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Shakeit sim

This package simulates a vibration feeder in CoppeliaSim and provides necessary assets (scenes and models).

Sim Node

Upon starting the node, CoppeliaSim is started in a separate thread and the assets/vibrating_feeder.ttt scene is loaded.

Services:

  • /sim/add, {} -> {success: bool}:
    adds random amount (1 ≤ n ≤ new_objects_limit) of new parts to the shaker
  • /sim/purge, {} -> {success: bool}:
    removes all parts from the shaker
  • /sim/pick, {pose: geometry_msgs/Pose} -> {success: bool}:
    removes an object under specified coordinates (in the world frame) from the shaker; the object has to be within picking_threshold from the specified coordinates
  • /sim/flip, {repetitions: int, speed: int} -> {success: bool}:
    flip objects repetitions times, with speed-based intensity.
  • /sim/forward, {repetitions: int, speed: int} -> {success: bool}:
    move objects forward repetitions times, with speed-based intensity.
  • /sim/backward, {repetitions: int, speed: int} -> {success: bool}:
    move objects backward repetitions times, with speed-based intensity.
flip_behavior flip_behavior flip_behavior

Publishers:

  • /sim/camera/camera_info, {msg: sensor_msgs/CameraInfo}: provides information about the camera sensor; is published together with /sim/camera/image_color
  • /sim/camera/image_color, {msg: sensor_msgs/Image}, an image of a shaker from God's eye view

CoppeliaSim Pro installation

  1. Install deps
sudo apt install build-essential liblua5.3-0 qtcreator qt5-default
  1. Download and extract the Pro edition
  2. In the installation folder run CoppeliaSim to instatiate lincesing files
./coppeliaSim.sh
  1. In the installation directory, open file system/usrset.txt and adjust the values of floatingLicenseEnabled and floatingLicenseServer to
floatingLicenseEnabled = true
floatingLicenseServer = 10.248.8.6
  1. Clone PyRep
git clone https://github.com/stepjam/PyRep.git
  1. Add the following to your ~/.bashrc file
export COPPELIASIM_ROOT=EDIT/ME/PATH/TO/COPPELIASIM/INSTALL/DIR
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$COPPELIASIM_ROOT
export QT_QPA_PLATFORM_PLUGIN_PATH=$COPPELIASIM_ROOT
  • note the 'EDIT ME' in the first line
  • remember to source your bashrc (source ~/.bashrc) or zshrc (source ~/.zshrc) after this
  1. Finally install the python library
cd PyRep
pip3 install -r requirements.txt
python3 setup.py install --user

CoppeliaSim plugin for ROS2

  1. Download simExtROS2Interface, a ROS2 plugin for Coppelia
git clone --recursive https://github.com/CoppeliaRobotics/simExtROS2Interface.git sim_ros2_interface
  1. Install dependencies
sudo apt install xsltproc ros-$ROS_DISTRO-gazebo-ros-pkgs
  1. Add custom messages and services to the package
cd sim_ros2_interface
echo $'\nsensor_msgs/msg/RegionOfInterest\nsensor_msgs/msg/CameraInfo' >> meta/interfaces.txt
  1. Compile the plugin inside your ROS workspace
ulimit -s unlimited
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DLIBPLUGIN_DIR=$COPPELIASIM_ROOT/programming/libPlugin
  1. Copy build/sim_ros2_interface/libsimExtROS2Interface.so from your ROS workspace to the Coppelia installation folder
  2. Source ROS2 installation
source /opt/ros/$ROS_DISTRO/setup.bash
  1. If the plugin has been loaded correctly, upon launching CoppeliaSim you should see the following:
Plugin 'ROS2Interface': loading...
Plugin 'ROS2Interface': warning: replaced variable 'simROS2'
Plugin 'ROS2Interface': load succeeded.

Frequently Occuring Problems

  1. If you get an ImportError with PyRep, start your IDE from a terminal (to export COPPELIASIM_ROOT)