Publishing images

cd $HOME
git clone https://github.com/mirellameelo/ROS_and_V-REP.git

V-Rep and ROS 1

• Terminal 1:

source /opt/ros/<DISTRO>/setup.bash
roscore

• Terminal 2:

source /opt/ros/<DISTRO>/setup.bash
cd path/to/v-rep
./coppeliaSim.sh

Monocular camera

1. Open ~/ROS_and_V-REP/scenes/rosInterfaceTopicPublisherAndSubscriber.ttt

2. Play the scene. The image from V-Rep is now being published in the /image topic.

Stereo camera

1. Open ~/ROS_and_V-REP/scenes/rosInterfaceTopicPublisherAndSubscriber.ttt

2. Play the scene. Both images from V-Rep are now being published in the /left/image_raw and right/image_raw topics.

V-Rep and ROS 2

source /opt/ros/<DISTRO>/setup.bash
cd path/to/v-rep
./coppeliaSim.sh

1. Open ~/ROS_and_V-REP/scenes/maze.ttt

2. Play the scene. The image from V-Rep is now being published in the /image topic.

V-Rep and external ROS 2

1. Open ~/ROS_and_V-REP/scenes/maze_external_ros.ttt
2. Play the scene

# ROS 2
source /opt/ros/<DISTRO>/setup.bash
cd $HOME/ROS_and_V-REP
colcon build --symlink-install
source install/setup.bash

# running the ROS 2 package
ros2 run publisher publishing

3. Both images from V-Rep are now being published in the /left/image_raw and right/image_raw topics.

From scratch:

• ros2 pkg create --build-type ament_python <package_name>
• Inside package.xml, add dependencies from ROS

<export>
<exec_depend>std_msgs</exec_depend>
<exec_depend>sensor_msgs</exec_depend>
</export>

• Inside setup.py, add the executable

entry_points={
        'console_scripts': [
                '<executable_name> = <package_name>.<python_file_name>:main',
        ],
},

• Inside <python_file>, copy sim.py, simConst.py, remoteApi.so
• Remove from simConst import * from sim.py
• Develop <python_file>
• colcon build --symlink-install

Generating EuRoC dataset using V-Rep

• Terminal 1:

cd path/to/v-rep
./coppeliaSim.sh

1. Open ~/ROS_and_V-REP/scenes/generate_dataset_maze.ttt
2. Play the scene

• Terminal 2:

cd /ROS_and_V-REP
# USAGE: python3 src/generate_dataset.py <path>
python3 src/generate_dataset.py .