In your robot controller, you can read the odor and the wind sensors as follows (see controllers/odor_test/odor_test. The properties of the sensors (as well as all other properties of the simulation model) are configured directly in the odor simulation plugin.
I am trying to simulate a humanoid soccer robot in webots. You may have noticed that the above code does not contain any sensor configuration values (e.g. I want to have a controller that somehow runs 3 processes to run the robots code. This name is used by the robot controller to find the sensor. We conceived a system that allows a Webots user to control both a real Sony Aibo robot and its physical simulation. Controllers are stored in subdirectories of the Webots. Note the name property which is here set to "sensor_odor" and "sensor_wind" respectively. A controller is an executable binary file which is used to control a robot described in a world file. your Khepera III robot number 1 could have the following odor and wind sensors configured in the world file (see worlds/odor_test.wbt for an example): (For more sensors, the corresponding definition in the odor_physics plugin can be modified.)Į.g. In particular I recommend taking a look into the.
WEBOTS CONTROLLER HOW TO
The Webots User Guide provides extensive guidance on how to setup and interface with the platform. Users can develop their own controller in C, C++, Java, Python or MATLAB programming.
WEBOTS CONTROLLER SOFTWARE
The magic DEF names for our sensors are SENSOR_ODOR_# and SENSOR_WIND_#, where the # has to be replaced by a unique number between 1-16. Since you already have controller code written for the physical robot, I recommend creating a set of adapters so you can run the same code in Webots, instead of rewriting everything from scratch. Webots is a professional mobile robot simulation software package.
An example of this can be found in the files worlds/odor_test.wbt (world file) and controllers/odor_test/odor_test.cpp (robot controller).Īdding an Odor and a Wind Sensor on the Robot Ī general sensor in Webots can simply be created by adding a receiver object with a special DEF name onto the robot. Using the sensors on a robot (or elsewhere in the environment) requires adding a sensor object onto the robot, and then reading the value of this sensor object in the robot controller.
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