ROS 2 Nodes & Parameters¶
Node: sas_robot_driver_coppeliasim_node¶
| Property | Value |
|---|---|
| Executable | sas_robot_driver_coppeliasim_node |
| ROS node name | myrobot_1 (set by the name launch argument of robot_launch.py) |
| Description | Robot driver node for CoppeliaSim. Reads all parameters, instantiates RobotDriverCoppeliaSim (ZMQ interface to the simulated robot) and RobotDriverROS (runs the control loop). |
Parameters¶
| Parameter | Type | Mandatory / Optional | Default | Purpose |
|---|---|---|---|---|
joint_limits_min | array of doubles (degrees) | Mandatory | none — must be provided | Minimum joint limits; converted from deg → rad internally |
joint_limits_max | array of doubles (degrees) | Mandatory | none — must be provided | Maximum joint limits; converted from deg → rad internally |
robot_joint_names | array of strings | Mandatory | none — must be provided | Names of the robot joints to control |
thread_sampling_time_sec | double | Mandatory | none — must be provided | Sampling period of the robot control-loop thread (e.g. 0.002 s = 500 Hz) |
ip | string | Optional | 127.0.0.1 | CoppeliaSim (ZMQ) IP address |
port | int | Optional | 23000 | CoppeliaSim (ZMQ) port number |
timeout | int | Optional | 1000 | ZMQ connection timeout, in milliseconds |
How mandatory/optional is determined in code:
Mandatory params are read with
sas::get_ros_parameter(...)— if missing, the node throws and fails to start.Optional params are read with
sas::get_ros_optional_parameter(..., <default>)— they carry in-code defaults.
Sample launch¶
launch/robot_launch.py starts the node with the parameters from config/config.yaml:
ros2 launch sas_robot_driver_coppeliasim robot_launch.pyTo use a different node name or configuration file:
ros2 launch sas_robot_driver_coppeliasim robot_launch.py name:=myrobot_2 config_file:=/path/to/config.yamlROS2 Python Scripts In CoppeliaSim¶
https://
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.shNotes
Remember to edit
COPPELIA_SIM_SCENE_FILEin 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.