Neuvisys Simulator

A CoppeliaSim simulator for event vision.

Requirements

Coppeliasim / ROS

Download and install the Coppeliasim framework: https://www.coppeliarobotics.com/

There is 3 available versions, player, edu and pro. Player is enough to work with neuvisys, but you will not be able to save the scene if you change it.

Install ROS Noetic (Other ROS distribution might work, but this is uncertain): http://wiki.ros.org/noetic/Installation/Ubuntu

It is advised to use the Desktop-Full Install, though other lighter version may also work.

Launch

To compile the Neuvisys library, in the root folder:

• Run mkdir build, cd build, cmake -DCMAKE_BUILD_TYPE=Release ..

If there is some errors, you may have to install the following python packages: pip install empy pip install catkin-pkg

• Run make -j to compile all targets

Compiled target can be found in the "build/" folder.

CoppeliaSim usage

Before launching CoppeliaSim, you need to activate ros:

• roscore

Then launch CoppeliaSim. If ros is working, the ROS interface was found. message should appear on the CoppeliaSim console at the bottom.

You can open the Neuvisys Coppelia scene with:

• File/Open scene...
• Open src/coppelia-scenes/Neuvisys.ttt

Then just launch the neuvisys-simulator target with:

• ./build/src/neuvisys-simulator