Webots tutorial for nao3/8/2024 In the ROS2 driver, data from the sensors is published as sensor_msgs/Illuminance message (unit is lux) and you can subscribe to it as follows: ros2 topic echo /ls1 The same infra-red sensors act as light sensors. You can test it as: ros2 topic echo /scan Therefore, you can obtain a distance from a sensor as follows: ros2 topic echo /ps1īesides infrared sensors, e-puck2 is upgraded with a long-range ToF sensor positioned just above the camera.ĭata from this sensor is also exposed through the sensor_msgs/Range topic with the name tof.Īll distance sensors are combined to create sensor_msgs/LaserScan so you can use it directly in SLAM packages. Infra-red, Light Sensors, and LEDsĮ-puck2 has 8 infra-red sensors (named as ps0-7) all of which are mapped to the same name ROS2 topics of type sensor_msgs/Range. When you have the ROS2 driver running you can proceed with the tutorials. This launch file starts the e-puck driver for the physical robot: ros2 launch epuck_ros2 robot_launch.py In RViz2, you may want to change Global Options > Fixed Frame to odom if you don't have a publisher publishing transforms between odom and map frames. The launch file starts Webots and ROS2 driver: ros2 launch webots_ros2_epuck robot_launch.pyįor convenience, you can also launch rviz, e.g.: ros2 launch webots_ros2_epuck robot_launch.py rviz:=true This will ensure that access to sensors and actuators is exposed through the ROS2 API. ![]() ![]() Please make sure that you have the robot driver running. This documentation is common for the physical ( epuck_ros2) and simulated ( webots_ros2_epuck) robot. Here you will find instructions on how to use the e-puck ROS2 API. E-puck is a miniature mobile robot originally developed at EPFL for teaching purposes by the designers of the successful Khepera robot.
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