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]

Installation#
Download the software from the official website.
For Linux (Ubuntu 20.04) use the following commands:
tar vxf CoppeliaSim_Edu_V4_3_0_Ubuntu20_04.tar.xz
Then move it to the /opt
folder (its your choice thought):
sudo mv CoppeliaSim_Edu_V4_3_0_Ubuntu20_04/ /opt/coppeliasim
Then, to start the program simple run:
cd /opt/coppeliasim
./coppeliaSim.sh
Figure it out yourself.
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:
[CoppeliaSim:loadinfo] plugin 'ROS2': loading...
[CoppeliaSim:loadinfo] plugin 'ROS2': load succeeded.
You should have a ROS node started that looks like this:
$ ros2 node list
/sim_ros2_interface
There is a ROS2 tutorial in the official documentation that is worth following to learn more.