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Controllers for Robot in Webots using MoveIT and ROS

asked 2021-08-21 08:16:05 -0600

Sebastian_ROS gravatar image

I created a robot for Webots which im trying to control using MoveIT via ROS. For that I created a python-node, based on the webots_ros package, which reads the joint-state-publisher and sets the joint positions in Webots.

My Problem is that I’m not able to publish the simulation results of each timestep back to MoveIT (or it’s move-group).

Is there something similar to the controllers which are normally used in ROS if MoveIT controls a robot which is simulated in Gazebo? Or is there an other approach?

Plattform: Ubuntu 18.04 LTS, ROS Version: ROS Melodic, Webots: Webots 2021b

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answered 2021-08-23 07:29:23 -0600

lukicdarkoo gravatar image

updated 2021-08-23 07:31:02 -0600

Webots R2021b comes with a ros_control integration, that allows you to utilize JointStateController and JointTrajectoryController controllers. Those two controllers are enough to get MoveIt running. There is no need to code anything, just use the --use-ros-control flag:

There is a tiago.launch simulation that you can use as an example:

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

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Last updated: Aug 23 '21