===== V-REP =====

<note>
This page refers to the following specific versions or dependencies:

**ROS** \\
Indigo or Jade or Kinetic

**V-REP** \\
v3.4.0 or later
</note>    

Martys can be simulated using //Coppelia Robotics’// popular **V-REP** simulator. The simulator exposes
a standard V-REP API for controlling the simulated robots, but you can also integrate it with **ROS**
to use the same control software as you would an advanced real-Marty setup, and be able to quickly
toggle between the two.

<div>

<card clickable>
<title>V-REP API framework</title>
[[http://www.coppeliarobotics.com/helpFiles/en/apisOverview.htm| ]] Take a look at the official API doc from Coppelia
</card>

<card clickable>
<title>V-REP Regular API</title>
[[http://www.coppeliarobotics.com/helpFiles/en/apiOverview.htm| ]] Official regular API docs from Coppelia
</card>

<card clickable>
<title>V-REP Remote API</title>
[[http://www.coppeliarobotics.com/helpFiles/en/remoteApiOverview.htm| ]] Official remote API docs from Coppelia
</card>

<card clickable>
<title>RosInterface docs</title>
[[http://www.coppeliarobotics.com/helpFiles/en/rosInterf.htm| ]] An explanation of the RosInterface plugin
</card>

<btn>[[http://www.coppeliarobotics.com/helpFiles/index.html| V-REP User Manual]]</btn>

==== Topic List ====

```
/marty/servos         # Type: marty_msgs/ServoMsg
/marty/servo_array    # Type: marty_msgs/ServoMsgArray
/marty/accel          # Type: marty_msgs/Accelerometer
```


<note>
There is a known issue with the simulated accelerometer, so the data coming from `/marty/accel` is inconsistent with the ROS stack.
Before the changes can be made official and changed by Coppelia, you can change `line 37` in the `Accelerometer` child script within V-REP to: -

    `accel={force[3]/(9.81*mass),force[1]/(9.81*mass),force[2]/(9.81*mass)}`
</note>