RR Assignment — Webots + ROS 2 (Quick Start)

Build & Launch

cd ~/webots_ws
colcon build --symlink-install
source install/setup.bash
ros2 launch rr_assignment tilde_two_tb3.launch.py

Make sure the Webots sim is playing (▶).

Move the Robots

Open a new terminal, source your workspace, then publish commands:

Host forward

ros2 topic pub /host/diff_drive_controller/cmd_vel geometry_msgs/msg/TwistStamped \
  "{header: {stamp: {sec: 0, nanosec: 0}}, twist: {linear: {x: 0.2}}}" -r 5

Guest spin

ros2 topic pub /guest/diff_drive_controller/cmd_vel geometry_msgs/msg/TwistStamped \
  "{header: {stamp: {sec: 0, nanosec: 0}}, twist: {angular: {z: 0.5}}}" -r 5

Press Ctrl+C to stop publishing.

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