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Merge pull request #21 from cyberbotics/sync
Sync with 'webots' repo.
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,17 @@ | ||
| <?xml version="1.0"?> | ||
| <launch> | ||
| <!-- start Webots --> | ||
| <arg name="no-gui" default="false," doc="Start Webots with minimal GUI"/> | ||
| <include file="$(find webots_ros)/launch/webots.launch"> | ||
| <arg name="mode" value="realtime"/> | ||
| <arg name="no-gui" value="$(arg no-gui)"/> | ||
| <arg name="world" value="$(find webots_ros)/worlds/ros_python.wbt"/> | ||
| </include> | ||
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| <arg name="auto-close" default="false" doc="Startup mode"/> | ||
| <env name="LD_LIBRARY_PATH" value="$(env LD_LIBRARY_PATH):$(env WEBOTS_HOME)/lib/controller"/> | ||
| <env name="PYTHONPATH" value="$(env PYTHONPATH):$(env WEBOTS_HOME)/lib/controller/python27" unless="$(eval '1' if env('ROS_DISTRO') == 'noetic' else '0')" /> | ||
| <env name="PYTHONPATH" value="$(env PYTHONPATH):$(env WEBOTS_HOME)/lib/controller/python38" if="$(eval '1' if env('ROS_DISTRO') == 'noetic' else '0')" /> | ||
| <node name="webots_ros_python" pkg="webots_ros" type="ros_python.py" required="$(arg auto-close)"/> | ||
| <node name="ros_controller" pkg="webots_ros" type="ros_controller.py" required="$(arg auto-close)"/> | ||
| </launch> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,7 @@ | ||
| <div> | ||
| <h2>Info window</h2> | ||
| <div> | ||
| <p>Show message received from the controller:</p> | ||
| <span id='text-display'></span> | ||
| </div> | ||
| </div> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,7 @@ | ||
| webots.window('info').receive = function(message, robot) { | ||
| if (message.startsWith('test')) { | ||
| document.querySelector("#text-display").innerHTML = message; | ||
| this.send("Answer: " + message, robot); | ||
| } else | ||
| console.log("Received unknown message for robot '" + robot + "': '" + message + "'"); | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,38 @@ | ||
| #!/usr/bin/env python | ||
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| # Copyright 1996-2020 Cyberbotics Ltd. | ||
| # | ||
| # Licensed under the Apache License, Version 2.0 (the "License"); | ||
| # you may not use this file except in compliance with the License. | ||
| # You may obtain a copy of the License at | ||
| # | ||
| # http://www.apache.org/licenses/LICENSE-2.0 | ||
| # | ||
| # Unless required by applicable law or agreed to in writing, software | ||
| # distributed under the License is distributed on an "AS IS" BASIS, | ||
| # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| # See the License for the specific language governing permissions and | ||
| # limitations under the License. | ||
|
|
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| """ | ||
| This is a simple example of a Python ROS node receiving sensor values and publishing motor commands (velocity) | ||
| to drive a robot and stop it before colliding with an obstacle. | ||
| """ | ||
|
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| import rospy | ||
| from std_msgs.msg import Float64 | ||
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| def callback(data): | ||
| global pub | ||
| rospy.loginfo(rospy.get_caller_id() + 'Received sensor value: %s', data.data) | ||
| if data.data > 100: | ||
| pub.publish(0) | ||
| else: | ||
| pub.publish(9) | ||
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| rospy.init_node('controller', anonymous=True) | ||
| pub = rospy.Publisher('motor', Float64, queue_size=10) | ||
| rospy.Subscriber("sensor", Float64, callback) | ||
| rospy.spin() |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,62 @@ | ||
| #!/usr/bin/env python | ||
|
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| # Copyright 1996-2020 Cyberbotics Ltd. | ||
| # | ||
| # Licensed under the Apache License, Version 2.0 (the "License"); | ||
| # you may not use this file except in compliance with the License. | ||
| # You may obtain a copy of the License at | ||
| # | ||
| # http://www.apache.org/licenses/LICENSE-2.0 | ||
| # | ||
| # Unless required by applicable law or agreed to in writing, software | ||
| # distributed under the License is distributed on an "AS IS" BASIS, | ||
| # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| # See the License for the specific language governing permissions and | ||
| # limitations under the License. | ||
|
|
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| """ | ||
| This is a simple example of a Webots controller running a Python ROS node thanks to rospy. | ||
| The robot is publishing the value of its front distance sensor and receving motor commands (velocity). | ||
| """ | ||
|
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| import rospy | ||
| from std_msgs.msg import Float64 | ||
| from controller import Robot | ||
| import os | ||
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| def callback(data): | ||
| global velocity | ||
| global message | ||
| message = 'Received velocity value: ' + str(data.data) | ||
| velocity = data.data | ||
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| robot = Robot() | ||
| timeStep = int(robot.getBasicTimeStep()) | ||
| left = robot.getMotor('motor.left') | ||
| right = robot.getMotor('motor.right') | ||
| sensor = robot.getDistanceSensor('prox.horizontal.2') # front central proximity sensor | ||
| sensor.enable(timeStep) | ||
| left.setPosition(float('inf')) # turn on velocity control for both motors | ||
| right.setPosition(float('inf')) | ||
| velocity = 0 | ||
| left.setVelocity(velocity) | ||
| right.setVelocity(velocity) | ||
| message = '' | ||
| print('Initializing ROS: connecting to ' + os.environ['ROS_MASTER_URI']) | ||
| robot.step(timeStep) | ||
| rospy.init_node('listener', anonymous=True) | ||
| print('Subscribing to "motor" topic') | ||
| robot.step(timeStep) | ||
| rospy.Subscriber('motor', Float64, callback) | ||
| pub = rospy.Publisher('sensor', Float64, queue_size=10) | ||
| print('Running the control loop') | ||
| while robot.step(timeStep) != -1 and not rospy.is_shutdown(): | ||
| pub.publish(sensor.getValue()) | ||
| print('Published sensor value: ', sensor.getValue()) | ||
| if message: | ||
| print(message) | ||
| message = '' | ||
| left.setVelocity(velocity) | ||
| right.setVelocity(velocity) |
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