Overview

webots_ros2 is a package that provides the necessary interfaces to simulate a robot in the Webots open-source 3D robots simulator. It integrates with ROS2 using ROS2 messages, services and actions.

Some of the key features of Webots include:

  • Cross-platform [windows, linux, mac].
  • Stable physics engine.
  • Reproducibility.
  • An efficient rendering engine using Physically Based Rendering for realistic images.

  • A simple and intuitive user interface.
  • Wide range of simulated sensors and actuators available and ready to work.

  • Wide range of robot models available and ready to work.

  • Wide range of documented samples.

Installation

Webots Software

Webots is a prerequisite to use the webots_ros2 package. It can be downloaded from the Github repository or build from the sources. The installation is straightforward, but if need the installation instructions can be found here.

Alternatively, you can also get Webots from the webots_ros2_desktop ROS2 package (this package installs the webots_ros2 package and the Webots software).

Multiple Installations of Webots

If you have more than one installation of Webots, ROS2 will look for Webots at the following locations (in this order):

  1. If the ROS2_WEBOTS_HOME environment variable is set, ROS2 will use the Webots in this folder.

  2. If the webots_ros2_desktop ROS2 package is installed, ROS2 will use the Webots version included in this package.

  3. If the WEBOTS_HOME environment variable is set, ROS2 will use the Webots in this folder.

  4. If none of the previous point is set/installed ROS2 will look for Webots in the default installation paths (e.g. /usr/local/webots).

webots_ros2 Package

From Package Manager

sudo apt-get install ros-$ROS_DISTRO-webots-ros2

From Sources

The following instructions assume that a ROS2 workspace is already available.

Linux:

   1 source /opt/ros/$ROS_DISTRO/setup.bash
   2 
   3 # Retrieve the sources
   4 cd /path/to/ros2_ws/src
   5 git clone -b $ROS_DISTRO https://github.com/cyberbotics/webots_ros2.git
   6 cd ..
   7 
   8 # Check dependencies
   9 rosdep update
  10 rosdep install --from-paths src --ignore-src --rosdistro $ROS_DISTRO
  11 
  12 # Building packages
  13 colcon build
  14 
  15 # Source this workspace (careful when also sourcing others)
  16 source install/setup.bash

Windows:

   1 call C:\dev\ros2\local_setup.bat
   2 
   3 # Install Webots from: https://www.cyberbotics.com/download
   4 
   5 # Retrieve the sources
   6 cd /path/to/catkin_ws/src
   7 git clone -b $ROS_DISTRO https://github.com/cyberbotics/webots_ros2.git
   8 cd ..
   9 
  10 # Check dependencies
  11 rosdep update
  12 rosdep install --from-paths src --ignore-src --rosdistro $ROS_DISTRO
  13 
  14 # Building packages
  15 colcon build
  16 
  17 # Source this workspace (careful when also sourcing others)
  18 call install\setup.bat

The packages can now be used as regular ROS packages.

Refer to the colcon tutorial for more information on building ROS2 workspace with colcon.

Tutorials

See the Tutorials page for an overview of the available tutorials.

Contact us / Technical support

For questions about this package or Webots in general, get in touch with the developers on Discord.

Report a Bug

Use GitHub to report bugs or submit feature requests. [View active issues]

Acknowledgement

ROSIN Logo

Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components.
More information: rosin-project.eu

EU Flag

This project has received funding from the European Union’s Horizon 2020
research and innovation programme under grant agreement No. 732287.

Wiki: webots_ros2 (last edited 2020-02-24 11:03:08 by DavidMansolino)