Open knmcguire opened 1 year ago
Also, do we want to enable spawning from the yaml file as well? It should be possible to do from webots
The clock in the webots is published by this if you follow the examples https://github.com/cyberbotics/webots_ros2/blob/1cc1c68a31762d6a2628a2be9f1de5dfbf2353cf/webots_ros2_driver/webots_ros2_driver/ros2_supervisor.py#L128
In the #106 I actually removed that since I wrote my own supervisor driver, but it still worked for some reason... but probably will cause problems in the end.
That was very helpful - thanks! I used it to write a minimal backend to just show the setpoint in rviz at https://github.com/IMRCLab/crazyswarm2/blob/feature_sim/crazyflie_sim/crazyflie_sim/backend_rviz.py. Now one can run the simulation faster/or slower than realtime (just use_sim_time has to be set for every node that wants to be on the sim time).
I think in your case you might not see a problem since by default wall-clock time is used.
Now that the Crazyflie is in the latest version of Webots, it will be easier to start creating a ros2 node for the model and the python bindings.
There are some things to be solved: