sas_robot_driver_coppeliasim

Tip

Repository for this module: https://github.com/MarinhoLab/sas_robot_driver_coppeliasim
More information about SmartArmStack is available in https://smartarmstack.github.io/.

Note

sas_robot_driver_coppeliasim_node is being replaced by the ROS2 Python scripts described below. zmq interface for CoppeliaSim currently cannot handle multiple operations at a high frequency.

ROS2 Python Scripts In CoppeliaSim

Caution

This image only works in amd64 environments owing to CoppeliaSim limitations. It does not work in arm64 even with qemu.

sas_robot_driver_coppeliasim_script.mp4

Run the following.

mkdir -p ~/sas_tutorial_workspace/docker/sas_robot_driver_coppeliasim
cd ~/sas_tutorial_workspace/docker/sas_robot_driver_coppeliasim/
curl -OL https://raw.githubusercontent.com/MarinhoLab/sas_robot_driver_coppeliasim/refs/heads/jazzy/docker_sample/run_docker_sample.sh
chmod +x run_docker_sample.sh
./run_docker_sample.sh

Notes

• Remember to edit COPPELIA_SIM_SCENE_FILE in the compose file to be the correct scene file in the same directory.
• Each robot is being controlled with the script scripts/joint_interface_example.py.

Adding capabilities to your own scenes

Use the following convenience scripts for the most common functionalities.

Important

Add the scripts via the top menu with Add ▶️ Script ▶️ simulation script ▶️ Non threaded ▶️ Python.

.devcontainer/sas_object_script.py	Add as immediate child to the root of an object in the scene, for instance, to get and send poses.
.devcontainer/sas_robot_script.py	Add as immediate child to the root of a serial-link robot to create a sas::RobotDriverServer for it.

Unusual use cases can be covered by the classes in the Python module sas_robot_driver_coppeliasim.