Merge pull request #133 from BlueAndi/develop/ROS2_nhjschulz

Develop/ROS2_nhjschulz

doc/ROS2/setup/Webots.md

@@ -1,6 +1,6 @@
 # Installation of Webots
 
-## Official Setup Procedure
+## Webots Setup Procedure
 Follow the official installation guide for Webots on Linux with APT on the 
 [Webots installation Page](https://cyberbotics.com/doc/guide/installation-procedure#installing-the-debian-package-with-the-advanced-packaging-tool-apt).
 
@@ -22,3 +22,44 @@ If you get an error like "cannot open Display", try the following:
     wsl --update
 ```
 * try running Webots again
+
+## Webots ROS2 Package
+
+The setup procedure is described on [this page](https://docs.ros.org/en/jazzy/Tutorials/Advanced/Simulators/Webots/Installation-Ubuntu.html)
+from the Jazzy documentation. The listed package is not found by apt, so
+install it using building from source.
+
+Note: For the time being, we need to install a patched version from https://github.com/nhjschulz/webots_ros2.git.
+The official one doesn't seem to support webots running inside WSL, but expects msys2/mingw.
+
+transcript:
+
+```bash
+    mkdir -p ros2_webots_ws/src
+    cd ros2_webots_ws
+    git clone --recurse-submodules https://github.com/nhjschulz/webots_ros2.git src/webots_ros2
+
+    sudo apt install python3-pip python3-rosdep python3-colcon-common-extensions
+    sudo rosdep init && rosdep update
+    rosdep install --from-paths src --ignore-src --rosdistro jazzy
+
+    colcon build
+
+```
+
+## Running Webots ROS2 Universal Robot
+
+See Task 2 from this [Jazzy documentaion page](https://docs.ros.org/en/jazzy/Tutorials/Advanced/Simulators/Webots/Installation-Ubuntu.html#launch-the-webots-ros2-universal-robot-example)
+
+
+```bash
+    export WEBOTS_HOME=/usr/local/webots
+    cd ros2_webots_ws/src/
+    source install/local_setup.bash
+
+    ros2 launch webots_ros2_universal_robot multirobot_launch.py
+```
+
+You should get the following simulation on the screen:
+
+![Webots ROS2 Example](./img/Webots_ros2_example.png)