CoppeliaSim（V-Rep）和ROS2的使用说明_人工智能

这篇教程简要说明，在CoppeliaSim仿真环境中，使用ROS2接口，如果是ROS 2 Dashing，直接使用安装包中的compiledRosPlugins文件夹下的libsimExtROS2Interface.so。如果使用其他版本的ROS 2，需要手动编译生成.so文件，否则会出错。当然也支持ROS 1参考之前博文。重新编译ROS 2之CoppeliaSim插件的过程如下所示：下载simExtROS2Interface，这个功能包在编译成功后会生成.so文件。更多案例参考示例和controlTypeExamples下文件。所有文件需要复制到如ros2_ws/src的文件夹下，然后依次输入下面指令：

$ export COPPELIASIM_ROOT_DIR=~/path/to/coppeliaSim/folder
$ ulimit -s unlimited #otherwise compilation might freeze/crash
$ colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DLIBPLUGIN_DIR=$COPPELIASIM_ROOT_DIR/programming/libPlugin

OK，如上是重新编译的全部过程。启动CoppeliaSim的指令如下：

$ ./coppeliaSim.sh

会发现如下接口启动，说明ROS 2接口一切正常。无需担心warning…… 开启一个案例玩耍起来（ros2InterfaceTopicPublisherAndSubscriber.ttt）：使用终端查看一下消息：添加一个仿真时间：选择sphere，添加子代码如下：

function subscriber_callback(msg)
    -- This is the subscriber callback function
    sim.addStatusbarMessage('subscriber receiver following Float32: '..msg.data)
end
 
function getTransformStamped(objHandle,name,relTo,relToName)
    -- This function retrieves the stamped transform for a specific object
    t=sim.getSystemTime()
    p=sim.getObjectPosition(objHandle,relTo)
    o=sim.getObjectQuaternion(objHandle,relTo)
    return {
        header={
            stamp=t,
            frame_id=relToName
        },
        child_frame_id=name,
        transform={
            translation={x=p[1],y=p[2],z=p[3]},
            rotation={x=o[1],y=o[2],z=o[3],w=o[4]}
        }
    }
end
 
function sysCall_init()
    -- The child script initialization
    objectHandle=sim.getObjectAssociatedWithScript(sim.handle_self)
    objectName=sim.getObjectName(objectHandle)
    ros2InterfacePresent=simROS2
 
    -- Prepare the float32 publisher and subscriber (we subscribe to the topic we advertise):
    if ros2InterfacePresent then
        publisher=simROS2.advertise('/simulationTime','std_msgs/Float32')
        subscriber=simROS2.subscribe('/simulationTime','std_msgs/Float32','subscriber_callback')
    end
end
 
function sysCall_actuation()
    -- Send an updated simulation time message, and send the transform of the object attached to this script:
    if ros2InterfacePresent then
        simROS2.publish(publisher,{data=sim.getSimulationTime()})
        simROS2.sendTransform(getTransformStamped(objectHandle,objectName,-1,'world'))
        -- To send several transforms at once, use simROS2.sendTransforms instead
    end
end
 
function sysCall_cleanup()
    -- Following not really needed in a simulation script (i.e. automatically shut down at simulation end):
    if rosInterfacePresent then
        simROS.shutdownPublisher(publisher)
        simROS.shutdownSubscriber(subscriber)
    end
end

这时，可以使用：