RosPlugin services

simRosAddStatusbarMessage
regular API equivalent: simAddStatusbarMessage
remote API equivalent: simxAddStatusbarMessage

Description Adds a message to the status bar.

Equivalent topic subscribtion command: simros_strmcmd_add_status_bar_message
Input
message (string): the message to display
Output
result (int32): -1 if operation was not successful

simRosAuxiliaryConsoleClose
regular API equivalent: simAuxiliaryConsoleClose
remote API equivalent: simxAuxiliaryConsoleClose

Description Closes an auxiliary console window. See also simRosAuxiliaryConsoleOpen.
Input
consoleHandle (int32): the handle of the console window, previously returned by the simRosAuxiliaryConsoleOpen command
Output
result (int32): -1 if operation was not successful. 0 if the console doesn't exist (anymore), in which case no error is generated. 1 if the console window was closed.

simRosAuxiliaryConsoleOpen
regular API equivalent: simAuxiliaryConsoleOpen
remote API equivalent: simxAuxiliaryConsoleOpen

Description Opens an auxiliary console window for text display. This console window is different from the application main console window. Console window handles are shared across all simulator scenes. See also simRosAuxiliaryConsolePrint, simRosAuxiliaryConsoleShow and simRosAuxiliaryConsoleClose.
Input
title (string): the title of the console window
maxLines (int32): the number of text lines that can be displayed and buffered
mode (int32): bit-coded value. Bit0 set indicates that the console window will automatically close at simulation end, bit1 set indicates that lines will be wrapped, bit2 set indicates that the user can close the console window, bit3 set indicates that the console will automatically be hidden during simulation pause, bit4 set indicates that the console will not automatically hide when the user switches to another scene.
position (int32[]): the initial position of the console window (x and y value). Can be empty for default values
size (int32[]): the initial size of the console window (x and y value). Can be empty for default values
textColor (float32[]): the color of the text (rgb values, 0-1). Can be empty for default values
backgroundColor (float32[]): the background color of the console window (rgb values, 0-1). Can be empty for default values
Output
consoleHandle (int32): the handle of the created console

simRosAuxiliaryConsolePrint
regular API equivalent: simAuxiliaryConsolePrint
remote API equivalent: simxAuxiliaryConsolePrint

Description Prints to an auxiliary console window. See also simRosAuxiliaryConsoleOpen.

Equivalent topic subscribtion command: simros_strmcmd_auxiliary_console_print
Input
consoleHandle (int32): the handle of the console window, previously returned by the simRosAuxiliaryConsoleOpen command
text (string): the text to append, or an empty string to clear the console window
Output
result (int32): -1 if operation was not successful. 0 if the console doesn't exist (anymore), in which case no error is generated. 1 if the operation was successful.

simRosAuxiliaryConsoleShow
regular API equivalent: simAuxiliaryConsoleShow
remote API equivalent: simxAuxiliaryConsoleShow

Description Shows or hides an auxiliary console window. See also simRosAuxiliaryConsoleOpen and simRosAuxiliaryConsoleClose.
Input
consoleHandle (int32): the handle of the console window, previously returned by the simRosAuxiliaryConsoleOpen command
showState (uint8): indicates whether the console should be hidden (0) or shown (!=0)
Output
result (int32): -1 if operation was not successful. 0 if the console doesn't exist (anymore), in which case no error is generated. 1 if the console window's show state was changed.

simRosBreakForceSensor
regular API equivalent: simBreakForceSensor
remote API equivalent: simxBreakForceSensor

Description Allows breaking a force sensor during simulation. A broken force sensor will lose its positional and orientational constraints. See also simRosReadForceSensor.
Input
objectHandle (int32): handle of the force sensor
Output
result (int32): -1 if operation was not successful

simRosCallScriptFunction
regular API equivalent: simCallScriptFunctionEx
remote API equivalent: simxCallScriptFunction

Description Remotely calls a V-REP script function. Call this only for non-threaded scripts, and when calling simulation scripts, then simulation must be running. The called script function should always have following input/output form:
myFunctionName=function(inInts,inFloats,inStrings,inBuffer)
	-- inInts, inFloats and inStrings are tables
	-- inBuffer is a string
    
    -- Perform any type of operation here.

