- Install the dependencies
sudo apt-get install libopencv-dev python-opencv
- Download and install vrep 3.3.2 edu from http://www.coppeliarobotics.com/previousversions.html
- Build the vrep plugin from the folder
cp -r <VREP>/programming/ros_packages/vrep_common <catkin_ws>/src
cp -r <VREP>/programming/ros_packages/vrep_plugin <catkin_ws>/src
cd <catkin_ws>
export VREP_ROOT=<VREP>
catkin_make
cp devel/lib/libv_repExtRos.so <VREP>
- If not already done, compile the thymioid packages
cd src
git clone -b client https://github.com/jeguzzi/ros-aseba.git
git clone -b client https://github.com/jeguzzi/thymioid.git
git clone https://github.com/lrse/ros-keyboard.git
cd ..
catkin_make
- Create the following launch file
<?xml version="1.0"?>
<launch>
<include file="$(find thymio_vrep)/launch/base.launch" />
<param name="robot_description" command="$(find xacro)/xacro.py '$(find thymioid)/models/thymioid.urdf.xacro'" />
<node pkg="robot_state_publisher" type="robot_state_publisher" name="rob_st_pub" />
<node name="teleop" pkg="thymio_navigation" type="remote_to_twist.py" />
<node name="keyboard" pkg="keyboard" type="keyboard" />
</launch>
- Launch roscore
- Launch vrep
- Open the thymio scene located in
<catkin_ws>/src/thymioid/usi_lab_4/scene/lab4.skeleton
- Launch the simulation by pressing the play button
- Launch the launch file
roslaunch <package> <launch_file>
- Drive around by using the keyboard arrows (press space to stop) while having the small windows titled
ROS keyboard input in focus.
