ROS Interfaces

There is a ROS interface and a ROS2 interface available for CoppeliaSim, both duplicate the C++ ROS/ROS2 API with good fidelity. They are implemented via the simROS plugin and simROS2 plugin. Use the catkin tools to build those packages, otherwise you might run into difficulties.

As an example, a vision sensor ROS2 publisher could look like:

#python def sysCall_init(): sim = require('sim') simROS = require('simROS') self.visionSensor = sim.getObject('/Vision_sensor') # Enable an image publisher: self.pub = simROS2.createPublisher('/image', 'sensor_msgs/msg/Image') simROS2.publisherTreatUInt8ArrayAsString(self.pub) def sysCall_sensing(): # Publish the image of the vision sensor: img, resolution = sim.getVisionSensorImg(self.visionSensor) data = {} data['header'] = {'stamp': simROS2.getTime(), 'frame_id': 'a'} data['height'] = resolution[1] data['width'] = resolution[0] data['encoding'] = 'rgb8' data['is_bigendian'] = 1 data['step'] = resolution[0] * 3 data['data'] = img simROS2.publish(self.pub, data) def sysCall_cleanup(): simROS2.shutdownPublisher(self.pub) --lua function sysCall_init() sim = require('sim') simROS = require('simROS') visionSensor = sim.getObject('/Vision_sensor') -- Enable an image publisher: pub = simROS2.createPublisher('/image', 'sensor_msgs/msg/Image') simROS2.publisherTreatUInt8ArrayAsString(pub) end function sysCall_sensing() -- Publish the image of the vision sensor: local img, resolution = sim.getVisionSensorImg(visionSensor) data = {} data.header = {stamp = simROS2.getTime(), frame_id = 'a'} data.height = resolution[2] data.width = resolution[1] data.encoding = 'rgb8' data.is_bigendian = 1 data.step = resolution[1] * 3 data.data = img simROS2.publish(pub, data) end function sysCall_cleanup() simROS2.shutdownPublisher(pub) end

The subscriber on the other hand could look like:

#python def sysCall_init(): sim = require('sim') simROS = require('simROS') # Enable an image subscriber: self.sub = simROS2.createSubscription('/image', 'sensor_msgs/msg/Image', image_callback) simROS2.subscriptionTreatUInt8ArrayAsString(self.sub) def image_callback(msg): # Here we have received an image pass def sysCall_cleanup(): simROS2.shutdownSubscription(self.sub) --lua function sysCall_init() sim = require('sim') simROS = require('simROS') -- Enable an image subscriber: sub = simROS2.createSubscription('/image', 'sensor_msgs/msg/Image', 'image_callback') simROS2.subscriptionTreatUInt8ArrayAsString(sub) end function image_callback(msg) -- Here we have received an image end function sysCall_cleanup() simROS2.shutdownSubscription(sub) end

Also have a look at the ROS tutorial and the external controller tutorial.