Provide a webots simulation

[francocipollone]

Summary

Provide a webots simulation.

Base the implementation using webots_ros2. The description from noah_description might be necessary to be extended in order to use webots references instead of gazebo ones.

To identify/investigate

• webots_ros2 provides a way to spwan urdf in runtime. We might to identify if there can be used webots references or we should use ros2 control to correctly work with the simulation.

Definition of done

• Provide a noah_webots package for the webots simulation
• Import URDF from noah_description on runtime
• Launchfiles should be provided to run the simulation

[francocipollone]

Useful links

• https://github.com/cyberbotics/webots_ros2/wiki/Tutorial-Ros2Supervisor-Refresh-or-Add-a-Urdf-Robot
• https://github.com/cyberbotics/webots_ros2/wiki/References-Devices
• https://control.ros.org/master/doc/getting_started/getting_started.html#hardware-description-in-urdf

[IDavGal]

Project milestones:

• Create the noah_webots package
  • Launch a simple world in Webots using a ROS2 launchfile
  • Spawn Noahbot from a plain URDF description in Webots
• Create webots URDF for Noahbot
• Control Noahbot using diff drive
• Spawn Noahbot on runtime
• Create a functional custom plugin example
• Write comparative document for Noahbot sim in Webots vs Gazebo