Ask Your Question

ROS, ros_control & vrep

asked 2014-10-09 06:32:08 -0600

arennuit gravatar image


I would like to use ros_control (and probably other packages eventually) for my robot. My setup will target the control of a real robot but I started with a simulation under vrep (very nice piece of software by the way). I am concerned about 2 points:

  • It seems I will have to maintain two descriptions of the scene simultaneously: one URDF file for ROS and one v-rep file, I am a bit scared of divergences... Does anyone have experience on this setup?
  • Can the URDF file only contain the description of the transmissions (no joint or link) to interface between ros_control and my vrep controllers, as this is the only thing ros_control really needs, no?

If anyone has its 2 cents, feedback or experience to give me, than this would be valuable to me.



edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted

answered 2014-10-09 07:03:17 -0600

Adolfo Rodriguez T gravatar image

Some time ago we evaluated V-Rep, and there was a URDF importer plugin in the works. Have you tried using it?.

This was almost two years ago, and I don't know what the current state of affairs is. I do remember that at the time negative scaling factors (for reflection transformations) did not work. Other than that I recall it worked quite well.

On your second question, if you are going to use any ROS tool that require a URDF (like rviz), you'll need more than just transmissions for the tool to work, you'll need a complete URDF.

edit flag offensive delete link more


Hi Adolfo and thanks for you answer, it helps. Now for the urdf importer, it still works fine but I was expecting something enabling to streamline my workflow (i.e. something that can add my v-rep specific features to the v-rep file each time my urdf is changed), not a one shot import... I guess

arennuit gravatar image arennuit  ( 2014-10-09 08:39:20 -0600 )edit

things are not really working this way in v-rep, so I'll have to maintain both the urdf and v-rep files separately... Thanks again ;)

arennuit gravatar image arennuit  ( 2014-10-09 08:40:53 -0600 )edit

You're welcome. Question answered then?

Adolfo Rodriguez T gravatar image Adolfo Rodriguez T  ( 2014-10-09 09:17:22 -0600 )edit

And marked as such ;)

arennuit gravatar image arennuit  ( 2014-10-10 00:56:02 -0600 )edit

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools


Asked: 2014-10-09 06:32:08 -0600

Seen: 573 times

Last updated: Oct 09 '14