V-REP Documentation

These articles are for Marty the Robot version 1

If you've received your Marty after 2020 it's likely you have a version 2!

V-REP

This page refers to the following specific versions or dependencies:

ROS
Indigo or Jade or Kinetic

V-REP
v3.4.0 or later

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.

V-REP API framework

Take a look at the official API doc from Coppelia

V-REP Regular API

Official regular API docs from Coppelia

V-REP Remote API

Official remote API docs from Coppelia

RosInterface docs

An explanation of the RosInterface plugin

V-REP User Manual

Topic List

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

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)}