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ROS2 Interface plugin for CoppeliaSim

Supported ROS2 versions:

  • Humble Hawksbill

Compiling

NOTE: the directory containing all files (i.e. package.xml etc) must be called sim_ros2_interface, otherwise build will fail.

  1. Install required packages for simStubsGen: see simStubsGen's README
  2. Checkout
$ git clone https://github.com/CoppeliaRobotics/simROS2.git sim_ros2_interface
$ cd sim_ros2_interface
$ git checkout coppeliasim-v4.5.0-rev0

NOTE: replace coppeliasim-v4.5.0-rev0 with the actual CoppeliaSim version you have.

  1. Edit meta/interfaces.txt if you need to include more ROS interfaces. You need to specify the fully qualified interface, e.g. geometry_msgs/msg/Twist rather than Twist. If an interface uses non-primitive types (i.e. other interfaces), then those should be added as well.
  2. Compile
$ colcon build --symlink-install

Note: if you are reporting a compile error, please use this command to build:

VERBOSE=1 MAKEFLAGS=-j1 colcon build --symlink-install --event-handlers console_direct+ --parallel-workers 1

Add --cmake-args -DCMAKE_BUILD_TYPE=Debug if you are encountering a runtime error (e.g. crash, unexpected behavior, etc...).

Note: gcc can fail compile the plugin when a large number of interfaces is compiled in. Use clang in that case, i.e.:

sudo apt install clang
export CXX=clang++
colcon build ...