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Usage of vrep build-in robot models #60

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liwangGT opened this issue Nov 23, 2016 · 0 comments
Open

Usage of vrep build-in robot models #60

liwangGT opened this issue Nov 23, 2016 · 0 comments

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@liwangGT
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Hi,

I notice that there are only 4 robot models and 2 sensor models in the current vrep_ros_plugin. Is it possible for me to associate the robot handlers to the vrep build-in models with your ROS bridge?

For example, if I use the quadricopter model provided by vrep, and add
quadrotor = simGetObjectAssociatedWithScript(sim_handle_self) simExtSetFloatCustomDataFromHeader(quadrotor, sim_ext_ros_bridge_quadrotor_data_main, 0.0)
vrep simulation will keep on giving error

Lua runtime error: [string "MAIN SCRIPT"]:29: Object does not exist. (simHandleModule)
stack traceback:
[C]: in function 'simHandleModule'
[string "MAIN SCRIPT"]:29: in main chunk
Simulation stopping...

I have tracked down the error. It is because sim_ext_ros_bridge_quadrotor_data_main does not exist. With rostopic list, all the topics exists,

/vrep/Quadricopter/command
/vrep/Quadricopter/pose
/vrep/Quadricopter/twist

But none of them is functional.

I am not sure how the association between the quadrotor model and the quadrotor handler is established in your robot model library. It would be helpful if I can access all the robots in the vrep library using your vrep_ros_bridge.

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