ROS 2 and Webots
lukicdarkoo opened this issue · 0 comments
lukicdarkoo commented
This will be a basic ROS 2 integration, we need to expose only cmd_vel
(Twist) and odom
(Odometry) topics. It will allow us to command the robot and read the robot's position obtained through the wheel odometry.
The webots_ros2
package comes with a webots_ros2_control
package that integrates ros2_control
. Thanks to the ros2_control
we can spin a diffdrive_controller
node that will automatically expose necessary topics.
Reference:
- https://github.com/cyberbotics/webots_ros2/wiki/Tutorial-Creating-a-Custom-Package
ros2 run teleop_twist_keyboard teleop_twist_keyboard
Example:
To do
- Podesiti okruženje
- Opisati probnog robota u URDF
- Kontrola motora