CoppeliaSim forums

Hello all,

When I call simROS.getTime(), I get incoherent values, that goes back and forth and are very different from the values I get with the rest of my ROS components:
If I relaunch V-REP, I get completely different resuls:
For instance, ros::Time::now() returns 1568272409.795527935 on other nodes.

Roscore is launched (before V-REP), the ROS parameter /use_sim_clock not set or set to false. Start and stop the simulation has no impact.
I use V-REP 3.5.0-rev6 and ROS kinetic, on Ubuntu 16.04.

Does someone has a clue on this?

Thanks!

The implementation of simROS.getTime() is to simply return the value of ros::Time::now().toSec().

Did you compile Lua with single precision floats?

I use the Lua library bundled with V-REP I downloaded here : http://www.coppeliarobotics.com/files/V ... nux.tar.gz

I suppose it is double precision float, since single-precision float cannot store precisely "3624673344.0000324" (it would gives something like "3624673280.0")

So, I built v_repExtRosInterface from source (on v3.5.0), and now it works!

Just to know, is there a pre-compiled version of V-REP that is linked against ros kinetic?

To my knowledge there are no binary releases of v_repExtRosInterface.

You have to compile it from source using the ROS environment installed on your machine.

libv_repExtRosInterface.so is bundled with at least the Pro-Edu Linux version of V-REP. However I don't know on which version of ROS they are linked against.

That probably is the culprit (mismatch between executable/library and ROS distribution).

I have the same issue and I can't find the source for v_repExtRosInterface. I believe it was on Coppelia Robotics github, but now I guess it was replaced by simExtROS2Interface, which is for ROS 2. Is there another way to get the source code so i can build and hopefully solve this issue? Thanks in advance!

Hello,

simExtROSInterface is the new ROS (1) interface that works with CoppeliaSim. CoppeliaSim will be released next week, the beta can be found here.

Cheers