Installation Instructions

Setup

Clone this repository with –recurse-submodules flag to download submodule repositories

catkin_make
source devel/setup.bash # or setup.sh, setup.zsh

Optional Instructions

Import surgical tools to Gazebo database

Copy the folder surgical_tool which is inside src/kuka_barrett_gazebo/objects and paste it in /home/<YOUR_USERNAME>/.gazebo/models. DO the same for mounting_dock

Install CoppeliaSim (VREP) with ROS

  1. Install VREP

  2. Make sure to have installed the necessary libraries. e.g. for tf2_sensor_msgs run sudo apt-get install ros-melodic-tf2-sensor-msgs

  3. Create a new workspace

source /opt/ros/melodic/setup.bash
mkdir -p ~/vrep_ws/src
cd ~/vrep_ws/
catkin_make

  1. Install xsltproc sudo apt-get install xsltproc

  2. Download plugin source code and build it

cd src
git clone --recursive https://github.com/CoppeliaRobotics/simExtROSInterface.git sim_ros_interface
source devel/setup.bash
export COPPELIASIM_ROOT_DIR=/home/user/path-to-your-vrep-installation-folder
cd ~/vrep_ws/
catkin_make
cd devel/lib
cp libsimExtROSInterface.so $COPPELIASIM_ROOT_DIR

6. Run VREP (after you have sourced your ROS workspace environment) $COPPELIASIM_ROOT_DIR/coppeliaSim.sh. While running make sure to check in the terminal that the plugin is loaded successfully.