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Introduction

This project is developed based on the webots_ros offical repo with some necessary customizations for the BUPT robot team's chassis and visual algorithms simulation.

Features:star2:

  • Robocon 2023 field with 1:1 size and collision property.

  • Robocon 2022 R1 robot of BUPT (steer wheel chassis with a 2 DoF gripper) in PROTO format. The URDF file for robot are also completed for further usage (rviz visualization, kinematics, etc.).

  • Localization based on GPS and Compass.

Getting started:rocket:

  • Install Webots R2023a

    For better compatibility, this project is developed based on Ubuntu 20.04 and ROS Noetic. We assume that you have already installed ROS on your Linux computer.

    Strongly recommend installing Webots using tarball package, refer to this doc.

  • Clone and build this repo

    If you haven't installed catkin-tools, install it first:

    sudo apt install python3-catkin-tools
    # cd to your <ros_workspace>/src and then
git clone https://gitee.com/SimonKenneth/bupt_webots.git
catkin build bupt_webots
source ../devel/setup.bash

  • launch the simulator

    roslaunch bupt_webots robocon2023.launch

    Then you will see field and robot are loaded correctly if god bless you 😂.

  • Control the motors in Webots

    • Using ROS services

      For example:

      rosservice call /r1/wheel1_drive_joint/set_velocity  "value: 1.0"

      You can create corresponding service clients in your cpp or python nodes which are usually related to kinematics resolving.

    • Using ros_control

      This project has completed ros_control config for Robocon2022 R1 robot. You can simply publish control commands to corresponding topics.

      We use velocity control for drive motors and position control for steer motors, the related topics are:

      wheel_drive_velocity_controller/command
wheel_steer_position_controller/command

      Python example:

      import rospy
from std_msgs.msg import Float64MultiArray
rospy.init_node("drive_vel_pub_test")
drive_wheel_vel_pub = rospy.Publisher(
"/r1/wheel_drive_velocity_controller/command",
Float64MultiArray,
queue_size=1)
cmd_vel = Float64MultiArray([1,1,1,1])
drive_wheel_vel_pub.publish(cmd_vel)

  • Get the localization infomation

    We have already realised localization_webots node to publish localization infomation. You can simply use it by adding it to .launch file. For example:

    <launch>
...
    <node pkg="bupt_webots" type="localization_webots" name="localization_webots" output="screen">
        <param name="tf_prefix" value="r1"/>
        <param name="localization_type" value="gps"/>
        <param name="publish_rate" value="50"/>
        <param name="publish_tf" value="true"/>
    </node>
...
</launch>

    The localization info will be published to topic pose.

    If set publish_tf to true, this node will also publish tf from /world to<tf_prefix>/base_link .

Enjoy!

Develop:wrench:

We strongly recommend you reading the following materials to learn about webots_ros:

TODO