• User Manual: https://www.coppeliarobotics.com/helpFiles/index.html

Install CoppeliaSim

• Download the latest ver. https://www.coppeliarobotics.com/downloads

• Download previous of the sim https://www.coppeliarobotics.com/previousVersions

• Download CoppeliaSim "Edu" and extract

mv ~/Downloads/CoppeliaSim_Edu_V4_5_1_rev4_Ubuntu20_04 ~
echo "export COPPELIASIM_ROOT_DIR=/home/minho/CoppeliaSim_Edu_V4_5_1_rev4_Ubuntu20_04" >> ~/.bashrc
source ~/.bashrc

Install ROS for CoppeliaSim

• Read the ROS tutorial in CoppeliaSim https://www.coppeliarobotics.com/helpFiles/en/ros1Tutorial.htm

• Install dependencies

sudo apt-get install python3-pip
sudo apt install xsltproc
conda activate minho
pip3 install xmlschema

• Repo

simExtROS: https://github.com/CoppeliaRobotics/simROS

rosbubble_rob: https://github.com/CoppeliaRobotics/ros_bubble_rob

• Clone repo & compile (option 1)

cd ~/catkin_ws/src
git clone https://github.com/CoppeliaRobotics/ros_bubble_rob.git
git clone https://github.com/CoppeliaRobotics/simROS.git sim_ros_interface
cd sim_ros_interface
git checkout coppeliasim-v4.5.0-rev4
cd ~/catkin_ws && catkin_make

• Copy from the CoppeliaSim folder & compile (option 2) --

cp ~/CoppeliaSim_Edu_V4_5_1_rev4_Ubuntu20_04/programming/ros_packages/* ~/catkin_ws/src/ -rf
cd ~/catkin_ws && catkin_make

• Copy library file to CoppeliaSim folder

cp ~/catkin_ws/devel/lib/libsimExtROS.so ~/CoppeliaSim_Edu_V4_5_1_rev4_Ubuntu20_04/

• Execute

roscore

~/CoppeliaSim_Edu_V4_5_1_rev4_Ubuntu20_04/coppeliaSim.sh

rosnode list

Remote API

conda activate minho
pip install pyzmq
pip install cbor
pip install coppeliasim-zmqremoteapi-client

• Test with the following Python script:

from coppeliasim_zmqremoteapi_client import RemoteAPIClient

client = RemoteAPIClient('localhost',23000)
sim = client.getObject('sim')

# call API function:
h = sim.getObject('/Floor')
print(h)