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I'm currently trying to make the Connector Device work with ROS. My first step was to just take one of the robots of the "connector.wbt" world and place it in a new world and switching the robots controller argument to "ros"as one can see below.

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When I run the simulations all ROS services are advertised as expected. In the next step I enable the Connector using its corresponding service, where an integer needs to be specified (presence check Time Step) //presence_sensor/enable service as shown below:enter image description here

Now the topic is enabled, however no messages are published, while I'm expecting to see messages of type "webots_ros/Int8Stamped", which should give me zeros for the absence of a suitable connector.

enter image description here Is there any idea if the problems lies on my side? Is the Connector-Ros-Interface working properly for you if you recreate the above example?

Jan-Felix Klein
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You are completely right, there was indeed a problem with the ros-connector interface. This has been fixed just now here:

This fix will be included in the nightly build of today (R2019b revision 1, available from tomorrow morning) that you can find here:

Let us know if there are still problems.

David Mansolino
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  • Thank you for fixing the bug, I just tried it out with both (symmetric and active/passive connectors) and it seems to be working out as expected – Jan-Felix Klein Jul 03 '19 at 11:02