=========== CoppeliaSim =========== *CoppeliaSim*, formerly known as V-REP, is a robot simulator used in industry, education and research. It was originally developed within Toshiba R&D and is currently being actively developed and maintained by *Coppelia Robotics AG*, a small company located in Zurich, Switzerland. [`Wikipedia `_] - `Website `__ - `Documentation `_ .. figure:: img/2022-05-16-15-54-16.png :align: center :class: shadow :width: 500px Installation ============ Download the software from the official `website `__. .. tabbed:: Linux For Linux (Ubuntu 20.04) use the following commands: .. code-block:: bash tar vxf CoppeliaSim_Edu_V4_3_0_Ubuntu20_04.tar.xz Then move it to the ``/opt`` folder (its your choice thought): .. code-block:: bash sudo mv CoppeliaSim_Edu_V4_3_0_Ubuntu20_04/ /opt/coppeliasim Then, to start the program simple run: .. code-block:: bash cd /opt/coppeliasim ./coppeliaSim.sh .. tabbed:: Windows Figure it out yourself. .. tabbed:: Mac-OS Figure it out yourself. ROS2 Integration ================ *CoppeliaSim* comes with a plugin that is acting like an interface to communicate with ROS. This later is located in the installation folder with the name ``libsimExtROS2.so``. You can equally compile this plugin from source if it is necessary. Follow the instructions from `here `_. When the program starts, have a look in the terminal to verify that the plugin has been correctly loaded: .. code-block:: text [CoppeliaSim:loadinfo] plugin 'ROS2': loading... [CoppeliaSim:loadinfo] plugin 'ROS2': load succeeded. You should have a ROS node started that looks like this: .. code-block:: text $ ros2 node list /sim_ros2_interface There is a `ROS2 tutorial `_ in the official documentation that is worth following to learn more.