The following components are new components for RobMoSys in order to be able to use them with the Webots simulator.
This component allows the user to use Webots simulator instead of Gazebo, PlayerStage, etc. There exists a pre-requirement to use Webots. You have to execute this command once in a Terminal and restart the computer/Virtual Machine. Don't forget to adapt the path if necessary.
echo -e "export WEBOTS_HOME=/home/smartsoft/SOFTWARE/webots" >> ~/.profile
This component configures bumper's sensors in SmartSoft according to Webots prototype sensors and provides the bumper value.
| Input | Output |
|---|---|
| BumperEventServiceOut: bumber value |
This component configures lidar's sensors in SmartSoft according to Webots prototype sensors and provides the sensor's data.
| Input | Output |
|---|---|
| BaseStateServiceIn: state of the robot base (position and orientation) | LaserServiceOut: lidar values |
Note : It is important to mentionned that the lidar range has to be under 65.535 meter otherwise it will be set at 65 meter because the variable type to store the value is
short. This comes from source files generated by SmartMDSD. Maintainers will be alerted to this problem so that it can be improved.
This component configures in SmartSoft the Pioneer 3-DX robot from Adept according to Webots prototype robot.
| Inputs | outputs |
|---|---|
| LocalizationUpdateServiceIn: not implemented yet | BatteryEventServiceOut: not implemented yet |
| NavigationVelocityServiceIn: velocity commands (linear velocities and turnrate) | BaseStateServiceOut: state of the robot base (position and orientation) |
This component configures in SmartSoft the Robotino 3 robot from Festo according to Webots prototype robot.
| Inputs | outputs |
|---|---|
| LocalizationUpdateServiceIn: not implemented yet | BatteryEventServiceOut: not implemented yet |
| NavigationVelocityServiceIn: velocity commands (linear velocities and turnrate) | BaseStateServiceOut: state of the robot base (position and orientation) |
This component configures in SmartSoft all versions of TIAGo's robot from Pal Robotics according to Webots prototype robot.
| Inputs | outputs |
|---|---|
| LocalizationUpdateServiceIn: not implemented yet | BatteryEventServiceOut: not implemented yet |
| NavigationVelocityServiceIn: velocity commands (linear velocities and turnrate) | BaseStateServiceOut: state of the robot base (position and orientation) |
The following systems are examples to be able to test new components.
This system is a copy of the SystemLaserObstacleAvoidTiagoGazeboSimulator in order to show that the new components developed to use Webots simulator are working since the robot has the same behavior as expected.
A TIAGo Iron is used with a lidar that seems to be a Sick TIM150-3010300 with a range of 10 meters and an aperture angle of 200 degree.
This system is a copy of the SystemLaserObstacleAvoidP3dxPlayerStageSimulator in order to show that the new components developed to use Webots simulator are working since the robot has the same behavior as expected.
A Pioneer 3-DX is used with a lidar that seems to be a Sick TIM150-3010300 with a range of 10 meters and an aperture angle of 180 degree.
This system shows a complete example of communication between a lidar sensor (ComponentWebotsLidar) used by a Pioneer 3-DX robot (ComponentWebotsPioneer3DX) to navigate in a square arena filled with obstacles. It works with the new components developped to use Webots.
This system shows a complete example of communication between a lidar sensor (ComponentWebotsLidar) used by a Robotino 3 robot (ComponentWebotsRobotino3) to navigate in a square arena filled with obstacles. It works with the new components developped to use Webots.
This system is a copy of the SystemTiagoNavigation in order to show that the new components developed to use Webots simulator are working since the robot has the same behavior as expected.