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fferri

Hi,

why not using the ROS interface Lua API?

Is ros_control a C++ only interface?

fferri

Yes reshape is used to change the shape of a matrix (without changing the order of elements).

fferri

sim.setObjectOrientation(handle,-1,{0,0,theta})

fferri

Erfan wrote: ↑23 Mar 2021, 11:55 CMake Error at sim_ros_interface/CMakeLists.txt:68 (coppeliasim_add_plugin):
Unknown CMake command "coppeliasim_add_plugin".

You need to update your libPlugin repository (located in CoppeliaSim's programming folder) to latest version. And probably also include and common.

fferri

Maybe sim.addGhost is what you are looking for.

fferri

Recursively:

Code: Select all

local msg={
    header={
        stamp=simROS.getTime(),
        frame_id='/foo',
    },
    pose={
        position={x=0,y=0,z=0.5},
        orientation={x=0,y=0,z=0,w=1}
    }
}
simROS.publish(pub,msg)

matching field names with those in the ROS message definitions.

fferri

Hi, Yes, simROS.getTime() returns the value in seconds of ros::Time::now() as described in the API reference. Which functions are different? If you need the simulation time, there's a different API for that: sim.getSimulationTime() . If you want to use simulation time as the ROS clock source, you ca...

fferri

ss={simOMPL.createStateSpace('2d',simOMPL.StateSpaceType.dubins,robot,{-5,-5},{5,5},1)} here you tell OMPL to move the robot object... simOMPL.setCollisionPairs(t,{sim.getObjectHandle('Start_Config_Cylinder#1'),sim.handle_all}) but you check collisions for a different object (the cylinder) which do...

fferri

No, real-time simulation does not affect path planning calculation time.

fferri

You can create your own message, or you can re-use one of the many standard messages, e.g. geometry_msgs/PoseArray or std_msgs/Float32MultiArray.

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