You can launch this simulation with the following launch file: roslaunch webots_ros e_puck_line.launch This simulation shows an e-puck robot performing line-following. In addition, the simulation also includes a gmapping support: rosrun gmapping slam_gmapping scan:=/Hokuyo_URG_04LX_UG01/laser_scan _xmax:=5 _xmin:=-5 _ymax:=5 _ymin:=-5 _delta:=0.1Īnd you can control the robot using Twist commands: rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=/diff_drive_controller/cmd_vel

It is enough to open rviz, include the MotionPlanning visualization, and you should be able to perform motion planning with the TIAGo arm. The simulation features the MoveIt integration. You can then enable SLAM with: rosrun gmapping slam_gmapping scan:=/pioneer3at/Sick_LMS_291/laser_scan _xmax:=30 _xmin:=-30 _ymax:=30 _ymin:=-30 _delta:=0.2Īnd move the robot using a keyboard: rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=/pioneer3at/pioneer_diff_drive_controller/cmd_vel You can launch this simulation with the following launch file: roslaunch webots_ros pioneer3at.launch The robot is performing slam using the gmapping package, the resulting map can be seen using rviz. This simulation shows a Pionneer 3 AT robot equipped with a Sick lidar sensor. For each simulation, the simplest solution is to use the associated launch file, but of course, if you prefer you can start Webots, open the corresponding world and then launch the node yourself. Finally, thanks to Skye Legon and Nathan Yawn, who proofread this manual. Many thanks are also due to Cyberbotics’s Mentors: Prof. Thanks Cyberbotics is grateful to all the people who contributed to the development of Webots, Webots sample applications, the Webots User Guide, the Webots Reference Manual, and the Webots web site, including Stefania Pedrazzi, David Mansolino, Yvan Bourquin, Fabien Rohrer, JeanChristophe Fillion-Robin, Jordi Porta, Emanuele Ornella, Yuri Lopez de Meneses, S´ebastien Hugues, Auke-Jan Ispeert, Jonas Buchli, Alessandro Crespi, Ludovic Righetti, Julien Gagnet, Lukas Hohl, Pascal Cominoli, St´ephane Mojon, J´erˆome Braure, Sergei Poskriakov, Anthony Truchet, Alcherio Martinoli, Chris Cianci, Nikolaus Correll, Jim Pugh, Yizhen Zhang, Anne-Elisabeth Tran Qui, Gr´egory Mermoud, Lucien Epinet, Jean-Christophe Zufferey, Laurent Lessieux, Aude Billiard, Ricardo Tellez, Gerald Foliot, Allen Johnson, Michael Kertesz, Simon Garnieri, Simon Blanchoud, Manuel Jo˜ao Ferreira, Rui Picas, Jos´e Afonso Pires, Cristina Santos, Michal Pytasz and many others. UNIXTM is a registered trademark licensed exclusively by X/Open Company, Ltd. Visual C++TM, WindowsTM, Windows 95TM, Windows 98TM, Windows METM, Windows NTTM, Windows 2000TM, Windows XPTM and Windows VistaTM are registered trademarks of Microsoft Corp. Red HatTM is a registered trademark of Red Hat Software, Inc.

PentiumTM is a registered trademark of Intel Corp. IPRTM is a registered trademark of Neuronics AG. MindstormsTM and LEGOTM are registered trademarks of the LEGO group. Mac OS XTM is a registered trademark of Apple Inc. LinuxTM is a registered trademark of Linus Torvalds. KheperaTM and KoalaTM are registered trademarks of K-Team S.A. JavaTM is a registered trademark of Sun MicroSystems, Inc. GeForceTM is a registered trademark of nVidia, Corp. RadeonTM is a registered trademark of ATI Technologies Inc. Trademark information AiboTM is a registered trademark of SONY Corp. In no event shall the EPFL be liable for incidental or consequential damages of any kind in connection with the use of this software. The EPFL makes no warranties of any kind on this software. The Webots software was initially developed at the Laboratoire de Micro-Informatique (LAMI) of the Swiss Federal Institute of Technology, Lausanne, Switzerland (EPFL).

Neither the copyright holder nor any applicable licensor will be liable for any incidental or consequential damages. This manual is provided on an as-is basis. The copyright holder makes no warranty or condition, either expressed or implied, including but not limited to any implied warranties of merchantability and fitness for a particular purpose, regarding this manual and the associated software. Copyright All Rights Reserved March 8, 2016Ģ Permission to use, copy and distribute this documentation for any purpose and without fee is hereby granted in perpetuity, provided that no modifications are made to this documentation.

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