Webots User Guide

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Foreword

Thanks

1.Installing Webots

2.Upgrading from Webots 2

3.Getting Started with Webots

4.Tutorial: Modelling and simulating your robot

5.Robot and Supervisor Controllers

6.Tutorial: Using the KheperaTM robot

7.ALife Contest

     

6.2 Running the simulation

Launch Webots: on Windows, double click on the lady bug icon, on linux, type webots in a terminal. Go to the File Open menuitem and open the file named khepera.wbt, which contains a model of a Khepera robot (see figure 6.2) associated with a Khepera controller (see figure 6.3). If the Khepera controller window do not show up, press the Step button in the main window of Webots.

khepera-world

Figure 6.2: Khepera example world

You can navigate in the scene using the mouse pointer. To rotate the scene, click on the left button and drag the mouse. To translate the scene, use the right button. To zoom and tilt, use the middle button. You may also use the mouse wheel to zoom in or out.

Using these controls, try to find a good view of the Khepera robot. You have probably noticed that clicking on an object in the scene would select it. Select the Khepera robot and choose the Simulation Robot View menuitem. This way, the camera will follow the robot moves. Then, click on the Run button to start up the simulation. You will see the robot moving, while avoiding obstacles.

To visualize the range of the infra red distance sensors, go to the File Preferences... menu item to pop up the Preferences window. Then, check the Display sensor rays check box in the Rendering tab.

khepera-controls

Figure 6.3: Khepera Controls

In the controller windows, the values of the infra-red distance sensors are displayed in blue, while the light measurement values are displayed in light green. You can also observe the speed of each motor, displayed in red and the incremental encoder values displayed in dark green (see figure 6.3).

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