marco-teixeira/Scenes-ROS-CoppeliaSim

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Description

This package aims to store scenes used in the CoppeliaSim Edu simulator (https://coppeliarobotics.com/download) designed to work together with the ROS (Robot Operating System) through the ROS Interface API ((https://www.coppeliarobotics.com/helpFiles/en/rosInterf.htm). In this way, the scenes presented in this package can read and send information to ROS.

Configuration of the system used

• Ubuntu 18.04.4 (http://releases.ubuntu.com/18.04.4/)
• ROS Melodic (http://wiki.ros.org/melodic/Installation/Ubuntu)

Installing CoppeliaSim Edu on Ubuntu 18.04

• Download the desired version at https://coppeliarobotics.com/ubuntuVersions
  • For the version "CoppeliaSim_Edu_V4_0_0_Ubuntu18_04" follow the steps below:

$ cd ~/ 
$ wget https://coppeliarobotics.com/files/CoppeliaSim_Edu_V4_0_0_Ubuntu18_04.tar.xz 
$ tar -xf CoppeliaSim_Edu_V4_0_0_Ubuntu18_04.tar.xz 

• You need to add the ROSInterface library in the main compiledRosPlugins folder. The library was already compiled into the "compiledRosPlugins" folder. Let's copy the file “libsimExtROSInterface.so”.

$ cd ~/CoppeliaSim_Edu_V4_0_0_Ubuntu18_04/
$ cp compiledRosPlugins/libsimExtROSInterface.so libsimExtROSInterface.so

Run:

• To run CoppeliaSim, just run the file “coppeliaSim.sh”. You must have roscore initialized.

$ roscore
$ cd ~/CoppeliaSim_Edu_V4_0_0_Ubuntu18_04/
$ ./coppeliaSim.sh

• Check in the terminal if the following message appears
  • Plugin 'ROSInterface': load succeeded.