	-- Always return 3 tables and a string, e.g.:
	return {},{},{},''
end


Equivalent topic subscribtion command: simros_strmcmd_send_data_to_script_function
Equivalent topic publishing command: simros_strmcmd_receive_data_from_script_function
Input
functionNameAtObjectName (string): a string representing the function name and script name, e.g. myFunctionName@theScriptName. When the script is not associated with an object, then just specify the function name.
scriptHandleOrType (int32): the handle of the script, otherwise the type of the script:
sim_scripttype_mainscript (0): the main script will be called.
sim_scripttype_childscript (1): a child script will be called.
sim_scripttype_jointctrlcallback (4): a joint control callback script will be called.
sim_scripttype_contactcallback (5): the contact callback script will be called.
sim_scripttype_customizationscript (6): a customization script will be called.
sim_scripttype_generalcallback (7): the general callback script will be called.
inputInts (int32[]): the input integer values that are handed over to the script function.
inputFloats (float32[]): the input floating-point values that are handed over to the script function.
inputStrings (string[]): the input strings values that are handed over to the script function.
inputBuffer (string): the input buffer (bytes) that is handed over to the script function.
Output
result (int32): -1 if operation was not successful.
outputInts (int32[]): the returned integer values.
outputFloats (float32[]): the returned floating-point values.
outputStrings (string[]): the returned strings.
outputBuffer (string): the returned buffer (bytes).

simRosClearFloatSignal
regular API equivalent: simClearFloatSignal
remote API equivalent: simxClearFloatSignal

Description Clears a float signal (removes it). See also simRosSetFloatSignal, simRosClearIntegerSignal and simRosClearStringSignal.

Equivalent topic subscribtion command: simros_strmcmd_clear_float_signal
Input
signalName (string): name of the signal or an empty string to clear all float signals
Output
result (int32): -1 if operation was not successful, otherwise the number of signals cleared

simRosClearIntegerSignal
regular API equivalent: simClearIntegerSignal
remote API equivalent: simxClearIntegerSignal

Description Clears an integer signal (removes it). See also simRosSetIntegerSignal, simRosClearFloatSignal and simRosClearStringSignal.

Equivalent topic subscribtion command: simros_strmcmd_clear_integer_signal
Input
signalName (string): name of the signal or an empty string to clear all integer signals
Output
result (int32): -1 if operation was not successful, otherwise the number of signals cleared

simRosClearStringSignal
regular API equivalent: simClearStringSignal
remote API equivalent: simxClearStringSignal

Description Clears a string signal (removes it). See also simRosSetStringSignal, simRosClearIntegerSignal and simRosClearFloatSignal.

Equivalent topic subscribtion command: simros_strmcmd_clear_string_signal
Input
signalName: name of the signal or an empty string to clear all string signals
Output
result (int32): -1 if operation was not successful

simRosCloseScene
regular API equivalent: simCloseScene
remote API equivalent: simxCloseScene

Description Closes current scene, and switches to another open scene. If there is no other open scene, a new scene is then created. Should only be called when simulation is not running. See also simRosLoadScene.
Input
-
Output
result (int32): -1 if operation was not successful

simRosCopyPasteObjects
regular API equivalent: simCopyPasteObjects
remote API equivalent: simxCopyPasteObjects

Description Copies and pastes objects, together with all their associated calculation objects and child scripts. To copy and paste whole models, you can simply copy and paste the model base object.
Input
objectHandles (int32[]): the handles of the objects to copy
Output
result (int32): the number of copied objects (not necessarily the number of returned object handles!)
newObjectHandles (int32): the handles of newly created objects. Individual objects of a new model are not returned, but only the model base.

simRosCreateDummy
regular API equivalent: simCreateDummy
remote API equivalent: simxCreateDummy

Description Creates a dummy in the scene.
Input
size (float32): the size of the dummy
colors (int8[]): 4*3 bytes (0-255) for ambient_diffuse RGB, 3 reserved values (set to zero), specular RGB and emissive RGB. Can be empty for default colors.
Output
dummyHandle (int32): the handle of the created dummy, or -1 in case of an error

simRosDisablePublisher

Description Disables a publisher (i.e. V-REP will stop streaming data on a specific topic) previously enabled with simRosEnablePublisher. If a same publisher was enabled several times (e.g. from different nodes), then this command will only decrement a reference counter (a publisher is effectively disabled when its reference counter reaches zero). At simulation end, all publishers are automatically disabled. A publisher can also be disabled using the RosPlugin's exported Lua function: simExtROS_disablePublisher. See also simRosDisableSubscriber.
Input
topicName (string): the topic name previously returned by simRosEnablePublisher.
Output
referenceCounter (int32): the value of the reference counter. If the counter is >0, then the publisher is still enabled. If the counter is 0, then the publisher was just disabled. If referenceCounter is -1, there was an error.

simRosDisableSubscriber

Description Disables a subscriber (i.e. data streaming for a specific topic will not be read anymore by V-REP) previously enabled with simRosEnableSubscriber. At simulation end, all subscribers are automatically disabled. A subscriber can also be disabled using the RosPlugin's exported Lua function: simExtROS_disableSubscriber. See also simRosDisablePublisher.
Input
subscriberID (int32): a subscriber ID previously returned by simRosEnableSubscriber.
Output
result (uint8): 0 if the operation was not successful.

simRosDisplayDialog
regular API equivalent: simDisplayDialog
remote API equivalent: simxDisplayDialog

Description Displays a generic dialog box during simulation (and only during simulation!). Use in conjunction with simRosGetDialogResult, simRosGetDialogInput and simRosEndDialog. Use custom user interfaces instead if a higher customization level is required.
Input
titleText (string): Title bar text
mainText (string): Information text
dialogType (int32): a generic dialog style
initialText (string): Initial text in the edit box if the dialog is of type sim_dlgstyle_input. Cannot be NULL!
titleColors (float32[]): Title bar color (6 values for RGB for background and foreground), can be empty for default colors
dialogColors (float32[]): Dialog color (6 values for RGB for background and foreground), can be empty for default colors
Output
dialogHandle (int32): handle of the generic dialog (different from OpenGl-based custom UI handle!! (see hereafter)). This handle should be used with the following functions: simRosGetDialogResult, simRosGetDialogInput and simRosEndDialog.
uiHandle (int32): handle of the corresponding OpenGl-based custom UI.

simRosEnablePublisher

Description Enables a publisher (i.e. V-REP will be streaming data on a specific topic). Publishers can only be enabled while simulation is running. If a same publisher (i.e. of the same type and applied to the same item) was already enabled previously, then a reference counter will be incremented and the topic name of that publisher is returned. Publishers can be disabled with simRosDisablePublisher. At simulation end, all publishers are automatically disabled. A publisher can also be enabled using the RosPlugin's exported Lua function: simExtROS_enablePublisher. See also simRosEnableSubscriber.
Input
topicName (string): the desired topic name.
queueSize (int32): the desired queue size.
streamCmd (int32): the desired type of data to stream.
auxInt1 (int32): an auxiliary integer value (first) that might be needed to fully specify the desired data to stream
auxInt2 (int32): an auxiliary integer value (second) that might be needed to fully specify the desired data to stream
auxString (string): an auxiliary string value that might be needed to fully specify the desired data to stream
Output
effectiveTopicName (string): the effective topic name that will be used to stream the desired data, or an empty string if there was an error. If the desired topic name is already in use for another type of publisher, then a new topic name is generated (i.e. "_2" appended). If the desired publisher is already enabled, then the topic name of that existing publisher is returned.

simRosEnableSubscriber

Description Enables a subscriber (i.e. V-REP will be listening to data streaming on a specific topic). Subscribers can only be enabled while simulation is running. Subscribers can be disabled with simRosDisableSubscriber. At simulation end, all subscribers are automatically disabled. A subscriber can also be enabled using the RosPlugin's exported Lua function: simExtROS_enableSubscriber. See also simRosEnablePublisher.
Input
topicName (string): the desired topic name.
queueSize (int32): the desired queue size.
streamCmd (int32): the desired type of data to stream.
auxInt1 (int32): an auxiliary integer value (first) that might be needed to fully specify the desired data to stream
auxInt2 (int32): an auxiliary integer value (second) that might be needed to fully specify the desired data to stream
auxString (string): an auxiliary string value that might be needed to fully specify the desired data to stream
Output
subscriberID (int32): a subscriber ID, or -1 in case of an error. The subscriber ID is needed to disable that subscriber with simRosDisableSubscriber.

