#Webots tutorial how to

The same infra-red sensors act as light sensors. You can test it as: ros2 topic echo /scan Therefore, you can obtain a distance from a sensor as follows: ros2 topic echo /ps1īesides infrared sensors, e-puck2 is upgraded with a long-range ToF sensor positioned just above the camera.ĭata from this sensor is also exposed through the sensor_msgs/Range topic with the name tof.Īll distance sensors are combined to create sensor_msgs/LaserScan so you can use it directly in SLAM packages. Infra-red, Light Sensors, and LEDsĮ-puck2 has 8 infra-red sensors (named as ps0-7) all of which are mapped to the same name ROS2 topics of type sensor_msgs/Range.

When you have the ROS2 driver running you can proceed with the tutorials. This launch file starts the e-puck driver for the physical robot: ros2 launch epuck_ros2 robot_launch.py In RViz2, you may want to change Global Options > Fixed Frame to odom if you don't have a publisher publishing transforms between odom and map frames. This launch file has the same parameters as robot_tools_launch.py. The launch file starts Webots and ROS2 driver: ros2 launch webots_ros2_epuck robot_launch.pyįor convenience, you can also launch robot_with_tools_launch.py which includes robot_launch.py and robot_tools_launch.py, e.g.: ros2 launch webots_ros2_epuck robot_with_tools_launch.py rviz:=true This will ensure that access to sensors and actuators is exposed through the ROS2 API.

Please make sure that you have the robot driver running.

This documentation is common for the physical ( epuck_ros2) and simulated ( webots_ros2_epuck) robot.

#Webots tutorial how to

Here you will find instructions on how to use the e-puck ROS2 API.