robotnik_webots

This package provides integration and launch files for simulating Robotnik robots in the Webots simulator.

Structure

• launch/: ROS 2 launch files for spawning robots and worlds in Webots.
• protos/: Custom Webots PROTO files for robot models.
• resource/: Robot resources, including URDF, configuration files, and meshes.
• robotnik_webots/: Python package directory (can be used for ROS 2 nodes or utilities).
• worlds/: Webots world files.

Usage

To build this package with ROS 2 and colcon:

colcon build --packages-select robotnik_webots

Launch files and arguments

1. Launch the Webots world

ros2 launch robotnik_webots spawn_world.launch.py

or with the new launch file:

ros2 launch robotnik_webots new_spawn_world.launch.py

Arguments for spawn_world.launch.py and new_spawn_world.launch.py

• world: Name of the world file (without extension). Default: default_world
• world_path: Full path to the world file. Default: <package_share>/worlds/<world>.wbt
• gui: Launch Webots with GUI (true/false). Default: true

Examples:

Launch a specific world:

ros2 launch robotnik_webots new_spawn_world.launch.py world:=my_custom_world

Launch headless (no GUI):

ros2 launch robotnik_webots new_spawn_world.launch.py gui:=false

2. Spawn a robot in Webots

ros2 launch robotnik_webots spawn_robot.launch.py

Arguments for spawn_robot.launch.py

• robot_id: Robot personal name. Default: robot
• robot: Robot model (e.g., rbwatcher, rbvogui, rbkairos, rbtheron, rbsummit). Default: rbwatcher
• robot_model: Robot type variation. Default: value of robot
• x, y, z: Initial position in the world. Default: 0.0
• run_rviz: Launch RViz2 (true/false). Default: false

Examples:

Spawn a robot at a specific position:

ros2 launch robotnik_webots spawn_robot.launch.py x:=2.0 y:=1.0 z:=0.0

Spawn a robot with a custom name and model:

ros2 launch robotnik_webots spawn_robot.launch.py robot_id:=robot_a robot:=rbkairos

Spawn a robot and launch RViz2:

ros2 launch robotnik_webots spawn_robot.launch.py run_rviz:=true

Requirements

• ROS 2 (Humble or later)
• Webots simulator

License

See the LICENSE file for details.