Simulating hello_world_demo youbot api

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Lena
Posts: 9
Joined: 27 May 2014, 11:14

Simulating hello_world_demo youbot api

Post by Lena »

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)

Eric
Posts: 186
Joined: 11 Feb 2013, 16:39

Re: Simulating hello_world_demo youbot api

Post by Eric »

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

Lena
Posts: 9
Joined: 27 May 2014, 11:14

Re: Simulating hello_world_demo youbot api

Post by Lena »

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

Eric
Posts: 186
Joined: 11 Feb 2013, 16:39

Re: Simulating hello_world_demo youbot api

Post by Eric »

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?

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