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Overview

webots_ros is a package that provides the necessary interfaces to simulate a robot in the Webots open-source 3D rigid body simulator for robots. It integrates with ROS using ROS messages and services.

Some of the key features of Webots include:

• Cross-platform [windows, linux, mac].
• Stable physics engine.
• Reproducibility.

• Efficient rendering engine using Physically Based Rendering for realistic images.

• Simple and intuitive user interface.

• Wide range of simulated sensors and actuators available and ready to work.

• Wide range of robot models available and ready to work.

• Wide range of documented samples.

Installation

Webots Software

Webots is a prerequisite to use the webots_ros package. It can be downloaded from the Github repository. The installation is straightforward, but if need the installation instructions can be found here.

webots_ros Package

From Package Manager

sudo apt-get install ros-$ROS_DISTRO-webots-ros

From Sources

The following instructions assume that a Catkin workspace is already available:

   1 cd /path/to/catkin_ws/src
   2 
   3 # retrieve the sources
   4 git clone https://github.com/cyberbotics/webots_ros.git
   5 # if you are not using the latest version of Webots, you need to checkout the tag corresponding to the Webots version: https://github.com/cyberbotics/webots_ros/releases
   6 # if you are using the development version of Webots, you need to checkout the develop branch.
   7 
   8 cd /path/to/catkin_ws
   9 
  10 # checking dependencies
  11 rosdep update
  12 rosdep install --from-paths src --ignore-src --rosdistro $ROS_DISTRO
  13 
  14 # building
  15 catkin_make
  16 
  17 # source this workspace (careful when also sourcing others)
  18 source /path/to/catkin_ws/devel/setup.bash

The packages can now be used as regular ROS packages.

Refer to the catkin tutorials for more information on building catkin workspaces.

Tutorials

See the Tutorials page for an overview of the available tutorials.

Contact us/Technical support

For questions about this package or Webots in general, get in touch with the developers on Discord.

Report a Bug

Use GitHub to report bugs or submit feature requests. [View active issues]

Acknowledgement

Supported by OpenDR - Open Deep Learning Toolkit for Robotics.
More information: opendr.eu