# SDNYC-webots

**Repository Path**: RICS-Group/SDNYC-webots

## Basic Information

- **Project Name**: SDNYC-webots
- **Description**: No description available
- **Primary Language**: Python
- **License**: Not specified
- **Default Branch**: rospy
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 2
- **Forks**: 0
- **Created**: 2020-05-11
- **Last Updated**: 2023-07-14

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# SDNYC_WEBOTS
This repo implements a ros package for the webots simulation.

## Preliminary
- ROS version:    Melodic
- Webots verion:  2019a
- `webots_ros` package: https://github.com/cyberbotics/webots_ros

## How to use

### Installation

1. clone webots_ros repository to your catkin workspace

   ```shell
   mkdir -p ~/catkin_ws/src
   cd ~/catkin_ws/src
   git clone https://github.com/cyberbotics/webots_ros.git
   ```

2. clone this repository to your local folder (e.g. ~/Downloads)
    ```shell
    cd Downloads
    git clone --branch rospy https://gitee.com/RICS-Group/SDNYC-webots.git
    ```
    
2. install the package using the `install.sh` script:
    ```shell
    ./install.sh
    ```
    
3. build the `catkin_ws`:
    ```shell
    cd ~/catkin_ws
    catkin_make
    ```

### Run the simulation

1. source the `catkin_ws`, launch the webots world file, and spawn the simulated devices (camera, gps, etc.)

    ```shell
    . ~/catkin_ws/devel/setup.bash
    roslaunch sdnyc_webots sdnyc_webots.launch
    ```

2. if you want to control the off-road vehicle with keyboard, run the following controller:

   For position control:

   ```shel
   rosrun sdnyc_webots keyboard_pos_control.py output:=screen
   ```

   For speed control:

   ```shell
   rosrun sdnyc_webots keyboard_spd_control.py output:=screen
   ```

### Change world file

Currently there are three world files you can try. However, they are quite similar.

| World name    | File name         | Description                                         |
| ------------- | ----------------- | --------------------------------------------------- |
| Mars          | mars.wbt          | Mars-like mountain terrain (**Default world file**) |
| Old Six Wheel | old_six_wheel.wbt | The simple scene (old version)                      |
| Six Wheel     | six_wheel.wbt     | The simple scene (new version from master branch)   |

If you want to try other world file, use the following command to launch the simulation:

```shell
roslaunch sdnyc_webots sdnyc_webots.launch world_path:=$HOME/catkin_ws/src/sdnyc_webots/worlds/six_wheel.wbt
```