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Ros-melodic projects


#1

Hi,
I am new to ROS and I use bionic (melodic), after many projects I see most are for kinetic and can’t be used with melodic, can someone guide me to make a ros-melodic v-reps connection, like a drone or a robots ?
regards
Henri


#2

Hello,

You don’t need a ROS-Vrep connection, it’s integrated in VREP by default now : http://www.coppeliarobotics.com/helpFiles/en/rosInterf.htm

For example, launch a roscore, then launch vrep.sh, you should see these lines :

Plugin 'RosInterface': loading...
Plugin 'RosInterface': load succeeded.

Then put this Non-Threaded Lua script in any object (Cuboid for example) :

function sysCall_init()
  handle = simROS.advertise("/chatter", "std_msgs/String")
end

function sysCall_sensing()
  msg = {} 
  msg["data"] = "Hello World"
  simROS.publish(handle, msg)
end

The chatter topic should be displayed in “rostopic list” and sending “Hello world” as a message (check with “rostopic echo /chatter”.

There is also the example scene “rosInterfaceTopicPublisherAndSubscriber.ttt” given with V-rep that show image view, and the scene “controlTypeExamples.ttt” who show other type of Ros Interface

And for melodic package, we need to wait for the maintainer for porting their packages, there is only a quarter of the package available yet : https://discourse.ros.org/t/ros-melodic-morenia-release/