Environment

If you want to use ROSbot 2R replace the launchfile with rosbot_launch.py.

Run with `docker compose`

Select the ROSbot:

export ROBOT_NAME=rosbot # or rosbot_xl

To start simulation build and run webots simulator container type:

docker compose up

It will take a while because the container has to download required assets.

Wait until this messages show up in the Webots console.

INFO: 'rosbot' extern controller: connected.

INFO: 'Ros2Supervisor' extern controller: connected.

For visualization the ROSbots sensors run RViz2 in the another terminal:

docker compose -f compose.rviz.yaml up

Now you can use teleop_twist tool to drive ROSbot with keyboard. Enter rviz container in the new terminal:

docker exec -it rviz bash

Now, to teleoperate the ROSbot with your keyboard, execute:

ros2 run teleop_twist_keyboard teleop_twist_keyboard

Try webots mapping demo here.