simRosEndDialog
regular API equivalent: simEndDialog
remote API equivalent: simxEndDialog

Description Closes and releases resources from a previous call to simRosDisplayDialog. Even if the dialog is not visible anymore, you should release resources by using this function (however, at the end of a simulation, all dialog resources are automatically released).
Input
dialogHandle (int32): handle of generic dialog (return value of simRosDisplayDialog)
Output
result (int32): -1 if operation was not successful

simRosEraseFile (remote API equivalent: simxEraseFile)

Description Erases a file on the server side. See also simRosTransferFile.
Input
fileName (string): the file to erase on the server side. For now, do not specify a path (the file will be erased in the V-REP installation directory)
Output
result (int32): -1 if operation was not successful

simRosGetAndClearStringSignal (remote API equivalent: simxGetStringSignal)

Description Gets the value of a string signal, then clears it. Useful to retrieve continuous data from the server. See also simRosGetStringSignal.

Equivalent topic publishing command: simros_strmcmd_get_and_clear_string_signal
Input
signalName (string): name of the signal
Output
result (int32): -1 if operation was not successful, 0 if the signal does not exist. 1 otherwise.
signalValue (string): the value of the signal, which may contain any data (also embedded zeros).

simRosGetArrayParameter
regular API equivalent: simGetArrayParameter
remote API equivalent: simxGetArrayParameter

Description Retrieves 3 values from an array. See the array parameter identifiers. See also simRosSetArrayParameter, simRosGetBooleanParameter, simRosGetIntegerParameter, simRosGetFloatingParameter and simRosGetStringParameter.

Equivalent topic publishing command: simros_strmcmd_get_array_parameter
Input
parameter (int32): an array parameter identifier
Output
result (int32): -1 if operation was not successful
parameterValues (float32[]): the 3 parameter values

simRosGetBooleanParameter
regular API equivalent: simGetBoolParameter
remote API equivalent: simxGetBooleanParameter

Description Retrieves a boolean value. See the Boolean parameter identifiers. See also simRosSetBooleanParameter, simRosGetIntegerParameter, simRosGetFloatingParameter, simRosGetArrayParameter and simRosGetStringParameter.

Equivalent topic publishing command: simros_strmcmd_get_boolean_parameter
Input
parameter (int32): a Boolean parameter identifier
Output
parameterValue (int32): -1 if operation was not successful, otherwise the parameter value

simRosGetCollectionHandle
regular API equivalent: simGetCollectionHandle
remote API equivalent: simxGetCollectionHandle

Description Retrieves a collection handle based on its name. See also simRosGetObjectGroupData.
Input
collectionName (string): name of the collection. If possibe, don't rely on the automatic name adjustment mechanism, and always specify the full collection name, including the #: if the collection is "myCollection", specify "myCollection#", if the collection is "myCollection#0", specify "myCollection#0", etc.
Output
handle (int32): -1 if operation was not successful, otherwise the handle of the collection

simRosGetCollisionHandle
regular API equivalent: simGetCollisionHandle
remote API equivalent: simxGetCollisionHandle

Description Retrieves a collision object handle based on its name. See also simRosGetObjectGroupData.
Input
collisionName (string): name of the collision object. If possibe, don't rely on the automatic name adjustment mechanism, and always specify the full collision object name, including the #: if the collision object is "myCollision", specify "myCollision#", if the collision object is "myCollision#0", specify "myCollision#0", etc.
Output
handle (int32): -1 if operation was not successful, otherwise the handle of the collision object

simRosGetDialogInput
regular API equivalent: simGetDialogInput
remote API equivalent: simxGetDialogInput

Description Queries the text the user entered into a generic dialog box of style sim_dlgstyle_input. To be used after simRosDisplayDialog was called and after simRosGetDialogResult returned sim_dlgret_ok.
Input
dialogHandle (int32): handle of generic dialog (return value of simRosDisplayDialog)
Output
result (int32): -1 if operation was not successful
input (string): the string the user entered.

simRosGetDialogResult
regular API equivalent: simGetDialogResult
remote API equivalent: simxGetDialogResult

Description Queries the result of a dialog box. To be used after simRosDisplayDialog was called.

