webot_digital_twin

Instruction to install Webot Digital Twin Package

Building the Project

Basic Ubuntu ROS Setup

• Install Ubuntu 20.04 (Preferred)
• Install ROS Noetic http://wiki.ros.org/noetic/Installation/Ubuntu

Create workspace and clone repository

• Create a new workspace folder and src/ subfolder, e.g. mkdir -p ~/layup_ws/src
• Clone this repo into the src/ folder of the workspace e.g. git clone https:://gi... name-of-local-git-folder

Webots installation

Please install webots prior launching the package, The recommended webots version is R2022a

MoveIt! installation

Please install Moveit using Moveit Tutorial before installation of Webots: https://ros-planning.github.io/moveit_tutorials/doc/getting_started/getting_started.html

Addition package installation

URDF installation

• Please clone repo abb_experimental in the same directory as webot_digital_twin: https://github.com/ros-industrial/abb_experimental
• Please clone repo abb_resource in the same directory aswebot_digital_twin: https://github.com/PickNikRobotics/abb_ros2/tree/rolling/abb_resources
• Pleae clone repo epson_experiemental in the same directory as webot_digital_twin: https://github.com/gavanderhoorn/epson_experimental
• Please clone repo iiwa_stack_cam in the same directory as webot_digital_twin: https://github.com/RROS-Lab/iiwa_stack_cam
• Remember to catkin build after complete with cloning all repository

Digital Twin

TO access digital twin

• Use roslaunch zhao_Webots_MSEC_project digital_twin_features.launch to launch the webots with digital twin features.
• Use roslaunch robot_cell_moveit_simulation demo.launch for launching the MoveIt! after webot finished.
• Drag the end effector of any planning group and hit planning and execute
• Press arrow 'up' in the webots windows for displaying current joint position of the robot, Press arrow 'down' in the webots windows for displaying the motion planing joint position of the robot