First commit, tested on kinetic

CMakeLists.txt

+cmake_minimum_required(VERSION 2.8.3)
+project(webots_run)
+
+set(EXECUTABLE_NAME "start_webots")
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  std_msgs
+)
+
+## Catkin package
+catkin_package(
+  INCLUDE_DIRS src
+  LIBRARIES ${PROJECT_NAME}
+  CATKIN_DEPENDS roscpp std_msgs
+)
+
+include_directories(include
+  ${catkin_INCLUDE_DIRS}
+  src
+)
+
+## Declare a C++ executable
+add_executable("${EXECUTABLE_NAME}" src/start_webots.cpp)
+
+## Specify libraries to link a library or executable target against
+target_link_libraries("${EXECUTABLE_NAME}"
+  ${catkin_LIBRARIES}
+)

README.md

-# webots_ros
-Isolated webots_run package from kaist_webots
+# webots_run
+Isolated webots_run package from kaist_webots. Also _catkinized_ :)

launch/test_world.launch

+<launch>
+    <!-- Run the 'start_webots' executable from the 'webots_run' package, node name 'webots' -->
+    <node pkg="webots_run" type="start_webots" args="$(find webots_run)/worlds/test_world.wbt"
+    name="webots" output="screen" required="true" />
+</launch> 
+

package.xml

+<?xml version="2.0"?>
+<package>
+  <name>webots_run</name>
+  <version>0.0.0</version>
+  <description>
+	Starts the <a href="http://www.cyberbotics.com">Webots</a> Simulator using a system() call, so Webots can be run directly from a roslaunch file.
+	The Webots world file is specified as an argument in the launch file.
+
+	Based on webots_run from kaist_webots package. 
+  </description>
+
+  <maintainer email="mmattamala@ing.uchile.cl">Matias Mattamala</maintainer>
+  <author>David Butterworth</author>
+
+  <!-- License -->
+  <license>BSD</license>
+
+  <!-- Dependencies -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <run_depend>roscpp</run_depend>
+  <run_depend>std_msgs</run_depend>
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

src/start_webots.cpp

+/*
+ *  start_webots.cpp
+ *
+ *  Starts the Webots Simulator using a system() call, so Webots can be 
+ *  started from a roslaunch file.
+ *
+ *  Date: September 2012
+ *  Authors: David Butterworth
+ *  
+ */
+
+/*
+ * Copyright (c) 2012, David Butterworth, KAIST
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the Willow Garage, Inc. nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include <ros/ros.h>
+#include <iostream> // stringstream
+
+/*
+Define Webots executable name. 
+The full path will come from the PATH environment variable.
+Prefix with 'optirun' for Linux NVidia Bumblebee graphics driver
+
+Webots command line arguments: 
+   --minimize    
+   --mode=run
+   --mode=stop
+   (http://www.cyberbotics.com/dvd/common/doc/webots/guide/section2.2.html)
+*/
+
+#define WEBOTS_EXECUTABLE "webots --mode=run"
+//#define WEBOTS_EXECUTABLE "optirun webots --mode=run"
+
+//----------------------------------------------------------------------------//
+
+int main(int argc, char **argv)
+{
+    // node name: webots
+    ros::init(argc, argv, "webots");
+
+    if ( argc != 2 ) 
+    {
+        // no additional arguments, start Webots with previously opened world
+        ROS_INFO("Starting Webots simulator... \n");
+        if (system(WEBOTS_EXECUTABLE)) {}
+    } 
+    else 
+    {
+        // additional arguments:
+        // argv[0] is full path to this ROS Node
+        // argv[1] is full path to world file
+        // argv[2] is full path to ROS log file
+        ROS_INFO("Starting Webots simulator... ");
+        ROS_INFO("Loading world: %s \n", argv[1]);
+
+        std::stringstream ss;
+        ss << WEBOTS_EXECUTABLE << " " << argv[1];
+        if (system( ss.str().c_str() )) {}
+    }
+
+    // No need to ros::spin()
+    // When we quit Webots, ROS will register
+    // that the webots node is shutting down.
+
+    return 0;
+}
+
+

worlds/.test_world.wbproj

+Webots Project File version 8.6
+perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000001fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000005400ffffff00000001000001240000032cfc0200000001fb0000001400540065007800740045006400690074006f007201000000000000032c0000003c00ffffff000000030000073f000000d8fc0100000001fb0000000e0043006f006e0073006f006c006501000000000000073f0000005400ffffff000006150000032c00000001000000020000000100000008fc00000000
+simulationViewPerspectives: 000000ff000000010000000200000100000005150100000006010000000100
+sceneTreePerspectives: 000000ff0000000100000002000002590000009b0100000006010000000200
+minimizedPerspectives: 
+maximizedDockId: -1
+centralWidgetVisible: 1
+orthographicViewHeight: 1
+textFiles: -1
+documentationBook: 
+documentationPage: 

