}}}
Configure your Edu or Pro Licence as per the Webots documentation: <<BR>>
[[https://www.cyberbotics.com/guide/installing-webots.php|https://www.cyberbotics.com/guide/installing-webots.php]] <<BR>>
or run Webots once to request a trial licence.

Check the installation by running Webots:
{{{
$ webots
}}}

=== Installing the packages: ===

Go to your ROS working directory. eg.
{{{
cd ~/ros_workspace
}}}
Checkout the `kaist_webots` stack from the KAIST repository:
{{{
$ svn checkout http://kaist-ros-pkg.googlecode.com/svn/trunk/kaist_webots
}}}
The package installer assumes that Webots has been installed in `/usr/local/webots`. <<BR>>
If Webots is installed in a different location, set the `WEBOTS_HOME` environment variable:
{{{
$ export WEBOTS_HOME=/path/to/webots
}}}
The `webots_run` package uses a `system()` call to execute Webots, to simplify the launching
process. The simulator is started by executing `webots` and using the PATH environment variable. On some systems, such as those using the NVidia Hybrid Graphics System, programs must be executed using a prefix to enable the Linux 3D graphics drivers. If so, you should edit `WEBOTS_EXECUTABLE` in the `~/ros_workspace/kaist_webots/webots_run/src/start_webots.cpp` source file, before running rosmake.
{{{
$ rosmake kaist_webots
}}}
This will compile the `webots_run`, `webots_joy_demo` and `webots_controllers` packages, along with any dependencies such as the `joystick_drivers` stack.

Add the stack to your `ROS_PACKAGE_PATH`. e.g.
{{{
$ export ROS_PACKAGE_PATH=~/ros_workspace/kaist_webots:$ROS_PACKAGE_PATH
}}}
So this won't be lost when you reboot, edit `ROS_PACKAGE_PATH` in your .bashrc file too.
{{{
$ pico ~/.bashrc
}}}



Please read the individual wiki pages for each stack for further usage information.

<<BR>>

== Report a Bug ==
Use the [[https://code.google.com/p/kaist-ros-pkg/issues/list|kaist-ros-pkg issue tracker]] to report bugs or request features. 

<<BR>>


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