Webots controller7/6/2023 ![]() ![]() This is usually more realistic because most robots don't have a GPS and therefore have no mean of precisely determining their position. Lastly, the position of a robot can also be approximated by using odometry or SLAM techniques. Note that this function returns the position of the center of mass of the body, which may be different from the center of the Solid. Get position using a physics pluginĪfter adding a physics plugin to your world (under the WorldInfo node), you can retrieve the information directly from the physics engine by using ODE's dBodyGetPosition function. This is a simple example of C/C++ controller programming with Webots: a trivial collision avoidance behavior. From this web interface, users can program robots in Python and learn robot control in a step-by-step procedure. The kevobot (Khepera-kevopic simulator for Webots) package contains the so-called controller written in C and the world (physical description of the robot. To get the 3D position of any Transform (or derived) node using the Supervisor API you can use the wb_supervisor_node_get_position function.Īnother possible approach of getting the 3D position of any Transform (or derived) node placed at the root of the Scene Tree (the nodes visible when the Scene Tree is completely collapsed), is to use the wb_supervisor_field_get_sf_vec3f to read the value of the translation field of that object. Webots instances are running in the cloud and the 3D views are displayed in the user browser. It should also be noted that the GPS can be placed on a robot's part (arm, foot, etc.) to get the world/global coordinates of that particular part. Note that the GPS's resolution field must be 0 (the default), otherwise the results will be noisy. ![]() You can get a reference to this device using the wb_robot_get_device function, enable it with wb_gps_enable and retrieve the values with wb_gps_get_values. If one is not available already, you need to first add a GPS node to your robot. Get position using the robot's controller The simulation will auto-play, and your computer may not be able to handle it. As soon as the application loads, and before you do anything else, hit the pause button at the top. All the functions described below will return the 3D position in meters and expressed in the global (world) coordinate system. Once you have the dmg file, open it and copy it to your Application folder. Some of the key features of Webots include: Cross-platform windows, linux, mac. It integrates with ROS using ROS messages and services. There are different functions depending whether this information must be accessed in a normal controller, in a Supervisor controller or in a physics plugin. webotsros is a package that provides the necessary interfaces to simulate a robot in the Webots open-source 3D rigid body simulator for robots. ![]()
0 Comments
Leave a Reply. |