Different examples in Webots with ROS2 | Webots ROS2 tutorial series | [Tutorial 2]
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 #Webots_ros2 #stationary_robots #mobile_robots
This is the second Video in this video series which contains 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
This particular video is like a summary showing some examples of Webots and ROS2.
0:00 Soft Illusion Webots ROS2 Intro Video
0:47 Introduction
2:56 Mobile Robot Example and Localization
12:02 Real Robot Results
13:35 Stationary Robot Example (ABB &UR5)
These are the specific pointers in the video:
1. Brief on different types of robots
1. Stationary robots: Fixed base, moving end-effector robots. Has industrial application and can be used for surgical robots.
2. Mobile robots: Introduction and applications of mobile robots in self-driven cars, warehouse automation etc
2. Example 1: E-Puck Mobile Robot (Holonomic Robot)
https://github.com/cyberbotics/webots...
The above link has a detailed description of running E-Puck with ROS2 package.
The link contains a ROS2 workspace which can be launched using the steps shown in the video. You will see an E-puck with cameras and 8 distance sensors (Long range). This will be used for mapping in the next step. Here the keyboard teleop package is also installed from the below link:
https://github.com/cyberbotics/webots...
This is an inbuilt ROS package. This can be used to control both holonomic and non-holonomic robots.
Mapping:
The robot is shown as a point in Rviz. When the robots is rotated, it starts making a map by taking points in the world. Hence by moving the robot using a keyboard, a map with all the obstacles is generated using the robot’s motion.
Rqt_Graph: Different nodes of communication are explained here.
3. Real E-Puck Results:
A real robot navigates and the output is seen in Rviz. The point cloud is generated by the sensors on the robot. Map of the real world matches to what we get on screen. Move-base is running inside E-puck.
4. Stationary Robot
https://github.com/cyberbotics/webots...
This page has good step wise solutions of several stationary robot implementations in Webots. An example is shown in the video.
Here an ABB robot and the Universal robots complete a task in synchronization.
Here the launch file in ROS2 is in the python format as compared to the .launch format in ROS.
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.
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.
Introductory Webots tutorial playlist:
https://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
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. :)