Webots ROS2 tutorial series : Setting Up ROS2 and Webots | Ubuntu 20.04 | [Tutorial 1]
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- Опубліковано 1 сер 2024
- Wish to create interesting robot motion and have more control over your world and robots in Webots? Soft_illusion Channel is here with a new tutorial series on the integration of Webots and ROS2.
#ROS2_introduction #ROS2_tutorial_series #Webots_ros2
This is the first Video in this video series which will contain the following videos:
1. ROS 2, Webots installation and Setup of a workspace in VS Code
2. Different examples in Webots with ROS2
3. Use ROS2 services to interact with robots in Webots
4. Control a robot with ROS2 Publisher
5. Get feedback from different sensors of Robot with ROS2 Subscriber
6. Implement Master and Slave robots project with ROS2
7. Setup Rviz (Showing different sensor output )
8. Ways to debug projects with Rostopic echo, Rostopic info, RQT_graph
9. Use advance debugging tools like Rqt console, Rqt gui
10 & 11. Implementation of SLAM toolbox or LaMa library for unknown environment.
12. & 13. Implementation of AR-tag detection and getting exact pose from camera.
Note: Following are the system specifications that will be used in the tutorial series.
Ubuntu 20.04, ROS 2 Foxy, Webots R2020b-rev1
0:00 Series video
0:10 Introduction
1:48 ROS2 Installation
8:19 Webots Installation
9:29 Webots ROS2 Package Installation
11:29 VS code installation
13:38 Example of Webots and ROS2
This particular video will teach you the following topics to help you get started with using ROS2 in the very user-friendly simulator called Webots. Also use the links to follow the procedure of implementation.
1. Introduction
This section includes the introduction of video series and talks about the achievements after the series.
2. ROS2 installation
Step wise Installation of ROS2 from the below link:
index.ros.org/doc/ros2/Instal...
Or use
index.ros.org/doc/ros2/Instal...
3. Webots Installation
Snap installation of Webots (Also show Debian installation)
snapcraft.io/webots (By clicking on View in Desktop store)
And talk about other types of installation for different systems.
4. Webots-ros2 repo
Git clone the webots ROS2 repo :
github.com/cyberbotics/webots...
and
sudo apt-get install ros-foxy-webots-ros2
5. VS code installation
Setting VS code and setting up repo in VS code:
code.visualstudio.com/
6. Example of Webots and ROS 2
Opening a small example to check if everything is working properly.
As we get deeper into the remaining videos of the tutorial series, those who know ROS but new to ROS2 will find a lot easier to grasp and understand several topics and concepts such as topics, services, publishers, subscribers etc and several debugging techniques such as rqt_graph, rqt_console etc.
Those who are new to the ROS/ROS2 world might find it a little difficult, but don’t worry; we are all here to help you. ROS can be fun when things work like magic, very easy to understand and implement a lot of basic functionalities.
And Webots is a great simulator which is very ROS friendly as we will know as you drive through these videos. So have fun and good luck.
As an initial step before diving into Webots, it is important to understand it’s the importance and what sets it apart from other simulators like Gazebo and NVIDIA Isaac. User friendly, easy to learn & implement on custom robots and applications are not the only pros. For those who understand the intricacy involved, this software is easy to integrate with ROS, multi-threading is possible and an amazing tool for multi-agent navigation.
Wait, that’s not all..!! Good news for Reinforcement learning fans..!!! OpenAI Gym blends well with Webots.
If the above information triggers any thought, please feel free to comment to initiate discussions not only on Gazebo or NVIDIA Isaac but also robotics in general.
This channel is driven with a motive to provide good robotics tools to aid everyone gains a good and simple understanding of this so-called complex robotics domain. Hopefully, this will build the bridge to turn the novel ideas of viewers into reality.
Introductory Webots tutorial playlist:
www.youtube.com/watch?v=yi4e5...
This is another tutorial series that we have to help you understand Webots better. These videos begin with the basic installation of the simulator, and ranges to higher-level applications like object detection, obstacle avoidance, actuator motion and hot topics such as Supervisor.
Facebook link to the Intro Video Artist, Arvind Kumar Bhartia:
/ arvindkumar.bhartia.9
Special thanks to Olivier Michel and David Mansolino
Comment if you have any doubts on the above video.
Also do make suggestions if you need a tutorial on any other project topics.
