CoppeliaComponents

Introduction

This is a simple hw interface that permits to integrate CoppeliaSim into the ros2_control loop using a topic based system

Usage

This interface supports joints (includic mimic ones) and sensors.

To use this interface declare inside the urdf an hardware of type coppelia_components/TopicSystem The required parameters are:

• joint_cmd_topic: used to specify the name of the topic to send joint commands to CoppeliaSim, the type of the topic has to be std_msgs/msg/Float64MultiArray

• joint_state_topic: used to specify the name of the topic to read joint states from CoppeliaSim, the type of the topic has to be sensor_msgs/msg/JointState

The supported interfaces for joints are the ones supported by the JointState msg:

• position

• velocity

• effort

For sensor you can declare any type of state interface, an associated cmd interface will be created so that the values can be update using a standard ros2 forward controller or a custom made one, if needed. This has the the same effect as setting to true mock_sensor_commands in the ros2 mock_components/GenericSystem

Example usage

This is a minimal example of a System that uses this interface, declared inside a urdf

<ros2_control name="my_robot" type="system">
  <hardware>
    <plugin>coppelia_components/TopicSystem</plugin>
  </hardware>
  <joint name="coppelia_joint">
    <command_interface name="position"/>
    <state_interface name="position">
      <param name="initial_value">0.0</param>
    </state_interface>
    <state_interface name="velocity"/>
  </joint>
</ros2_control>