Modellsimulation in Webots und Simulationen mit ROS2: Unterschied zwischen den Versionen
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'''Projektlaufzeit:''' 02.11.2021-20.02.2022 | '''Projektlaufzeit:''' 02.11.2021-20.02.2022 | ||
[[Datei:Simulation Cover.png|thumb|rechts|mini| | [[Datei:Simulation Cover.png|thumb|rechts|mini|425px|Abb. 1 AlphaBot Simulation in Webots]] | ||
== Introduction == | == Introduction == | ||
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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. | 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. | ||
'''Co-ordinate System''' | |||
[[Datei:co-ordinates.png|thumb|links|mini|300px|Abb. 3 - Co-ordinates]] | |||
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=== Demo-Programs === | === Demo-Programs === | ||
Version vom 8. Februar 2022, 13:24 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.
Co-ordinate System
Demo-Programs
Software
Summary
Weiterführende Links
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