Yes, there are some resources available that can help you transition from Gazebo to Webots or set up existing ROS 2 robots in Webots.

Firstly, the official ROS2 documentation has a tutorial on how to set up a basic Webots simulation with ROS2, which can be found at https://docs.ros.org/en/rolling/Tutorials/Advanced/Simulators/Webots.html. This tutorial provides step-by-step instructions on how to set up a simple Webots simulation and interface it with ROS 2.

Additionally, the webots_ros2 package has several resources available that could be helpful. As you mentioned, there are some examples available that show how to use Webots with other ROS 2 packages like ros2_control, cartographer, etc. webots_ros2_universal_robot shows how to import your robot from a Xacro file and use it in the Webots simulation.

Moreover, the webots_ros2 wiki page contains explanations on the examples and how to use them. There are also more advanced tutorials that cover a range of topics, including how to set up an existing ROS 2 robot in Webots. These pages can be accessed at https://github.com/cyberbotics/webots_ros2/wiki.

We are currently working on moving these wiki pages to the official ROS 2 documentation for more visibility.

Disclaimer: I am a Webots developer working at Cyberbotics.

Yes, there are some resources available that can help you transition from Gazebo to Webots or set up existing ROS 2 robots in Webots.

Firstly, the official ROS 2 documentation has a tutorial on how to set up a basic Webots simulation with ROS 2, which can be found at https://docs.ros.org/en/rolling/Tutorials/Advanced/Simulators/Webots.html. This tutorial provides step-by-step instructions on how to set up a simple Webots simulation and interface it with ROS 2.

Additionally, the webots_ros2 package has several resources available that could be helpful. As you mentioned, there are some examples available that show how to use Webots with other ROS 2 packages like ros2_control, cartographer, etc. webots_ros2_universal_robot shows how to import your robot from a Xacro file and use it in the Webots simulation.

Moreover, the webots_ros2 wiki page contains explanations on the examples and how to use them. There are also more advanced tutorials that cover a range of topics, including how to set up an existing ROS 2 robot in Webots. These pages can be accessed at https://github.com/cyberbotics/webots_ros2/wiki.

We are currently working on moving these wiki pages to the official ROS 2 documentation for more visibility.

Disclaimer: I am a Webots developer working at Cyberbotics.