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fsai_ws_training/docs/webots.md

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Webots

You are able to use Webots without ROS if you desire. This can be useful if you want to test out an idea but when it comes to running code on the real Coventry FSAI vehicle you have to have it working in ROS.

If you want to know more about using Webots without ROS go and do the official Webots tutorials.

To setup a Webots environment so that it will talk to ROS.

  • Open Webots.
  • Open a Webots world.
    • File -> Open World
    • This repository contains examples, e.g. `src/webots_fsai/worlds/simple_2022.wbt.
  • Make sure that the simulated robot controller is set to <extern>.
    • Open the robot's entry in the Scene Tree on the left hand side, probably FsaiVehicle_2022 or similar.

Being set to <extern> will allow us to control the robot using an external program, i.e. ROS.