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Sample Simulations

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.

Simulation Pionneer 3 AT

This simulation shows a Pionneer 3 AT robot equipped with a Sick lidar sensor. The robot is performing slam using the gmapping package, the resulting map can be seen using rviz.

You can launch this simulation with the following launch file:

roslaunch webots_ros pioneer3at.launch

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:=0.2

And move the robot using a keyboard:

rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=/pioneer3at/pioneer_diff_drive_controller/cmd_vel

Simulation TIAGo

The simulation features the MoveIt integration. It is enough to open rviz, include the MotionPlanning visualization, and you should be able to perform motion planning with the TIAGo arm.

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:=0.1

And you can control the robot using Twist commands:

rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=/diff_drive_controller/cmd_vel

Simulation E-Puck Line

This simulation shows an e-puck robot performing line-following.

You can launch this simulation with the following launch file:

roslaunch webots_ros e_puck_line.launch

Simulation Keyboard Tele-operated

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 keyboard_teleop.launch

Simulation Panoramic View Recorder

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 panoramic_view_recorder.launch

Simulation Catch the Bird

This simulation shows how to use a range-finder device.

You can launch this simulation with the following launch file:

roslaunch webots_ros catch_the_bird.launch

Simulation Robot Information Parser

This simulation is the most basic one, the node only parses the robot and show the list of devices. It is a good base to start building your own node.

You can launch this simulation with the following launch file:

roslaunch webots_ros robot_information_parser.launch

Simulation Complete Test

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 complete_test.launch