Webots fitness function6/5/2023 ![]() ![]() It allows you to access and control fields of the simulation that are not or should not be accessible to the robots. It is defined in the wbt file as a Robot object with the supervisor field set to TRUE. Supervisor is a special controller type for the robot controller. ![]() You can find more information regarding robot controllers at link Supervisor Controller You should activate all the sensors in this file itself.For example, we implemented the odometry and controls part in the webots and inputs to this was served through the planner which was developed in ROS. If you are planning to develop this stacks outside webots, you can use ROS integration to integrate with the webots. Robot controller should ideally consist of all the code regarding robot perception, planning, navigation and controls.To start using ros controller you need to import the following library The Robot Controller is the primary controller used to control all the things related to the robot.All the information regarding elements in the simulation are accessible through custom function which can be further converted to ROS topics and published accordinglyįor more information on using ros, you can refer to linkįor a sample ROS integration, refer link Controllers Robot Controller.Make sure you start the webots instance after sourcing the ROS workspace otherwise rospy and other ROS messages won’t be accessible inside webots.Simply change the controller to your_controller.py and import rospy in and all the rospy commands should work as-is.Custom ROS controller can be written in both cpp and python.While using standard ROS controller has plug and play benefits, to gain total control over the data that is published from the webots, using custom ROS controller is preferable.Some of the examples code can be found at ().All you have to do to get this working is to change the controller field in robot node to ROS.For example, if the stereo sensor is added to the robot and controller selected is “ROS”, then the topic likes “\left_camera_image” and “\right_camera_image” is published by default. ![]()
0 Comments
Leave a Reply. |