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In Webots R2021b there is a ros_control integration, so it allows you to utilize JointStateController and JointTrajectoryController controllers. Those two controllers are enough to integrate MoveIt. There is no need to code anything, just use the --use-ros-control flag:
https://cyberbotics.com/doc/guide/using-ros#using-the-standard-ros-controller

There is a tiago.launch simulation that you can use as an example:
https://github.com/cyberbotics/webots_ros/blob/master/launch/tiago.launch

P.S. If possible, I recommend you to switch to ROS 2 as we invest more efforts in the Webots ROS 2 interface.

In Webots R2021b there is a ros_control integration, so it allows you to utilize JointStateController and JointTrajectoryController controllers. Those two controllers are enough to integrate MoveIt. There is no need to code anything, just use the --use-ros-control flag:
https://cyberbotics.com/doc/guide/using-ros#using-the-standard-ros-controller

There is a tiago.launch simulation that you can use as an example:
https://github.com/cyberbotics/webots_ros/blob/master/launch/tiago.launch

P.S. If possible, I recommend you to switch to ROS 2 as we invest Cyberbotics invests more efforts in the Webots ROS 2 interface.

In Webots R2021b there is comes with a ros_control integration, so it that allows you to utilize JointStateController and JointTrajectoryController controllers. Those two controllers are enough to integrate MoveIt. get MoveIt running. There is no need to code anything, just use the --use-ros-control flag:
https://cyberbotics.com/doc/guide/using-ros#using-the-standard-ros-controller

There is a tiago.launch simulation that you can use as an example:
https://github.com/cyberbotics/webots_ros/blob/master/launch/tiago.launch

P.S. If possible, I recommend you to switch to ROS 2 as Cyberbotics invests more efforts in the Webots ROS 2 interface.