Building the ROS plugin:
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What you need:
- C++ compiler
- v_repStubsGen (available from https://github.com/fferri/v_repStubsGen)
- Python interpreter (2.7 or greater)
- lxml package for Python
- tempita package for Python
- An XSLT Processor, such as SAXON (needed for generating documentation)
Build steps:
NOTE: the directory containing all files (i.e. package.xml etc) must be called
vrep_ros_interface, otherwise build will fail.
1) Edit meta/messages.txt and meta/services.txt if you need to include more ROS messages/services.
You need to specify the full message/service type, i.e. geometry_msgs/Twist rather than Twist.
2) obtain v_repStubsGen:
> mkdir external
> cd external
> git clone https://github.com/fferri/v_repStubsGen.git
> export PYTHONPATH=$PYTHONPATH:$PWD
2) Compile the plugin using catkin tools:
> catkin build
3) (optional) generate documentation with an XSLT processor:
> saxon -s:callbacks.xml -a:on -o:reference.html
The callbacks.xml document can be viewed directly into the browser.
Any modern browser will do the XSLT processing automatically.