Do Share so that I can continue to make many more videos with the same boost. :)
Happy Coding. :)
#webots #ros2 #setup
![Different examples in Webots with ROS2 | Webots ROS2 tutorial series | [Tutorial 2]](http://i.ytimg.com/vi/MOEkD8iWchw/mqdefault.jpg)
![Different examples in Webots with ROS2 | Webots ROS2 tutorial series | [Tutorial 2]](/img/tr.png)
Special thanks to Olivier Michel and David Mansolino from Webots for their support to make this series worth sharing.
Thank you, Super series.
Thank you very much 😊
Thanks! Aweomse series :)
Glad you like them!
Are you using Webots as an alternative to gazebo? Or in the later sessions of this playlist , you will use both?
How can I create real time map while running occupancy grid mapping code with inverse sensor model ?
Hi, thanks for your tutorial first. It works fine until try colcon build in the vs installation stage. I find that there are no folders named build/install/log in my ros2 workspace folder. Are there any commands before that generate these 3 folders?
colcon build will do it
Anyway i can do this with a mac without dual booting, or VM and docker both are buggy.
Hello. Everything was fine until the very end, all commands were executed without errors and packages were installed successfully. But in the end when i try to run a simulation with a turtlebot or any other robot, the webots start, but only the black screen is visible and in the console hundreds of lines of errors
[turtlebot3_burger_example.wbt "--batch --mode = realtime-2] OpenGL error: GL_INVALID_OPERATION
In the Webots errors: Shader compilation failed! Filename: fog.vert(shadow_volume.vert)
what could be the problem? Help please
Did you source the repo of webots before running the launch file
after entering the command sudo apt-get install ros-foxy-webots-ros2, an error occurs, E: Unable to locate package ros-foxy-webots-ros2. What is the problem?
Do you have foxy installed correctly
I had to delete the the "webots_ros2_importer" package from the folder "src/webots_ros2". Now I can use ":~/ros2_ws$ colcon build".
It will not work .
Because webots has dependency or webots_ros2_importer
@@coolrobotics I found a solution:
1-
cd ros2_ws/src/webots_ros2/webots_ros2_importer/webots_ros2_importer
2-
git clone github.com/cyberbotics/urdf2webots.git
cd urdf2webots
pip3 install -r requirements.txt
3- ~/ros2_ws$ colcon build
No error :)
@@Ahmad3000s Thank you so much mate
The only way I can get ROS 2 Foxy working is with the Debian package ie. Desktop Install, is there a way to add other files, I need to follow your tutorial ?
No you should be fine...
Just with the tutorial
Do post your issue if you get some
can we do this in ROS noetic also? or do we need ROS2 only?
I have ROS noetic installed already. Do i need to uninstall ROS noetic before installing ROS2?
Nope...
You can have ROS and ROS2 together.
@@coolrobotics Thank you.
So I can follow the same procedure as in the video to install Ros2 without worrying about Ros noetic right?
Yes
After installation of ROS, Webots, Vs code, when I run the demo launch program. I receive any error as the Graphic card is outdated. Are there any other alternatives to using webots?
Are you able to open webots or program is crashing.
@@coolrobotics Yes I am able to open the program but with a warning stating the system is below requirements, shadows, anti-aliasing, main 3d view have been deactivated.
Which graphic card does your system have
Hi i have a problem, i followd all your intruction. Problem start at 14:58 . I put line command and webot apps didnt show up it sayd "ros2 : command not found " please help
Did you source install setup.bash
@@coolrobotics can i have your email ?
@@coolrobotics at 13:01 when i try colcon build it say error " Starting >>> webots_ros2_msgs
Starting >>> webots_ros2_ur_e_description
--- stderr: webots_ros2_msgs
CMake Error at CMakeLists.txt:18 (find_package):
By not providing "Findament_cmake.cmake" in CMAKE_MODULE_PATH this project
has asked CMake to find a package configuration file provided by
"ament_cmake", but CMake did not find one.
Could not find a package configuration file provided by "ament_cmake" with
any of the following names:
ament_cmakeConfig.cmake
ament_cmake-config.cmake
Add the installation prefix of "ament_cmake" to CMAKE_PREFIX_PATH or set
"ament_cmake_DIR" to a directory containing one of the above files. If
"ament_cmake" provides a separate development package or SDK, be sure it
has been installed.
---
Failed
harsh.b.kakashaniya@gmail.com
Already sent sir
process has died [pid 13035, exit code -2, cmd '/opt/ros/foxy/lib/controller_manager/spawner.py diffdrive_controller --controller-manager-timeout 50 --ros-args'].
[INFO] [webots-3]: process has finished cleanly [pid 13037] why am I getting this error while running tiago example??