CoppeliaSim forums

maf wrote: ↑07 Feb 2023, 14:56 Using a docker image with ROS2 Foxy has no problems, Coppeliasim starts and loads the ROS2 plugin.

The same does not work with ROS2 Humble, the ROS2 plugin cannot be loaded.

Looks like an ABI problem, then you should recompile the ROS2 plugin.

This is the output for 'ldd libsimExtROS2Interface.so. Every lib seems to be satisfied: linux-vdso.so.1 (0x00007ffef03ac000) libstd_srvs__rosidl_typesupport_cpp.so => /opt/ros/humble/lib/libstd_srvs__rosidl_typesupport_cpp.so (0x000014a7a7c0e000) libexample_interfaces__rosidl_typesupport_cpp.so => ...

You can achieve a linear motion of the target from poseA to poseB with: function sysCall_init() ... target=sim.getObject('/IRB140/target') maxVel=0.1 maxAccel=0.05 maxJerk=0.01 -- call sim.moveToPose() in a coroutine to be resumed periodically: corout=coroutine.create(function() local function moveT...

Hi,

the pen should be child of the 'connection' object.

To make the robot move you would move the IK target (the 'target' object, or the green sphere that contains it) e.g. via sim.setObjectPosition

Hi,

it has been discussed just a few days ago: https://forum.coppeliarobotics.com/viewtopic.php?t=9968

Hi, you can simply have the gripper move backwards to compensate for the gripper's fingers forward movement. Since the gripper is attached to an arm, you can move the arm via IK, e.g. before calling simIK.handleGroup you would set the position the "tip" dummy so that it's always in the mid...

Before the command executing coppeliaSim you need to source ROS 2 environment (e.g. source /opt/ros/...)

No, normally you don't need to compile anything (unless you need to add support for more ROS 2 interfaces).

You should only take care of getting the two boxes to talk with each other (e.g. by configuring network, supplying a configuration for your ROS middleware of choice, etc...).

Hi, You mention a tutorial, but no reference to it. If it is outdated, it is not official. For communicating with ROS, you would use simROS.subscribe(), simROS.advertise(), simROS.publish() functions (see here ) inside an embedded script. Other than that, normal robot model design principles will ap...

Hi,

there are CMake apt repositories at https://apt.kitware.com