Modellsimulation in Webots und Simulationen mit ROS2: Unterschied zwischen den Versionen

Version vom 8. Februar 2022, 14:00 Uhr

Autoren: Arfat Kamal
Betreuer: Prof. Schneider
Art: Praxissemester
Projektlaufzeit: 02.11.2021-20.02.2022

Introduction

In order to simulate, a 3D model of a 4 wheeled robot is created inside Webots first. That robot is simulated with a controller which is written in C inside the text editor of Webots. That robot is later imported in Webots in Ubuntu and customised with a servo, an ultrasonic sensor and a caster wheel to resemble the Alphabot robot of our project. Finally, it is programmed with ROS2 and it runs in Webots as an obstacle avoiding robot.

Overview

Documentation

Creation of a 3D Model of a 4-Wheeled-Robot in Webots

A robot is created in Webots from scratch by following the tutorial 6 in Cyberbotics. The robot consistes of a body, 4 wheels and two distance sensors(IR sensors). The figure above shows the 3D view of the end result.

Demo-Programs

Software

Summary

Weiterführende Links

→ zurück zum Hauptartikel: Praxissemester Projektteam WS2021

@@ Zeile 7: / Zeile 7: @@
 [[Datei:Simulation Cover.png|thumb|rechts|mini|500px|Abb. 1 AlphaBot Simulation in Webots]]
 == Introduction ==
@@ Zeile 19: / Zeile 17: @@
 [[Datei:4-Wheeled-Robot.png|thumb|links|mini|300px|Abb. 2 - 3D view of 4-Wheeled-Robot]]
 <br clear=all>
-A robot is created in Webots from scratch. The robot consistes of a body, 4 wheels and two distance sensors(IR sensors). The figure above shows the end result.
+A robot is created in Webots from scratch by following the [https://cyberbotics.com/doc/guide/tutorial-6-4-wheels-robot tutorial 6] in Cyberbotics. The robot consistes of a body, 4 wheels and two distance sensors(IR sensors). The figure above shows the 3D view of the end result.
 === Demo-Programs ===