webots_ros2_ld90

• URDF Source: https://github.com/OmronAPAC/Omron_LD_ROS_Package

How to use this

mkdir my_ros2_ws
cd my_ros2_ws
git clone https://github.com/inmo-jang/webots_ros2_ld90.git
git clone https://github.com/cyberbotics/webots_ros2.git

• Remove any unnecessary packages in webots_ros2, such as webots_ros2_importer

colcon build
source install/local_setup.bash
ros2 launch webots_ros2_ld90 robot_launch.py

Webots with worlds

ros2 launch webots_ros2_ld90 robot_launch.py world:=no_human.wbt

Keyboard Teleoperation (Optional)

ros2 run teleop_twist_keyboard teleop_twist_keyboard

Rviz

At your workspace

ros2 run rviz2 rviz2 -d ./webots_ros2_ld90/resource/nav2_view.rviz

Nav2 with SLAM Mode

ros2 launch nav2_bringup bringup_launch.py params_file:=webots_ros2_ld90/resource/nav2_params.yaml map:=my_map.yaml slam:=True

Nav2 with Localisation Mode

At your workspace

ros2 launch nav2_bringup bringup_launch.py params_file:=webots_ros2_ld90/resource/nav2_params.yaml map:=webots_ros2_ld90/resource/contest.yaml

Voxel Visualisation

ros2 run nav2_costmap_2d nav2_costmap_2d_markers voxel_grid:=/global_costmap/voxel_grid visualization_marker:=/global_cost_map_voxel

• This version can avoid unseen obstacles!