From RosPlugin to Ros Interface: start / stop simulation

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oKermorgant
Posts: 1
Joined: 06 Dec 2016, 13:10

From RosPlugin to Ros Interface: start / stop simulation

Postby oKermorgant » 13 Jul 2017, 16:14

Hello,

I have several scenes that use the old RosPlugin, and am in the process of adapting them to Ros Interface.
A feature I cannot find is the ability to start and stop the simulation from ROS. The RosPlugin used to have services to do so.

It there any way to replicate this behavior with the Ros Interface?
In order to stop the simulation, the main script could propose a service that could stop the simulation when called.
In the opposite, I guess this script is not running when the simulation is not running, so it cannot propose a StartSimulation service.

The goal is not to focus on the GUI buttons too much and to automatically start / stop depending on external ROS controllers running or not.

coppelia
Site Admin
Posts: 6047
Joined: 14 Dec 2012, 00:25

Re: From RosPlugin to Ros Interface: start / stop simulation

Postby coppelia » 16 Jul 2017, 19:47

Hello,

have a look at customization scripts, which run also when simulation is not running. There is also a tool Models/tools/rosInterface helper tool.ttm that can help you for what you want to achieve.

Cheers


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