sas_robot_driver_coppeliasim

ROS2 Python Scripts In CoppeliaSim¶

https://github.com/user-attachments/assets/3d6222b8-e683-4039-ab72-d6a7ad08ba51

Run the following.

mkdir -p ~/sas_tutorial_workspace/docker/sas_robot_driver_coppeliasim
cd ~/sas_tutorial_workspace/docker/sas_robot_driver_coppeliasim/
curl -OL https://raw.githubusercontent.com/MarinhoLab/sas_robot_driver_coppeliasim/refs/heads/jazzy/docker_sample/run_docker_sample.sh
chmod +x run_docker_sample.sh
./run_docker_sample.sh

Notes

Remember to edit COPPELIA_SIM_SCENE_FILE in the compose file to be the correct scene file in the same directory.
Each robot is being controlled with the script scripts/joint_interface_example.py.

Adding capabilities to your own scenes¶

Use the following convenience scripts for the most common functionalities.


`.devcontainer/sas_object_script.py`	Add as immediate child to the root of an object in the scene, for instance, to get and send poses.
`.devcontainer/sas_robot_script.py`	Add as immediate child to the root of a serial-link robot to create a `sas::RobotDriverServer` for it.

Unusual use cases can be covered by the classes in the Python module sas_robot_driver_coppeliasim.