ROS_Kinetic_18 使用V-Rep3.3.1和Matlab2015b（vrep_ros_bridge）续

ROS_Kinetic_18 使用V-Rep3.3.1和Matlab2015b（vrep_ros_bridge）续

上一节配置的v-rep在ros kinetic中是可以看图像，并订阅主题的，但是无法发送消息让机器人动起来，

在Top启发下，研究了一下，终于解决了，官方提供的正对3.3.1版本的vrep需要额外的步骤。

ln -s compiledRosPlugins/libv_repExtRos.so 

配置后在kinetic中是会报错的，这时候需要重新编译生成该文件。

1 编译生成

这里，需要注意catkin_make和catkin build的区别，并灵活使用。

复制在v-rep安装目录ros_packages到catkin_relay/src中：

/home/relaybot/Rob_Soft/V-REP_PRO_EDU_V3_3_1_64_Linux/programming/externalIkDemo1/ros_packages

需要修改，其中CMakeLists.txt，加入：

link_directories("/opt/ros/kinetic/lib")

使其可以用于kinetic，需要修改多处。然后编译，这里推荐用catkin build：

~$ cd catkin_relay/
~/catkin_relay$ catkin build

完成后，就可以在devel/lib下看到新的.so。

~/Rob_Soft/V-REP_PRO_EDU_V3_3_1_64_Linux$ ln /home/relaybot/catkin_relay/devel/lib/libv_repExtRosBridge.so
~/Rob_Soft/V-REP_PRO_EDU_V3_3_1_64_Linux$ ln /home/relaybot/catkin_relay/devel/lib/libv_repExtRos.so

这时，启动./vrep.sh，就不会出错了。

2 图像识别

分别启动roscore和v-rep。

打开Pioneer_p3dx_traj_DEMO.ttt场景并运行。

新打开一个终端，运行：

~$ roslaunch demo_pioneer demo-visual-servo-pioneer-simulation.launch 

图像被标记出。这里需要用到visp，demo_pioneer等。

3 控制机器人

~$ rosrun rqt_publisher rqt_publisher 

4 Matlab

Matlab2015b之后版本可以直接使用ROS，测试过indigo和kinetic都没有问题。也可以用matlab直接和vrep调试。

最后补一组图，ros和vrep控制空中机器人也很方便的。

-End-

补充 API接口

Matlab

Remote API

The remote API is part of the V-REP API framework.

V-REP offers a remote API allowing to control a simulation (or the simulator itself) from an external application or a remote hardware (e.g. real robot, remote computer, etc.). The V-REP remote API is composed by approximately one hundred specific functions and one generic function, that can be called from a C/C++ application, a Python script, a Java application, a Matlab/Octave program, an Urbi script, or a Lua script. The remote API functions are interacting with V-REP via socket communication in a way that reduces lag and network load to a great extent. All this happens in a hidden fashion to the user. The remote API can let one or several external applications interact with V-REP in a synchronous* or asynchronous* way (asynchronous by default), and even remote control of the simulator is supported (e.g. remotely loading a scene, starting, pausing or stopping a simulation for instance).

The word Synchronous is used in the sense that each simulation pass runs synchronously with the remote API application (i.e. the simulator will wait for a trigger signal from a client to start next simulation pass at a time t+dt). This is different from synchronous/asynchronous in the sense of blocking/non-blocking operation. The remote API also supports blocking and non-blocking operations.

Make sure you understand how the remote API is operating by reading this section. Also have a look at the external controller tutorial.

The remote API functionality comes in 2 separate entities, that are interacting via socket communication: