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Ekumen-OS / andino_webots

Webots simulation of the Andino robot fully integrated with ROS 2
BSD 3-Clause "New" or "Revised" License
6 stars 1 forks source link

Add teleoperation to andino in Webots #19

Closed IDavGal closed 1 year ago

IDavGal commented 1 year ago

Adds the webots_ros2_control plugin to the webotsController urdf. This exposes the motors to ROS2 and creates an interface with the ros2_control pkg. Launches the diff_drive_controller and joint_state_publisher with the configuration provided in the andino_control package.

The webots motor device limits the velocity to 10 rad/s so the velocity in the controller configuration should be limited beforehand to avoid warning messages.

To test this feature just build and run the simulation. In another terminal send commands via /cmd_vel. To improve the steering the RotationalMotor from the caster wheel and base can be deleted from within the simulation.

CC @BarceloChristian

https://github.com/ekumenlabs/andino_webots/assets/99193391/371b19a1-9661-42a4-ac95-48452fb162ff

IDavGal commented 1 year ago

Looks good! I haven't tried it locally yet. Can you add a video to the PR description showing the feature?

Sure, I was just editing the configuration, I pressed enter by mistake :smile: