Tutorial Ros2Supervisor Node

In order to expand the field of possibilities for his interface with ROS 2, Webots has developed a new custom ROS 2 node named Ros2Supervisor. As the name suggests, this ROS 2 node is controlling a Supervisor robot that is automatically added to every simulation launched by the WebotsLauncher process. Therefore the Ros2Supervisor node has to be started for each simulation.

This node enables Webots to propose new features, which will be documented as they are implemented on this page.

Notes: The /clock topic that was published by the webots_ros2_driver node is now published by Ros2Supervisor.

You can look here how to start this node in a launch file.

List of Features

You can find below the features related to the Ros2Supervisor node:

• Import your URDF Robot in Webots
• Refresh or Add URDF a Robot in a Running Simulation
• Record a HTML5 animation:
  • ros2 service call /Ros2Supervisor/animation_start_recording webots_ros2_msgs/srv/SetString "{value: "<ABSOLUTE_PATH>/index.html"}"
  • ros2 service call /Ros2Supervisor/animation_stop_recording webots_ros2_msgs/srv/GetBool "{ask: True}"