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Using DCS with Webots under ROS2

This page discusses how to integrate DCS with Webots and ROS2.

Deployment for TurtleSim Example

turtle_sim_webots

Option 1: Building and Launching via Platformio

RadonUlzer

  1. Run the following commands in the terminal:
cd ~/RadonUlzer
pio run -e RemoteControlSim -t webots_launcher_zumo_com_system

DroidControlShip

  1. Check/adapt micro-ROS agent host/port in the microROSAgent section of data/config.json.
  2. Run the following commands in the terminal:
cd ~/DroidControlShip
pio run -e TurtleSim -t webots_launcher

Option 2: Building and Launching via ROS2 Launcher

Use the ROS2 Package wrapper ros2_dcs_turtlesim to build and launch the TurtleSim demo with DroidControlShip and RadonUlzer robots. The ros2_dcs_turtlesim package is available from it's own GIT repository at https://github.com/nhjschulz/ros2_dcs_turtlesim.

Create a Webots ros2 workspace as described in setup/Webots.md, then follow the instructions in ros2_dcs_turtlesim readme.md for building and launching.