Hello,
I am currently working with a Kuka youbot. Now I want to simulate the hello_world_demo in V-REP (http://www.youbot-store.com/youbot-deve ... youbot-api) to take this as a template for my own cpp-projects for moving the arm of the youbot to different positions.
The hello_world_demo works fine on our real youbot. But to test my own cpp projects in advance, I want to simulate the projects in V-REP at first.
So far, regarding the simulation of the youbot in V-REP, the following works:
1.) I start roscore in the terminal
2.) I start V-REP in another terminal
3.) I open a scene with the youbot in V-REP
4.) I start the Simulation in V-REP (Play-button)
5.) Now I can send rostopics to the youbot to move the arm, e.g. by:
$rostopic pub -1 /arm_controller/position_command brics_actuator/JointPositions '{positions: [
{joint_uri: arm_joint_1, unit: rad, value: 2.9},
{joint_uri: arm_joint_2, unit: rad, value: 1.1},
{joint_uri: arm_joint_3, unit: rad, value: -2.5},
{joint_uri: arm_joint_4, unit: rad, value: 1.7},
{joint_uri: arm_joint_5, unit: rad, value: 1.5}
]}'
6.) I can also launch .py files, e.g. by
$rosrun youbot_driver_ros_interface youbot_keyboard_teleop.py
Now my question is: How can I load .cpp-files based on the KUKA youbot API (http://www.youbot-store.com/youbot-deve ... youbot-api)? Or how can I get the hello_world_demo (also based on the KUKA youbot API) working in V-REP?
Best wishes,
Lena
(ROS Hydro, Ubuntu 12.04)
Simulating hello_world_demo youbot api
Re: Simulating hello_world_demo youbot api
Hi
Apparently there is a ROS Wrapper for KUKA youBot API... maybe that s the way you can use the api to interact with V-REP (via ROS)
cheers
Eric
Apparently there is a ROS Wrapper for KUKA youBot API... maybe that s the way you can use the api to interact with V-REP (via ROS)
cheers
Eric
Re: Simulating hello_world_demo youbot api
Hi eric,
thank you for your reply. I've already installed the ROS Wrapper, but I still get the error:
Warning: No socket connection on eth0
Excecute as root
Warning: No socket connection on eth0
Excecute as root
..when I want to start the simulation of the hello_world_demo in V-REP via
$rosrun hello_world_demo youBot_HelloWorldDemo
...
Any other idea?
Best regards,
Lena
thank you for your reply. I've already installed the ROS Wrapper, but I still get the error:
Warning: No socket connection on eth0
Excecute as root
Warning: No socket connection on eth0
Excecute as root
..when I want to start the simulation of the hello_world_demo in V-REP via
$rosrun hello_world_demo youBot_HelloWorldDemo
...
Any other idea?
Best regards,
Lena
Re: Simulating hello_world_demo youbot api
Sorry I m no ROS specialist but from the error message would not it be a problem of not being root or not using sudo or something?