coppeliasim_msgs_srvs

This package is an update of the vrep_common package by Jonathan Cacace which contains the definitation of the required msgs and srvs that enable ROS to communicate with the CoppeliaSim simulator. This package is one of 5 ROS packages to have full ROS integration of Coppeliasim.

Building

The following instructions assume that a Catkin workspace has been created at $HOME/catkin_ws and your CoppeliaSim directory is located at $HOME/CoppeliaSim. you always can update the paths based on your machine setup.

# change to the src directory in your Catkin workspace
cd $HOME/catkin_ws/src

# Clone coppeliasim_msgs_srvs pkg 
git clone https://github.com/tud-cor/coppeliasim_msgs_srvs

# change to the root of the workspace
cd ..

# build the workspace (using catkin_tools)
 catkin build
 
 # activate your workspace
 source $HOME/catkin_ws/devel/setup.bash

This package does not generate any excutables, only header files for different messages and services will be generated.

Usage

This package contains 8 msgs and 99 srvs definitions files. Here is an explanation of few msgs/srvs defined in this package:

• simRosStartSimulation.srv: a ros service to start the simulation in coppeliasim. Request part of the service is empty, The response is an int indicates if the simulation is successfuly started or not.For more information check the simStartSimulation() API.
• simRosLoadScene.srv: a ros service to load a scene in coppeliasim. Request part of the service contains the scene file, The response is an int indicates if the scene is successfuly loaded or not. For more information check the simLoadScene() API.
• SimInfo.msg: A ros message contains information about the simulation state inside coppeliasim e.g. simulatorState, simulationTime, and timeStep.
• ....

For more information about all the services/messages and how it can be used to communicate with Coppeliasim, you can check the coppeliasim_APIs page.

Example

Refer to coppeliasim_ros_services or ur5_coppeliasim_roscontrol packages on how you can use the messages and services generated by the coppeliasim_msgs_srvs package to control the simulation inside coppeliasim using ros.