Tutorial Using Driver without Launch File

Sometimes the simulation is heavy and you don't want to start all nodes over and over again. Instead, you can accelerate the development by restarting the controller (the Webots ROS 2 driver) only.

To run the driver it is enough to pass a URDF file with Webots configuration in it:

ros2 run webots_ros2_driver driver \
	--ros-args \
	--param robot_description:="$(cat path_to_webots_config.urdf)" \

An example of more a complex command would look like this:

ros2 run webots_ros2_driver driver \
	--ros-args \
	--param robot_description:="$(cat src/webots_ros2/webots_ros2_turtlebot/resource/turtlebot_webots.urdf)" \
	--params-file src/webots_ros2/webots_ros2_turtlebot/resource/ros2control.yml \
	-r /diffdrive_controller/cmd_vel_unstamped:=/cmd_vel