Equivalent topic publishing command: simros_strmcmd_get_dialog_result
Input
dialogHandle (int32): handle of a generic dialog (return value of simRosDisplayDialog)
Output
result (int32): -1 if operation was not successful, otherwise a dialog result value.

Note. If the result value is sim_dlgret_still_open, the dialog was not closed and no button was pressed. Otherwise, you should free resources with simRosEndDialog (the dialog might not be visible anymore, but is still present)

simRosGetDistanceHandle
regular API equivalent: simGetDistanceHandle
remote API equivalent: simxGetDistanceHandle

Description Retrieves a distance object handle based on its name. See also simRosGetObjectGroupData.
Input
distanceName (string): name of the distance object. If possibe, don't rely on the automatic name adjustment mechanism, and always specify the full distance object name, including the #: if the distance object is "myDistance", specify "myDistance#", if the distance object is "myDistance#0", specify "myDistance#0", etc.
Output
handle (int32): -1 if operation was not successful, otherwise the handle of the distance object

simRosGetFloatingParameter
regular API equivalent: simGetFloatParameter
remote API equivalent: simxGetFloatingParameter

Description Retrieves a floating point value. See the floating-point parameter identifiers. See also simRosSetFloatingParameter, simRosGetBooleanParameter, simRosGetIntegerParameter, simRosGetArrayParameter and simRosGetStringParameter.

Equivalent topic publishing command: simros_strmcmd_get_floating_parameter
Input
parameter (int32): a floating parameter identifier
Output
result (int32): -1 if operation was not successful
parameterValue (float32): the parameter value

simRosGetFloatSignal
regular API equivalent: simGetFloatSignal
remote API equivalent: simxGetFloatSignal

Description Gets the value of a float signal. Signals are cleared at simulation start. See also simRosSetFloatSignal, simRosClearFloatSignal, simRosGetIntegerSignal and simRosGetStringSignal.

Equivalent topic publishing command: simros_strmcmd_get_float_signal
Input
signalName (string): name of the signal
Output
result (int32): -1 if operation was not successful, 0 if signal does not exist. 1 otherwise.
signalValue (float32): the value of the signal

simRosGetInfo (remote API equivalent: simxGetInMessageInfo)

Description Retrieves basic information from the server (V-REP)

Equivalent streaming topic name: info
Input
-
Output
headerInfo (Header): header information
simulatorState (int32): the simulator state, bit-coded:
bit0 set: simulation not stopped
bit1 set: simulation paused
bit2 set: real-time switch on
bit3-bit5: the edit mode type (0=no edit mode, 1=triangle, 2=vertex, 3=edge, 4=path, 5=UI)
simulationTime (float32): the simulation time
timeStep (float32): the simulation time step

simRosGetIntegerParameter
regular API equivalent: simGetInt32Parameter
remote API equivalent: simxGetIntegerParameter

Description Retrieves an integer value. See the integer parameter identifiers. See also simRosSetIntegerParameter, simRosGetBooleanParameter, simRosGetFloatingParameter, simRosGetArrayParameter and simRosGetStringParameter.

Equivalent topic publishing command: simros_strmcmd_get_integer_parameter
Input
parameter (int32): an integer parameter identifier
Output
result (int32): -1 if operation was not successful
parameterValue (int32): the parameter value

simRosGetIntegerSignal
regular API equivalent: simGetIntegerSignal
remote API equivalent: simxGetIntegerSignal

Description Gets the value of an integer signal. Signals are cleared at simulation start. See also simRosSetIntegerSignal, simRosClearIntegerSignal, simRosGetFloatSignal and simRosGetStringSignal.

