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
joint_trajectory_controller, and similar.
Some other perks:
robot_descriptionparameter 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?
ros controller is included in Webots R2021b available as a part of our nightly builds:
And a usage example:
Want more details?
See relevant PRs: