tiago_webots_ros2

Metapackage with TIAGo robot definitions for Webots simulator with ROS2 interface

Description

Main contribution of this repository is ready-to-use TIAGo Iron robot driver for Webots with ROS2 interface. The metapackage is based on turtlebot3 metapackage for ROS2 with a great effort of renan028, who tuned the navigation parameters.

Since basic WebotsDifferentialDrive node does not publish all joints' Transform Frames (tf2_ros), therefore some of the transformations are hard-coded based on .proto file translation and rotation values.

One may notice that a custom .proto for Hokuyo Lidar was defined (based on Cyberbotics' HokuyoUrg04lxug01.proto). This is due to the fact that default Hokuyo URG-04LX-UG01 has a wider fieldOfView than the mobile base construction allows. Therefore, edges of the Lidar niche were marked as obstacles in a costmap.

Launch

Default, intralogistics world:

ros2 launch tiago_webots_ros2_driver tiago_webots.launch.py
ros2 launch tiago_webots_ros2_navigation tiago_navigation.launch.py use_sim_time:=true

Example world known from TurtleBot3 simulation:

ros2 launch tiago_webots_ros2_driver tiago_webots.launch.py world:=$(ros2 pkg prefix tiago_webots_ros2_driver --share)/worlds/turtlebot3_burger_example.wbt
ros2 launch tiago_webots_ros2_navigation tiago_navigation.launch.py use_sim_time:=true map:=$(ros2 pkg prefix tiago_webots_ros2_driver --share)/resource/map/turtlebot3_burger_example.yaml

TODOs

• TODO: prep rviz for driver pkg
• TODO: how to get a perfect map of the world?
• TODO: transforms to caster links
• TouchSensor driver