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vrep_ros_bridge: camera_handler | contact_handler | force_sensor_handler | imu_handler | manipulator_handler | quadrotor_handler | rigid_body_handler | vrep_ros_plugin

Package Summary

The rigid_body_handler package

  • Maintainer: Giovanni Claudio <giovanni.claudio AT inria DOT fr>
  • Author: Riccardo Spica <riccardo.spica AT inria DOT fr>, Giovanni Claudio <giovanni.claudio AT inria DOT fr>
  • License: BSD
  • Source: git https://github.com/lagadic/vrep_ros_bridge.git (branch: master)
vrep_ros_bridge: camera_handler | contact_handler | force_sensor_handler | imu_handler | manipulator_handler | quadrotor_handler | rigid_body_handler | vrep_ros_plugin

Package Summary

The rigid_body_handler package

  • Maintainer: Giovanni Claudio <giovanni.claudio AT inria DOT fr>
  • Author: Riccardo Spica <riccardo.spica AT inria DOT fr>, Giovanni Claudio <giovanni.claudio AT inria DOT fr>
  • License: BSD
  • Source: git https://github.com/lagadic/vrep_ros_bridge.git (branch: master)
vrep_ros_bridge: camera_handler | contact_handler | force_sensor_handler | imu_handler | manipulator_handler | quadrotor_handler | rigid_body_handler | vrep_ros_plugin

Package Summary

The rigid_body_handler package

  • Maintainer: Giovanni Claudio <giovanni.claudio AT inria DOT fr>
  • Author: Riccardo Spica <riccardo.spica AT inria DOT fr>, Giovanni Claudio <giovanni.claudio AT inria DOT fr>
  • License: BSD
  • Source: git https://github.com/lagadic/vrep_ros_bridge.git (branch: master)

Rigid body handler

Pose

This handler allows to publish the pose of an object in the V-REP scene and/or to set its pose from ROS.

You can enable the publisher of the pose by adding in the child script of the object the following line:

pose_handl = simGetObjectAssociatedWithScript(sim_handle_self)
simExtSetFloatCustomDataFromHeader(pose_handl, sim_ext_ros_bridge_obj_pose_data_main, 0.0)

You can change the third parameter as you wish to set the frequency of the publisher. If you leave 0.0 the publishing frequency will be equal to the simulation frequency.

Twist

This handler allows to publish the twist of an object in the V-REP scene and/or to apply a twist to it from ROS.

You can enable the subscriber of the twist adding in the child script of the object the following line:

twist_handl = simGetObjectAssociatedWithScript(sim_handle_self)
simExtSetIntCustomDataFromHeader(twist_handl, sim_ext_ros_bridge_set_obj_twist_data_main, 0)

In this case the received velocities will be automatically applied to the object. If the third argument of the function is "0" the velocity is taken referred to the body frame, if equal to "1" is taken referred to the world frame.


2019-07-13 13:03