CoppeliaSim Robot Simulation with ROS2 Teleoperation

This repository integrates a CoppeliaSim robotic scene with ROS2 for teleoperation. It includes:

• A CoppeliaSim scene (.ttt) with robot model
• Attached control script for command processing in development (Lua)
• ROS2 node for teleoperation control in development (Python)

📦 Repository Structure

repo_root/ ├── coppelia/ │ ├── acmr5_snake_robot.ttt # Main simulation scene │ └── scripts/ # Simulation scripts └── ros2_teleop/ └── src/ └── coppelia_sim_ros2/ # ROS2 package └── coppelia_sim_ros2/ # ROS2 package nodes └── acmr5_controller.py # Teleoperation node ├── launch # ├── package.xml # ROS2 package definition ├── setup.py # Setup file

🚀 Quick Start

Prerequisites

• CoppeliaSim EDU (≥4.5.0)
• ROS2 (Humble/Iron)
• Python 3.8+

CoppeliaSim Installation

Consult the CoppeliaSim website to download the simulator: https://www.coppeliarobotics.com/

Build ros2_teleop ROS2 package

To build the package with colcon build, set the environment variable in your ~/.bashrc file that points to the path of your CoppeliaSim application COPPELIASIM_ROOT_DIR. Consider the following example:

{ 
    export COPPELIA_ROOT_DIR="~/path/to/coppeliaSim/folder"
    ulimit -s unlimited # Otherwise compilation might freeze / crash
    colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release 
}

The simROS2 package requires the xmlschema Python package used for validating XML files during the build process. To resolve this issue, install the package:

pip install xmlschema

Also install the following two packages ZeroMQ (ZMQ) and cbor (Concise Binary Objrect Representation) which are used for asynchronous messaging between processes (IPC) over networks (TCP) and efficient message encoding/decoding. This allows us to create and run Python scripts in CoppeliaSim.

pip install zmq cbor

Consult the following ROS2 tutorial in the CoppeliaSim website for further details: https://manual.coppeliarobotics.com/en/ros2Tutorial.htm

Submodule Management

This ROS2 workspace depends on the 'simROS2' and 'ros2_bubble_rob' packages loaded as submodules, go to the repository root directory and run the following command:

git submodule update --init --recursive

After that, build the 'mobile_land_robots' workspace

colcon build

Set environment variables with install/setup.bash file

source install/setup.bash

Installation

1. Clone the repository:

   git clone https://github.com/MSR325/MSRacmr5_robot_teleoperation.git
   cd repo_name

2. Launch CoppeliaSim:

   coppeliaSim.sh coppelia/acmr5_snake_robot.ttt

3. Run the ROS2 node

   cd ros2_teleop
   colcon build && source install/setup.bash
   ros2 run coppelia_sim_ros2 acmr5_controller