CoppeliaSim forums

Beiguagua wrote: ↑27 Feb 2023, 12:05 you can download cppzmp frrom link: https://github.com/zeromq/cppzmq, then cmake it, you can get cppzmq_DIR

It is not needed.

sim.writeCustomTableData(conveyor_handle, "__ctrl__", "{ vel = 0.0 }"); Third argument is not correct. See the reference of sim.writeCustomTableData: a table (map-like) object is expected. In C++, you can pass a json object constructed via an initializer-list (see here for more ...

Is that preventing you from building the C++ zmqRemoteApi client?

You can add cmake option -DCPPZMQ_BUILD_TESTS=OFF to disable those cppzmq examples from being built.

To rigidly attach a dynamic object to another, you need a force sensor inbetween.

There is a model for a suction cup in models/component/grippers/suction pad.ttm (which also requires a force sensor as parent).

Just to clarify one thing: the ZMQ remote API server can process as many messages as there are available* on the socket queue, not just one. It really depends on how the client operates. Certainly, for your example: sim.setObjectPosition(handle,sim.handle_world,sim.getObjectPosition(handle,sim.handl...

Hi,

the glTF data only contains 3D information about meshes and recorded animation if any.

Information about joints is not part of the current (2.0) glTF standard.

You are not setting radius, but diameter (bounding-box size) of 1m. The radius is half of that, i.e. 0.5.

Volume is \(V=\pi r^2 h = \frac{\pi}{4}\), hence mass is correct.

Yes you can pass the sim variable as a function parameter. What error do you get?

If you declare it as global I think that's even more convenient, as you don't need to pass it around in all function calls. That should at least work within the same module.

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 => ...