Authors

• Davide Texeira 202109860
• Pedro Oliveira 202108669
• Tomás Palma 202108880

Directory structure

• The URDF robot definition file is in the resources folder.
• The world definition is in the my_world.wbt file inside of the worlds folder.
• The robot code modules in C++ are inside the src folder.
• The custom controller position_track is inside the controllers/ folder. However, in running we had to put it inside a folder called /usr/local/webots/resources/projects/controllers/position_track

Requirements

• Webots
• Ros2 Jazzy

Compile

colcon build
source install/local_setup.bash
ros2 launch ri_assign1 robot_launch.py