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Webots and ros_control

ros_control is now a part of the standard Webots ros controller!

Even though our focus is the integration of Webots and ROS 2, we still actively maintain and develop our ROS 1 interface.

We believe that the ros_control integration will accelerate the development and adoption of Webots in projects that depend on controllers such as diff_drive_controller, joint_state_controller, joint_trajectory_controller, and similar.

Some other perks:

  • a robot_description parameter is automatically exposed (and yes, you can edit robot model in Webots and a new URDF is automatically generated), and
  • topics are automatically created for all available sensors.

How to use it?

The new ros controller is included in Webots R2021b available as a part of our nightly builds:
https://github.com/cyberbotics/webots/releases

And a usage example:
https://github.com/cyberbotics/webots_ros/blob/develop/launch/pioneer3at.launch

Want more details?

See relevant PRs:

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Thanks for introducing this change, @lukicdarkoo and team!

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