{"id":51100648,"url":"https://github.com/robotnikautomation/robotnik_webots","last_synced_at":"2026-06-24T10:01:54.205Z","repository":{"id":315410228,"uuid":"1059380962","full_name":"RobotnikAutomation/robotnik_webots","owner":"RobotnikAutomation","description":"ROS2 package to run webots simulation with Robotnik robots","archived":false,"fork":false,"pushed_at":"2026-05-07T10:57:41.000Z","size":17388,"stargazers_count":2,"open_issues_count":0,"forks_count":0,"subscribers_count":0,"default_branch":"main","last_synced_at":"2026-05-07T12:40:52.450Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"apache-2.0","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/RobotnikAutomation.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null,"notice":null,"maintainers":null,"copyright":null,"agents":null,"dco":null,"cla":null}},"created_at":"2025-09-18T11:18:32.000Z","updated_at":"2026-05-07T10:57:43.000Z","dependencies_parsed_at":"2025-09-18T21:17:31.823Z","dependency_job_id":null,"html_url":"https://github.com/RobotnikAutomation/robotnik_webots","commit_stats":null,"previous_names":["robotnikautomation/robotnik_webots"],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/RobotnikAutomation/robotnik_webots","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/RobotnikAutomation%2Frobotnik_webots","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/RobotnikAutomation%2Frobotnik_webots/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/RobotnikAutomation%2Frobotnik_webots/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/RobotnikAutomation%2Frobotnik_webots/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/RobotnikAutomation","download_url":"https://codeload.github.com/RobotnikAutomation/robotnik_webots/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/RobotnikAutomation%2Frobotnik_webots/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":286080680,"owners_count":34724756,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2026-05-26T15:22:16.424Z","status":"online","status_checked_at":"2026-06-24T02:00:07.484Z","response_time":106,"last_error":null,"robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":true,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2026-06-24T10:01:52.388Z","updated_at":"2026-06-24T10:01:54.188Z","avatar_url":"https://github.com/RobotnikAutomation.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"# robotnik_webots\n\nThis package provides integration and launch files for simulating Robotnik robots in the Webots simulator (lastly tested webotsR2025a version for ROS2 Jazzy).\n\n## Structure\n- `launch/`: ROS 2 launch files for spawning robots and worlds in Webots.\n- `protos/`: Custom Webots PROTO files for robot models.\n- `resource/`: Robot resources, including URDF, configuration files, and meshes.\n- `robotnik_webots/`: Python package directory (can be used for ROS 2 nodes or utilities).\n- `worlds/`: Webots world files.\n\n## Requirements\n- ROS 2 Jazzy or Humble\n- Webots simulator version: R2023b\n- Tested with Python 3.12.3\n\n## Usage\nInstall required packages to run this package:\n\n```bash\npython3 -m pip install --user catkin_pkg\n\nsudo apt install -y ros-$ROS_DISTRO-geometry-msgs ros-$ROS_DISTRO-webots-ros2 ros-$ROS_DISTRO-webots-ros2-driver ros-$ROS_DISTRO-webots-ros2* ros-$ROS_DISTRO-controller-manager ros-$ROS_DISTRO-control-msgs ros-$ROS_DISTRO-control-toolbox ros-$ROS_DISTRO-controller-interface ros-$ROS_DISTRO-joint-state-broadcaster ros-$ROS_DISTRO-joint-trajectory-controller ros-$ROS_DISTRO-teleop-twist-keyboard ros-$ROS_DISTRO-rqt-joint-trajectory-controller\n```\n\nYou also should clone install robotnik_common package next to this package. To build this package with ROS 2 and colcon execute:\n\n```bash\ncd /path/to/your/workspace/src\ngit clone https://github.com/RobotnikAutomation/robotnik_webots.git\ngit clone https://github.com/RobotnikAutomation/robotnik_common.git\ncd ..\nsudo rosdep init \u0026\u0026 rosdep update \u0026\u0026 rosdep install --from-paths src --ignore-src -r -y\ncolcon build --symlink-install\n```\n\n\n## Launch files and arguments\n\n### 1. Launch the Webots world\n\n```bash\nros2 launch robotnik_webots spawn_world.launch.py\n```\n\u003c!--\nor with the new launch file:\n```bash\nros2 launch robotnik_webots new_spawn_world.launch.py\n```\n--\u003e\n\n#### Arguments for `spawn_world.launch.py` \n\u003c!--\nand `new_spawn_world.launch.py`\n--\u003e\n\n- `world`: Name of the world file (without extension). Default: `default_world`\n- `world_path`: Full path to the world file. Default: `\u003cpackage_share\u003e/worlds/\u003cworld\u003e.wbt`\n- `gui`: Launch Webots with GUI (`true`/`false`). Default: `true`\n\n**Examples:**\n\nLaunch a specific world:\n```bash\nros2 launch robotnik_webots spawn_world.launch.py world:=my_custom_world\n```\n\nLaunch headless (no GUI):\n```bash\nros2 launch robotnik_webots spawn_world.launch.py gui:=false\n```\n\n### 2. Spawn a robot in Webots\n\n```bash\nros2 launch robotnik_webots spawn_robot.launch.py\n```\n\n#### Arguments for `spawn_robot.launch.py`\n\n- `robot_id`: Robot personal name. Default: `robot`\n- `robot`: Robot model (e.g., `rbwatcher`, `rbvogui`, `rbkairos`, `rbtheron`, `rbsummit`). Default: `rbwatcher`\n- `robot_model`: Robot type variation. Default: value of `robot`\n- `x`, `y`, `z`: Initial position in the world. Default: `0.0`\n- `run_rviz`: Launch RViz2 (`true`/`false`). Default: `false`\n\n**Examples:**\n\nSpawn a robot at a specific position:\n```bash\nros2 launch robotnik_webots spawn_robot.launch.py x:=2.0 y:=1.0 z:=0.0\n```\n\nSpawn a robot with a custom name and model:\n```bash\nros2 launch robotnik_webots spawn_robot.launch.py robot:=rbkairos robot_id:=rbkairos1\n```\n\nSpawn a robot and launch RViz2:\n```bash\nros2 launch robotnik_webots spawn_robot.launch.py run_rviz:=true\n```\n\nExample of cmd_vel command to interact with robot:\n```bash\nros2 topic pub /rbkairos1/diffdrive_controller/cmd_vel geometry_msgs/msg/TwistStamped \"{twist:{linear: {x: 2.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 2.0}}}\" -r 500\n```\n\n## Known issues\n - Webots simulator in versions R2025 seem to have issues with compatibility with current versions of proto files. Therefore we recommend using older version R2023b.\n\n## License\nSee the LICENSE file for details.\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Frobotnikautomation%2Frobotnik_webots","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Frobotnikautomation%2Frobotnik_webots","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Frobotnikautomation%2Frobotnik_webots/lists"}