esloha.blogg.se - Webots nao joint names

#WEBOTS NAO JOINT NAMES INSTALL#
#WEBOTS NAO JOINT NAMES SIMULATOR#

The webots_controllers_to_load parameter contains the controller names from the yaml file. This contains the name of the ROS topic for joint commands, the servo names from the Webots model, and the P constant for the position controller.Ĭreate a launch file in the /launch directory, using this package as an example. yaml file in the /config directory, using this package as an example.

Edit your Webots world file and specify the name of the controller binary fileĬreate a new.

Note how the destination of the compiled binary is in the controllers/binary_name directory to suit Webots requirements, not the default ROS directory /bin wbt world file to your package, in the /world directoryĬopy the webots_controllers source to the /src directoryĮdit CMakeLists.txt, using this package as an example. See Creating a ROS PackageĪdd the Webots. Assign each joint servo with a unique name.Ĭeate a new ROS package e.g.

Create a new Webots world and robot arm model.

This command publishes one message to the ROS topic and the " -" indiciates that the next input is a number. The joint will rotate 1.5 radians in the positive direction. To move that joint, run the command: $ rostopic pub -1 /Puma560/SimController/waist/command std_msgs/Float64 - 1.5 Face Detection and Recognition Text to Speech : NAO is able to speak up to 9 languages. Object Recognition : NAO has the capacity to recognize a large quantity of objects. To move one of the joints, you need to publish the desired position to theįor example, the base rotation joint is called 'waist'. NET and Webots 01 Introduction to Nao Nao Features Enhanced Vision Audio Capabilities Camera: NAO has a great capacity to sense his environment. List the available joint controllers by opening a new shell console and running: $ rostopic list If everything is working correctly, the following messages will be printed in the Webots console:

#WEBOTS NAO JOINT NAMES SIMULATOR#

The Webots simulator should load with the Puma 560 in the home position. Run the demo: $ roslaunch webots_controllers joint_position_controller_demo.launch

#WEBOTS NAO JOINT NAMES INSTALL#

Position commands are received on a ROS topic for each joint.Ĭurrent position and calculated velocity values are published on the /joint_states topic.įorce information is not checked due to a bug with Webots 6.4.4įollow these instructions to install the kaist_webots stack.Ī demo of the joint position controller is included, using ROS messages to control a simulated Puma 560 manipulator in Webots. The webots_controllers_to_load parameter in the launch file specifies which controllers from the yaml file should be loaded. Convert your URDF file to a Webots Robot string and import it. Load your converted model into Webots and make final adjustments. Convert your URDF file to a Webots PROTO file. The controller configuration is defined in a yaml file, which includes the ROS topic for subscribing to commands for each joint, the joint's servo name in Webots, and the value of the P constant. Check out this tutorial for a more in-depth, step by step instruction, on how to: Generate a URDF file from a ROS repository. A joint position controller for Webots, utilising the C++ API and simple P-control. Webots - Avoid 'joint' objects getting inside one another (i.e.