How to control a robot in V-REP by RosInterface

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Ednilson
Posts: 3
Joined: 21 Dec 2017, 20:07

How to control a robot in V-REP by RosInterface

Post by Ednilson »

Hi everyone!
I´d like to know how to control a robot in V-REP by RosInterface. I´m using ROS Kinetic Kame, V-REP 3.40 and OS Ubuntu 16.04.3 LTS.

coppelia
Site Admin
Posts: 10339
Joined: 14 Dec 2012, 00:25

Re: How to control a robot in V-REP by RosInterface

Post by coppelia »

Hello,

have a look at this tutorial, and the demo scene rosInterfaceTopicPublisherAndSubscriber.ttt

Cheers

Ednilson
Posts: 3
Joined: 21 Dec 2017, 20:07

Re: How to control a robot in V-REP by RosInterface

Post by Ednilson »

Thanks for the answer. I needed to recompile the v_repExtRosInterface package and download version 3.4.0 revision 19 to be able to run the package successfully. It happens that when I run the V-REP I get the following warning messages:

...

Plugin 'CustomUI': loading ...
Plugin 'CustomUI': warning: replaced variable 'simUI'
Plugin 'CustomUI': load succeeded.
...

Plugin 'ICP': loading ...
'ICP' plugin: warning: replaced variable 'simICP'
Plugin 'ICP': load succeeded.

...

Plugin 'OMPL': loading ...
Plugin 'OMPL': warning: replaced variable 'simOMPL'
Plugin 'OMPL': load succeeded.

...

Plugin 'RosInterface': loading ...
'RosInterface' plugin: warning: replaced variable 'simROS'
Plugin 'RosInterface': load succeeded.
Plugin 'SDF': loading ...
Plugin 'SDF': warning: replaced variable 'simSDF'
Plugin 'SDF': load succeeded.

...

Plugin 'SurfaceReconstruction': loading ...
Plugin 'SurfaceReconstruction': load failed (could not load). The plugin probably could not load dependency libraries. For additional infos, modify the script 'libLoadErrorCheck.sh', run it and inspect the output.

How do I resolve these messages?

Ednilson
Posts: 3
Joined: 21 Dec 2017, 20:07

Re: How to control a robot in V-REP by RosInterface

Post by Ednilson »

I'm continuing to run the tutorial "ROS tutorial - Indigo" and I have the following results:
1 - simulationTime: Works well. I can see the run-time messages in both the V-REP and the editor ($ rostopic echo / simulationTime)

2 - rosInterfaceTopicPublisherAndSubscriber.ttt: I can see the images in the V-REP (Vision_sensor and PassiveVision_sensor) but I do not see the images through $ rosrun image_view image_view image: = / visionSensorData and rostopic echo / simulationTime. When I execute the commands above, two screens are opened but the camera images do not appear. I have the following results running rostopic list:

ednilson @ ednilson-desktop: ~ $ rostopic list
/ image
/ image_view_1515503339203226858 / output
/ image_view_1515503339203226858 / parameter_descriptions
/ image_view_1515503339203226858 / parameter_updates
/ image_view_1515503401226589553 / output
/ image_view_1515503401226589553 / parameter_descriptions
/ image_view_1515503401226589553 / parameter_updates
/ rosout
/ rosout_agg
/ tf
/ visionSensorData
ednilson @ ednilson-desktop: ~ $

phuongboi
Posts: 3
Joined: 16 Oct 2023, 15:56

Re: How to control a robot in V-REP by RosInterface

Post by phuongboi »

Hi Ednilson, I got the same problem, did you solve this problem?

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