Getting Started

This guide gives you a minimal set of instructions to install the complete webots_ros2 package and run a demo.

Check the Complete Installation Guide for more details about installing webots_ros2 from sources and different installation methods of Webots for Linux, Windows and macOS.

A tutorial on how to create a custom Webots - ROS 2 simulation can be found on the official ROS 2 documentation.

Installation

Install webots_ros2 package using a package manager:

sudo apt-get install ros-$ROS_DISTRO-webots-ros2

Windows: From Webots R2023a, webots_ros2 must be installed and started in a WSL (Windows Subsystem for Linux) environment on Windows. Please follow the Windows Installation Guide for more information.

macOS: On macOS, a solution based on Docker containers allows to run the package on a Linux platform, while Webots runs on the host machine. Please follow the macOS Installation Guide for more information.

Try the Demo

There are many examples shipped within the webots_ros2 package, but you can try for example:

ros2 launch webots_ros2_universal_robot multirobot_launch.py

ROS2 Environment: Make sure your ROS2 environment is sourced (source /opt/ros/$ROS_DISTRO/setup.bash).

Webots Installation: If you don't have the correct version of Webots installed the package will offer an automatic installation. In that case, you will need to re-run the command once Webots is installed and configured.

This command will launch Webots simulation with two robotics arms, ABB and UR5e, moving cans.