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webots_ros2

cyberboticsApache-2.0活跃维护

把 Webots 机器人仿真器和 ROS 2 打通的官方软件包，提供示例、定位、导航、SLAM 和运动规划接口，方便在仿真里快速搭建和调试机器人程序。

Webots ROS 2 packages

2025.0.0发布于 2025-02-18 14:04 UTC549star194fork同步于 2026-11-10 17:58 UTC
机器人仿真ROS 2SLAM运动规划导航
对比 GitHubexampleslocalizationmotion-planningnavigationrobot

怎么上手

由 README 提炼，执行前请确认
原文 
README 未给出安装命令，请参考 wiki 的 Getting Started 页面
硬件要求按 README 说明

README 未说明

下载：源码 zip·GitHub Releases（安装包）本站不镜像安装包

项目说明

由 README 自动翻译提炼
没人工点评？写下你的经验

把 Webots 3D 机器人仿真器接入 ROS 2 的接口包，用 ROS 2 消息、服务和动作驱动仿真机器人

把 Webots 机器人仿真器和 ROS 2 打通的官方软件包，提供示例、定位、导航、SLAM 和运动规划接口，方便在仿真里快速搭建和调试机器人程序。

核心能力

  • 提供 Webots 仿真器与 ROS 2 之间的接口包
  • 通过 ROS 2 消息、服务和动作与仿真机器人交互
  • 配套 Getting Started、示例、参考和教程文档
  • 基于 Apache 2.0 许可证开源

容易踩的坑

README 未给出安装步骤，需先按 wiki 的 Getting Started 配置环境；具体依赖与 Webots 版本要求 README 未说明

内容由模型根据 README 生成，可能不完整或不准确，以官方文档为准。看原文 README

最近发版

5 个版本2025.0.0
全部 release
  1. 2025.0.0最新正式版2025-02-18 · 2025-02-18 14:04 UTC

    Targets Webots R2025a

    Notable changes:

    • Created webots_ros2_husarion package.
    • Created webots_ros2_crazyflie package.
  2. 2023.1.22024-04-08 · 2024-04-08 16:11 UTC
    查看更新说明

    Targets Webots R2023b

    Notable changes:

    • Fixed errors showing up when launching moveit for ur5e.
    • Fixed nav2 turtlebot test failing very often.
    • Fixed build and tests for rolling.
    • Fixed deprecated ros_controls command: cmd_vel_unstamped.
    • Remove usage of deprecated resource manager method: activate_all_components().
    • Set is_urdf_loaded__ of the resource manager to true.
  3. 2023.1.12023-07-18 · 2023-07-18 12:59 UTC
    查看更新说明

    Targets Webots R2023b

    Notable changes:

    • Added deprecation message when declaring driver node in launch file.
    • Fixed RangeFinder activation to also check for point cloud subscriptions.
    • Added component remapping parameter to WebotsController to rename PROTO components.
    • Added animation_{start,stop}_recording services to Ros2Supervisor node.
    • Added /Ros2Supervisor namespace to Ros2Supervisor node.
    • Fixed Python plugin termination on SIGINT call or simulation ends.
  4. 2023.1.02023-07-05 · 2023-07-05 14:18 UTC
    查看更新说明

    Targets Webots R2023b

    Notable changes:

    • Added Ros2Pen static plugin.
    • Added support for Navigation2 in Iron.
    • Clean simulation reset in launch files.
    • Fixed Universal Robot trajectory interpolation.
    • Added new TIAGo project to webots_ros2_tiago to run real robot configuration.
    • Added new WebotsController node in the driver interface to launch robot controller plugins.
    • Fixed unfound robot window library in Tesla example.
    • Default to canonical topic name and fix camera_info stamp in Ros2Camera, Ros2RangeFinder.
    • Added VacuumGripper gripper support in webots_ros2_driver.
    • Added BoolStamped message in webots_ros2_msgs.
    • Added GetBool service in webots_ros2_msgs.
    • Fixed webots_ros2_control component activation.
  5. 2023.0.42023-05-25 · 2023-05-25 11:29 UTC
    查看更新说明

    Targets Webots R2023a

    Notable changes:

    • Dropped support for Foxy.
    • Added Iron support.
    • Fixed vertical field of view in static RangeFinder plugin.
    • Added support for painted point clouds
    • Fixed ability to launch RViz without other tools in e-puck example.
    • Fixed command line arguments in importer tools.
    • Added custom handler in driver interface to start nodes when Webots is ready.

用户点评

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    README 原文

    未翻译
    在 GitHub 打开

    Webots ROS2 Interface

    Test Status license - apache 2.0 Version

    webots_ros2 is a package that provides the necessary interfaces to simulate a robot in the Webots open-source 3D robots simulator. It integrates with ROS2 using ROS2 messages, services and actions.

    Webots

    Please visit the documentation that contains the following sections:

    Acknowledgements

    Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components. More information: rosin-project.eu

    This project has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement no. 732287.

    Supported by OpenDR - Open Deep Learning Toolkit for Robotics. More information: opendr.eu

    This project has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement no. 871449.

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