nicoros - Pyrep

The Pyrep class allows control over motors and access to sensors of a NICO simulated in CoppeliaSim through ROS. It combines functions of the Motion and Vision modules.

Before running the node, make sure the required environment variables LD_LIBRARY_PATH and QT_QPA_PLATFORM_PLUGIN_PATH are set properly. To do so run:

source api/pyrep_env.bash

To start the interface with default parameters run:

rosrun nicoros Pyrep.py --vrep-scene=path/to/scene

For a full list of parameters run:

rosrun nicoros Pyrep.py -h

Exposed topics

The following ROS topics are exposed by the class - where $PREFIX stands for the prefix of the topics/services (Default: /nico/pyrep), $MOTION is an extension of the prefix for motion related topics (Default: /motion) and $VISION is the same for vision related topics (Default: /vision):

Motion

ROS topic name	Message type	Short description
$PREFIX/$MOTION/changeAngle	nicomsg/sff	Changes the angle of a single joint. Parameters: Name of joint Angle Fraction of max speed
$PREFIX/$MOTION/closeHand	nicomsg/s	Closes the hand. Parameters: “RHand” or “LHand”
$PREFIX/$MOTION/disableTorque	nicomsg/s	Disables torque on a single joint. Parameters: Name of joint
$PREFIX/$MOTION/disableTorqueAll	nicomsg/empty	Disables torque on all joints.
$PREFIX/$MOTION/enableTorque	nicomsg/s	Enables torque on a single joint. Parameters: Name of joint
$PREFIX/$MOTION/enableTorqueAll	nicomsg/empty	Enables torque on all joints.
$PREFIX/$MOTION/openHand	nicomsg/s	Opens the hand. Parameters: “RHand” or “LHand”
$PREFIX/$MOTION/setAngle	nicomsg/sff	Sets the angle of a single joint. Parameters: Name of joint angle Fraction of max speed
$PREFIX/$MOTION/setMaximumSpeed	nicomsg/f	Sets the maximum allowed speed (in fraction of maximum possible speed). Parameters: Maximum speed
$PREFIX/$MOTION/setPID	nicomsg/sfff	Sets the PID control of a single joint. Parameters: Name of joint p (proportional band) i (integral action) d (derivative action)
$PREFIX/$MOTION/setStifftness	nicomsg/sf	Sets the stifftness of a single joint. Parameters: Name of joint stifftness

Vision

ROS topic name	Message type	Short description
$PREFIX/$VISION/left	sensor_msgs/Image	Video stream of the left vision sensor (one frame per simulation step)
$PREFIX/$VISION/right	sensor_msgs/Image	Video stream of the right visio sensor (one frame per simulation step)

Exposed services

The following ROS services are exposed by the class - where $PREFIX stands for the prefix of the topics/services (Default: /nico/pyrep), $MOTION is an extension of the prefix for motion related topics (Default: /motion) and $VISION is the same for vision related topics (Default: /vision):

Pyrep

ROS service name	Service type	Short description
$PREFIX/getPose	nicomsg/GetValues	Returns the the position of an object in the scene
$PREFIX/nextSimulationStep	std_srvs/Empty	Triggers the next simulation step.
$PREFIX/startSimulation	std_srvs/Empty	Starts the simulation.
$PREFIX/stopSimulation	std_srvs/Empty	Stops the simulation.

Motion

ROS service name	Service type	Short description
$PREFIX/$MOTION/getAngle	nicomsg/GetValue	Returns the angle of a single joint
$PREFIX/$MOTION/getAngleLowerLimit	nicomsg/GetValue	Returns the lower limit of the angle for a single joint
$PREFIX/$MOTION/getAngleUpperLimit	nicomsg/GetValue	Returns the upper limit of the angle for a single joint
$PREFIX/$MOTION/getConfig	nicomsg/GetString	Returns the JSON configuration of motors
$PREFIX/$MOTION/getCurrent	nicomsg/GetValue	Returns the present currency of a single joint
$PREFIX/$MOTION/getJointNames	nicomsg/GetNames	Returns a list with the names of all joints
$PREFIX/$MOTION/getPID	nicomsg/GetPID	Returns the PID control of a single joint
$PREFIX/$MOTION/getStifftness	nicomsg/GetValue	Returns the stifftness of a single joint
$PREFIX/$MOTION/getTemperature	nicomsg/GetValue	Returns the present temperature of a single joint
$PREFIX/$MOTION/getTorqueLimit	nicomsg/GetValue	Returns the torque limit of a single joint
$PREFIX/$MOTION/getVrep	nicomsg/GetString	Returns if vrep simulation is used or not

Class documentation