ros2webots

Simulation on Webots, Development with ROS2!

In

``` repo, we are creating simulated robots and environments in Webots, that are controlled by ROS2. The whole simulation (Webots world setup + ROS2-based software of the robot) is done in one ROS2 package.

Currently the repo hosts two ROS2 packages:

- 
```ros2webots_rosbot
```: A rosbot is used in this world. The future development and simulation feature improvement will be mainly done in this package, as rosbot has many sensors like Camera, Lidar, and IMU; Also, the 
```ros2webots_rosbot
``` package building is done by 
```ament_cmake
```, that makes it easier for C++ based development.
![alt world of rosbot](https://github.com/MJavadZallaghi/ros2webots/blob/main/ros2webots_rosbot/worlds/.world_roboticknowledge.jpg)
- 
```ros2webots_turtlebot
```: The world has a turtlebot, and package has been build using 
```ament_python
``` for initial ROS2+Webots interface setup tests.



## Demo
- ROSBot with a way point tracker

![alt ROSBot with a way point tracker](https://github.com/MJavadZallaghi/media_ros2webots/blob/main/media/Zallaghi_ros2webots_wayPointTracker_edit_0_edit_0.gif)

- ROSbot localization node
  
[![IMAGE ALT TEXT HERE](https://img.youtube.com/vi/x2v0zY_rH44/0.jpg)](https://www.youtube.com/watch?v=x2v0zY_rH44)

- Controlling the rosbot by keyboard
  
![alt demo of robot controlled by keyboard](https://github.com/MJavadZallaghi/media_ros2webots/blob/main/media/ros2webots_rosbot_demo_keyboard_control.gif)


## Installation
### Install directly
I assume you have installed Ubuntu 22.04 as OS or installed on Windows WSL2.

1. Install [ROS2 iron](https://docs.ros.org/en/iron/Installation.html)
2. Install [Webots](https://cyberbotics.com/doc/guide/installing-webots). If you are working on WSL2, then you can install Webots on windows as 
```webots_ros2
``` package can find your installation by a 
```WEBOTS_HOME
``` variable. Don't worry, eveything is explain the the reference of step 3.
3. Install [
```webots_ros2
```](https://docs.ros.org/en/iron/Tutorials/Advanced/Simulators/Webots/Simulation-Webots.html) package.
4. Clone the repo whereever you want:
   

git clone https://github.com/MJavadZallaghi/ros2webots.git

5. change directory to the workspace of the cloned package:
   

cd ros2webots

6. Source your ros2 installation:
   

source /opt/ros/iron/setup.bash

7. Build the package.
   

colcon build

8. Source 
```ros2webots
``` installed packages:
   

source install/setup.bash

8. Check the installation:

ros2 pkg list |grep ros2webots

You must see this package: 
```ros2webots_rosbot

Install using Docker

Docker image of the ros2webots package is under construction!

Run the simulations

• sim 1: rosbot controlled by a waypoint tracker
  1. Run the rosbot wprld in terminal and see how the Football ball are being passed by the ROSBot:

   ros2 launch ros2webots_rosbot rosbot_world_launch.py
   

Roadmap

• Visualized the rosbot using rviz2 of foxglove with it’s frames, sensor data, etc.
• Implment IMU + Wheel based locallization fir the rosbot and visualize its path.
• Implement KF for the IMU acceleration fussion with odometry data and increase the localization accuracy.
• Develop a mapping node for the rosbot for environment mapping.
• Implement a go-to-point controller for the ROSbot

Support and Feedback

For any support and feedback, email MohammadJavadZallaghi@gmail.com or use issues section of this repo.

License

MIT

Authors

• @MJavadZallaghi

Acknowledgements

• ros2webots is created based on the Webots and ROS2 interface, that is possible by using webots_ros2 package. webots_ros2 is a package that provides the necessary interfaces to simulate a robot in the Webots open-source 3D robots simulator. (https://github.com/cyberbotics/webots_ros2)