CoppeliaSim forums

I need to use the Fetch robot for simulations in VREP. Previously, I have worked with Fetch using Gazebo and moveit (https://docs.fetchrobotics.com/gazebo.html). We now want to move to VREP.

From the VREP bubble robot tutorial (http://www.coppeliarobotics.com/helpFil ... Indigo.htm), I understand that it is possible to control the robot using ROS. I was able to load the fetch robot using the urdf import plugin.

I need to perform navigation, vision and gripping tasks using the Fetch robot. As per my understanding I would have to:

1. Create lua scripts to get sensor data and broadcast it to ROS topics
2. Create a ros package that subscribes to these topics, process the info and advertise joint controller values to move the robot

is this the correct way to go or are there any better alternatives?

Hello,

that sounds correct. You actually only need to think where you want to do control. You can do it in V-REP, outside of V-REP, or use a mixed approach (less recommended). In V-REP you could just have the advertising and publishing of sensor data, and also the subscribing and application of actuation data. The rest can be done in your ROS package.

Cheers

Thank you for the clarification