Equivalent topic publishing command: simros_strmcmd_get_integer_signal
Input
signalName (string): name of the signal
Output
result (int32): -1 if operation was not successful, 0 if signal does not exist. 1 otherwise.
signalValue (int32): the value of the signal

simRosGetJointMatrix
regular API equivalent: simGetJointMatrix
remote API equivalent: simxGetJointMatrix

Description Retrieves the intrinsic transform of a joint (the transformation caused by the joint movement). See also simRosSetSphericalJointMatrix.
Input
handle (int32): handle of the joint
Output
result (int32): -1 if operation was not successful
transform (geometry_msgs/TransformationStamped): a transform. Refer to the ROS documentation

simRosGetJointState
regular API equivalent: simGetJointPosition/simGetJointForce

Description Retrieves information about a joint's position, velocity and force (with the Bullet engine, the returned force or torque is the force or torque applied to the joint motor torques from joint limits are not taken into account). With the ODE or Vortex engine, the total force or torque applied to a joint along/about its z-axis is returned). This function cannot be used with spherical joints (use simRosGetJointMatrix instead). See also simRosSetJointState, simRosSetJointPosition, simRosSetJointTargetPosition, simRosSetJointTargetVelocity, simRosSetJointForceand simRosGetObjectGroupData.

Equivalent topic publishing command: simros_strmcmd_get_joint_state
Input
handle (int32): handle of the joint, or sim_handle_all to retrieve information of all joints in a scene
Output
result (int32): -1 if operation was not successful
JointState (sensor_msgs/JointState): the joint state (position, velocity and force/torque). Refer to the ROS documentation.

simRosGetLastErrors
regular API equivalent: simGetLastError
remote API equivalent: simxGetLastErrors

Description Retrieves the last 50 errors that occured on the server side, and clears the error buffer there. Only errors that occured because of ROS services will be reported.
Input
-
Output
errorCnt (int32): -1 if operation was not successful, otherwise the number of error strings returned
errorStrings (string): the error strings (individual strings are separated by a zero character).

simRosGetModelProperty
regular API equivalent: simGetModelProperty
remote API equivalent: simxGetModelProperty

Description Retrieves the properties of a model. See also simRosSetModelProperty.
Input
handle (int32): handle of the object
Output
propertyValue (int32): -1 if operation was not successful, otherwise the model property value

simRosGetObjectChild
regular API equivalent: simGetObjectChild
remote API equivalent: simxGetObjectChild

Description Retrieves the handle of an object's child object. See also simRosGetObjectParent.
Input
handle (int32): handle of the object
index (int32): zero-based index of the child's position. To retrieve all children of an object, call the function by increasing the index until the child handle is -1
Output
childHandle (int32): -1 if operation was not successful or there is no child at the given index, otherwise the handle of the child object.

simRosGetObjectFloatParameter
regular API equivalent: simGetObjectFloatParameter
remote API equivalent: simxGetObjectFloatParameter

Description Retrieves a floating-point parameter of a object. See also simRosSetObjectFloatParameter and simRosGetObjectIntParameter.

Equivalent topic publishing command: simros_strmcmd_get_object_float_parameter
Input
handle (int32): handle of the object
parameterID (int32): identifier of the parameter to retrieve. See the list of all possible object parameter identifiers
Output
result (int32): -1 if operation was not successful
parameterValue (float32): pthe value of the parameter

simRosGetObjectGroupData (remote API equivalent: simxGetObjectGroupData)

Description Simultaneously retrieves data of various objects in a V-REP scene.

