![]() ![]() You can launch this simulation with the following launch file: roslaunch webots_ros robot_information_parser.launch It is a good base to start building your own node. This simulation is the most basic one, the node only parses the robot and show the list of devices. You can launch this simulation with the following launch file: roslaunch webots_ros catch_the_bird.launch This simulation shows how to use a range-finder device. You can launch this simulation with the following launch file: roslaunch webots_ros panoramic_view_recorder.launch 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 keyboard_teleop.launch 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 e_puck_line.launch ![]() This simulation shows an e-puck robot performing line-following. 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:=0.1Īnd you can control the robot using Twist commands: rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=/diff_drive_controller/cmd_vel It is enough to open rviz, include the MotionPlanning visualization, and you should be able to perform motion planning with the TIAGo arm. The simulation features the MoveIt integration. 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:=0.2Īnd move the robot using a keyboard: rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=/pioneer3at/pioneer_diff_drive_controller/cmd_vel You can launch this simulation with the following launch file: roslaunch webots_ros pioneer3at.launch The robot is performing slam using the gmapping package, the resulting map can be seen using rviz. This simulation shows a Pionneer 3 AT robot equipped with a Sick lidar sensor. It will return WB_ROTATIONAL if the sensor is associated with a HingeJoint or a Hinge2Joint node, and WB_LINEAR if it is associated with a SliderJoint or a Track node.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. The wb_position_sensor_get_type function returns the type of the position sensor. The wb_position_sensor_get_value function returns the most recent value measured by the specified position sensor.ĭepending on the type, it will return a value in radians (angular position sensor) or in meters (linear position sensor). ![]() The wb_position_sensor_get_sampling_period function returns the period given into the wb_position_sensor_enable function, or 0 if the device is disabled. The wb_position_sensor_disable function turns off the position sensor to save CPU time. Note that the first measurement will be available only after the first sampling period elapsed. The sampling_period argument specifies the sampling period of the sensor and is expressed in milliseconds. ![]() The wb_position_sensor_enable function enables measurements of the joint position. Value = wb_position_sensor_get_value( tag)Įnable, disable and read position sensor measurement Period = wb_position_sensor_get_sampling_period( tag) WB_ROTATIONAL, WB_LINEAR wb_position_sensor_enable( tag, sampling_period) PositionSensor Functions wb_position_sensor_enable wb_position_sensor_disable wb_position_sensor_get_sampling_period wb_position_sensor_get_value wb_position_sensor_get_type This field accepts any value in the interval (0.0, inf). Setting this field to -1 (default) means that the sensor has an 'infinite' resolution (it can measure any infinitesimal change). Resolution: This field allows to define the resolution of the sensor, the resolution is the smallest change that it is able to measure. Noise: This field allows to define the standard deviation of the Gaussian noise added to the sensor output. The position sensor can be inserted in the device field of a HingeJoint, a Hinge2Joint, a SliderJoint, or a Track.ĭepending on the Joint type, it will measure the angular position in radians or the linear position in meters. A PositionSensor node can be used in a mechanical simulation to monitor a joint position. ![]()
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