1.官网下载教育版vrep。将其解压到home文件夹下以前的版本。我这里用的版本是V-REP 3.4.0 versions。
cd V-REP_PRO_EDU_V3_4_0_Linux
./vrep.sh
VREP与ROS的连接主要有三种方法:
- The RosInterface: RosInterface是V-rep官方推荐的用来跟ROS通信的插件(We highly recommend you to first try your hands on the RosInterface, since this is the most flexible and natural approach)
- The ROS plugin skeleton: 可以让用户实现特定功能的ROS插件框架(This represents a skeleton project that can be used to create a new ROS plugin for V-REP / create your own specific ROS plugin for V-REP. e.g. to support ROS messages for a specific robot)
- ROS interfaces developed by others: 其他非V-rep官方支持的通信接口,比如V-REP ROS bridge.
RosInterface
将VREP安装路径下的compiledRosPlugins文件夹中的libv_repExtRosInterface.so或libv_repExtRosSkeleton.so库复制到上层目录(VREP安装目录)中:
然后在终端中运行roscore开启ROS master,接着执行vrep.sh脚本打开VREP,打开过程中会导入插件。可以看到RosInterface插件已经成功加载:
V-REP用户使用手册:
http://www.coppeliarobotics.com/helpFiles/
原文:
https://blog.csdn.net/chengde6896383/article/details/79667996
http://www.coppeliarobotics.com/helpFiles/en/rosTutorialIndigo.htm