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Webots

Pre-reqs

Install Webots

This repo currently works with the 2022a version of webots (even though the latest is newer than that). You can install that version of Webots from: https://github.com/cyberbotics/webots/releases/tag/R2022a

Install Python and requirements

  1. The easiest way to install python and windows and get nice contained virtual environments is to use anaconda. Follow the installation instructions on this page: https://docs.anaconda.com/anaconda/install/windows/

  2. Once installation is complete, start an anaconda powershell prompt (hit your windows key and type "anaconda powershell" and it should come up as an option).

  3. Create a new environment for webots by running these commands (say yes when prompted):

conda create --name webots python=3.9
conda activate webots
  1. In your anaconda prompt, navigate (using cd) to the folder where this repo is cloned on your machine.
  2. In the root Webots repo directory run:
pip install -r requirements.txt
  1. Now we just need the path to this python environment so we can give it to the Webots program, to find that out, run:
Get-Command python | %{$_.Source}
  1. Copy what the above command returns; for me it was C:\Users\Alex\miniconda3\envs\webots\python.exe
  2. Open the Webots program and in the top menu go Tools -> Preferences and paste the above path into the "Python command" box in the middle

How to use

  1. Open RobotServer\worlds\frc_rectangle.wbt in Webots.
  2. This will start a supervisor on port 10001 that you can request robots be spawned from.

Using curl

Spawning a robot:

curl -XPOST localhost:10001/robot -d '{"template": "HttpRobotTemplate"}' --header "Content-Type: application/json"

which will return the port the new robot was spawned on (10002 for the first robot by default).

Then to send motor values to the robot:

curl -XPUT localhost:10002/motors -d '{"motors": [{"id": "Motor1", "val": 1.0}]}' --header "Content-Type: application/json"

Which will return the current sensor values for the robot.

Troubleshooting

Ubuntu 22.04

Since we are on Webots 2022a, the Debian installation for Webots would result in the following error when trying to download textures on 22.04:

WARNING: RectangleArena (PROTO) > Parquetry (PROTO) > ImageTexture: Cannot download
  • The reason is that the 2022a's version of libssl is incompatible w/ Ubuntu 22.04 as 2022a is written for 20.04.

Run through the following fixes:

  1. Install a newer version of libssl that is compatible with 2022a.
wget https://cyberbotics.com/files/repository/dependencies/linux64/release/libssl_1.1.tar.xz -O /tmp/libssl_1.1.tar.xz
  1. Unzip the tar.xz file
tar xvf /tmp/libssl_1.1.tar.xz -C /tmp
  1. Move openssl-1.1/ into webots directory. (NOTE: /usr/local/ is the default installation directory but change path to where webots is installed)
mv /tmp/openssl-1.1/* /usr/local/webots/lib/webots

Windows