ROS 2 and Webots

[lukicdarkoo]

This will be a basic ROS 2 integration, we need to expose only cmd_vel (Twist) and odom (Odometry) topics. It will allow us to command the robot and read the robot's position obtained through the wheel odometry.

The webots_ros2 package comes with a webots_ros2_control package that integrates ros2_control. Thanks to the ros2_control we can spin a diffdrive_controller node that will automatically expose necessary topics.

Reference:

• https://github.com/cyberbotics/webots_ros2/wiki/Tutorial-Creating-a-Custom-Package
• ros2 run teleop_twist_keyboard teleop_twist_keyboard

Example:

• https://github.com/cyberbotics/webots_ros2/tree/master/webots_ros2_turtlebot

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To do

• Podesiti okruženje
• Opisati probnog robota u URDF
• Kontrola motora