dobotics

My robotics research repository, based on Webots Simulation and ROS2 Framework.

A. Installation

• Make sure you have ROS2 installed on your machine. Here are several installation pages for ROS2 (LTS) on Ubuntu:

  • 20.04 (ROS2 Foxy),
  • 22.04 (ROS2 Humble),
  • 24.04 (ROS2 Jazzy).

• After that, proceed with the Webots Driver installation for ROS2 on:

  • 20.04 (ROS2 Foxy),
  • 22.04 (ROS2 Humble),
  • 24.04 (ROS2 Jazzy).

• Create the Python Virtual Environment with:

  python3 -m venv .venv --system-site-packages --symlinks
  source .venv/bin/activate
  pip install -r requirements.txt

• Build the ROS2 project with:

  # on ../dobotics
  colcon build
  source install/setup.bash

• If the building process is not working somehow, you may missing out some important dependencies. Please try the following:

  # on ../dobotics
  source /opt/ros/{YOUR_ROS_DISTRO}/setup.bash
  source .venv/bin/activate
  colcon build
  source install/setup.bash

B. Packages Information

1. dobotics_launchers

This package is where all the launch files are placed. Open the launch folder to see all the available launch files.

2. dobotics_controllers

More info will be updated later.

3. dobotics_webots

This package contains all the required data to run the Webots simulation. The project folder is used to configure the simulation world. The dobotics_webots folder contains the driver to bridge between the ROS2 and the Webots simulation environment.