From David Butterworth at Kaist on ROS-users
I've created some new packages for using the Webots simulator with ROS: http://www.ros.org/wiki/kaist_webots
webots_run Allows you to start Webots directly from a ROS launch file.
webots_joy_demo A new version of the Webots joystick teleop demo, using the C++ API.
Currently contains only a simple P controller with joint state publisher. The controller configuration is specified in a yaml file, making it easy to test new robot models.
Any suggestions or corrections are appreciated.