CoopeliaSim ros_control plugin

asked 2020-02-03 06:15:54 -0600

smihael
45 ●9 ●12 ●16

Did someone try to write a ros_control plugin, similar to gazebo ros_control for the CoopeliaSim (previously v-rep).

There are some examples for v-rep (https://github.com/asoriano1/vrep_ros...), but since the libraries changed a bit, the code won't work without further changes.

answered 2020-08-04 10:52:41 -0600

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

updated 2020-08-04 10:57:58 -0600

If you're still interested, a colleague updated the previous version(s) of Coppelia ROS integrations (ie: those for V-REP) and managed to get ros_control working successfully: tud-cor/coppeliasim_ros_control.

It's not perfect (yet), but it works quite well for him: we've managed to get a nr of robots with "Gazebo compatibility" (ie: gazebo_ros_control) to work with the plugin without changing anything/too much.

All credits go to him, I'm just linking here.

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Thanks for sharing this. A colleague is currently trying to achieve something similar in a regular node (without ros_control).

smihael ( 2020-08-06 04:46:09 -0600 )edit

I would really recommend using ros_control here.

Especially if/when you're interested in time-synchronised (ie: lock-step) control over simulated joints.

gvdhoorn ( 2020-08-06 04:47:40 -0600 )edit

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