worlds/.test_world.wbt.project

+Webots Project File version 6.0
+perspectives: 0 "Default" "layout2|name=3D view;caption=3D view;state=4196348;dir=5;layer=0;row=0;pos=0;prop=100000;bestw=2.34261%;besth=4.45063%;minw=32;minh=32;maxw=-1;maxh=-1;floatx=-1;floaty=-1;floatw=-1;floath=-1|name=text editor;caption=Text editor;state=6309884;dir=2;layer=0;row=0;pos=0;prop=100000;bestw=39.8975%;besth=74.8261%;minw=32;minh=32;maxw=-1;maxh=-1;floatx=-1;floaty=-1;floatw=-1;floath=-1|name=console;caption=Console;state=6293500;dir=3;layer=0;row=0;pos=0;prop=100000;bestw=100%;besth=24.8957%;minw=32;minh=32;maxw=-1;maxh=-1;floatx=-1;floaty=-1;floatw=-1;floath=-1|name=scene tree;caption=Scene tree;state=6293500;dir=4;layer=1;row=0;pos=0;prop=100000;bestw=19.9854%;besth=100%;minw=32;minh=32;maxw=-1;maxh=-1;floatx=-1;floaty=-1;floatw=-1;floath=-1|dock_size(5,0,0)=2.48902%|dock_size(4,1,0)=20.1318%|dock_size(3,0,0)=14.4949%|dock_size(2,0,0)=39.8975%|"

worlds/test_world.wbt

+#VRML_SIM V6.0 utf8
+WorldInfo {
+  info [
+    "The MyBot robot, the robot used in the tutorial of Webots"
+    "Author: Simon Blanchoud"
+    "Date: 16 AUG 2006"
+  ]
+  title "MyBot"
+  runRealTime TRUE
+}
+Viewpoint {
+  orientation 0.16166 0.950876 0.264008 4.13304
+  position -0.911117 0.483429 -0.600393
+}
+Background {
+  skyColor [
+    0.4 0.7 1
+  ]
+}
+PointLight {
+  ambientIntensity 0.6
+  attenuation 1 1 1
+  color 0.991276 0.975531 1
+  intensity 0.6
+  location 0.75 0.5 0.5
+  radius 10
+}
+PointLight {
+  ambientIntensity 0.6
+  attenuation 1 1 1
+  color 0.991276 0.975531 1
+  intensity 0.6
+  location -0.5 0.5 0.35
+  radius 10
+}
+PointLight {
+  ambientIntensity 0.6
+  attenuation 1 1 1
+  color 0.991276 0.975531 1
+  intensity 0.6
+  location 0.45 0.5 -0.5
+  radius 10
+}
+PointLight {
+  ambientIntensity 0.6
+  attenuation 1 1 1
+  color 0.991276 0.975531 1
+  intensity 0.6
+  location -0.5 0.5 -0.35
+  radius 10
+}
+DEF FLOOR Transform {
+  translation -0.5 0 -0.5
+  children [
+    Shape {
+      geometry ElevationGrid {
+        color Color {
+          color [
+            1 1 1
+            0 0 0
+          ]
+        }
+        colorPerVertex FALSE
+        xDimension 11
+        xSpacing 0.1
+        zDimension 11
+        zSpacing 0.1
+      }
+    }
+  ]
+}
+DEF WALLS Solid {
+  children [
+    Shape {
+      appearance Appearance {
+        material Material {
+          diffuseColor 0.545098 0.411765 0.0784314
+          specularColor 0.784314 0.588235 0.0980392
+        }
+      }
+      geometry DEF WALL Extrusion {
+        convex FALSE
+        crossSection [
+          0.5 0.5
+          0.5 -0.5
+          -0.5 -0.5
+          -0.5 0.5
+          -0.49 0.5
+          -0.49 -0.49
+          0.49 -0.49
+          0.49 0.49
+          -0.4899 0.49
+          -0.4899 0.5
+          0.5 0.5
+        ]
+        spine [
+          0 0 0
+          0 0.1 0
+        ]
+      }
+    }
+  ]
+  name "wall"
+  boundingObject Group {
+    children [
+      Transform {
+        translation 0.495 0.05 0
+        children [
+          DEF WALL_SHAPE Shape {
+            appearance Appearance {
+              material Material {
+                diffuseColor 1 1 1
+                specularColor 1 1 1
+              }
+            }
+            geometry Box {
+              size 0.01 0.1 1
+            }
+          }
+        ]
+      }
+      Transform {
+        translation -0.495 0.05 0
+        children [
+          USE WALL_SHAPE
+        ]
+      }
+      Transform {
+        translation 0 0.05 0.495
+        rotation 0 1 0 1.57
+        children [
+          USE WALL_SHAPE
+        ]
+      }
+      Transform {
+        translation 0 0.05 -0.495
+        rotation 0 1 0 1.57
+        children [
+          USE WALL_SHAPE
+        ]
+      }
+    ]
+  }
+  locked TRUE
+}