Equivalent topic publishing command: simros_strmcmd_get_object_group_data
Input
objectType (int32): a scene object type, sim_appobj_object_type for all scene objects, or a collection handle.
dataType (int32): the type of data that is desired:
0: retrieves the object names (in strings.)
1: retrieves the object types (in intData)
2: retrieves the parent object handles (in intData)
3: retrieves the absolute object positions (in floatData. There are 3 values for each object (x,y,z))
4: retrieves the local object positions (in floatData. There are 3 values for each object (x,y,z))
5: retrieves the absolute object orientations as Euler angles (in floatData. There are 3 values for each object (alpha,beta,gamma))
6: retrieves the local object orientations as Euler angles (in floatData. There are 3 values for each object (alpha,beta,gamma))
7: retrieves the absolute object orientations as quaternions (in floatData. There are 4 values for each object (qx,qy,qz,qw))
8: retrieves the local object orientations as quaternions (in floatData. There are 4 values for each object (qx,qy,qz,qw))
9: retrieves the absolute object positions and orientations (as Euler angles) (in floatData. There are 6 values for each object (x,y,z,alpha,beta,gamma))
10: retrieves the local object positions and orientations (as Euler angles) (in floatData. There are 6 values for each object (x,y,z,alpha,beta,gamma))
11: retrieves the absolute object positions and orientations (as quaternions) (in floatData. There are 7 values for each object (x,y,z,qx,qy,qz,qw))
12: retrieves the local object positions and orientations (as quaternions) (in floatData. There are 7 values for each object (x,y,z,qx,qy,qz,qw))
13: retrieves proximity sensor data (in intData (2 values): detection state, detected object handle. In floatData (6 values): detected point (x,y,z) and detected surface normal (nx,ny,nz))
14: retrieves force sensor data (in intData (1 values): force sensor state. In floatData (6 values): force (fx,fy,fz) and torque (tx,ty,tz))
15: retrieves joint state data (in floatData (2 values): position, force/torque)
16: retrieves joint properties data (in intData (2 values): joint type, joint mode (bit16=hybid operation). In floatData (2 values): joint limit low, joint range (-1.0 if joint is cyclic))
17: retrieves the object linear velocity (in floatData. There are 3 values for each object (vx,vy,vz))
18: retrieves the object angular velocity as Euler angles per seconds (in floatData. There are 3 values for each object (dAlpha,dBeta,dGamma))
19: retrieves the object linear and angular velocity (i.e. twist data) (in floatData. There are 6 values for each object (vx,vy,vz,dAlpha,dBeta,dGamma))
Output
handles (int32[]): the object handles
intData (int32[]): the integer data
floatData (float32[]): the float data
strings (string[]): the strings

simRosGetObjectHandle
regular API equivalent: simGetObjectHandle
remote API equivalent: simxGetObjectHandle

Description Retrieves an object handle based on its name. See also simRosGetObjectGroupData.
Input
objectName (string): name of the object. If possibe, don't rely on the automatic name adjustment mechanism, and always specify the full object name, including the #: if the object is "myJoint", specify "myJoint#", if the object is "myJoint#0", specify "myJoint#0", etc.
Output
handle (int32): -1 if operation was not successful, otherwise the handle of the object

simRosGetObjectIntParameter
regular API equivalent: simGetObjectInt32Parameter
remote API equivalent: simxGetObjectIntParameter

Description Retrieves an integer parameter of a object. See also simRosSetObjectIntParameter and simRosGetObjectFloatParameter.

Equivalent topic publishing command: simros_strmcmd_get_object_int_parameter
Input
handle (int32): handle of the object
parameterID (int32): identifier of the parameter to retrieve. See the list of all possible object parameter identifiers
Output
result (int32): -1 if operation was not successful
parameterValue (int32): the value of the parameter

simRosGetObjectParent
regular API equivalent: simGetObjectParent
remote API equivalent: simxGetObjectParent

Description Retrieves the handle of an object's parent object. See also simRosGetObjectChild and simRosGetObjectGroupData.

Equivalent topic publishing command: simros_strmcmd_get_object_parent
Input
handle (int32): handle of the object
Output
parentHandle (int32): -1 if operation was not successful, otherwise the handle of the parent object

simRosGetObjectPose

Description Retrieves the pose of an object (position and orientation). See also simRosSetObjectPose, simRosSetObjectPosition, simRosSetObjectQuaternionand simRosGetObjectGroupData.

Equivalent topic publishing command: simros_strmcmd_get_object_pose
Input
handle (int32): handle of the object
relativeToObjectHandle (int32): indicates relative to which reference frame we want the position. Specify -1 to retrieve the absolute position, sim_handle_parent to retrieve the position relative to the object's parent, or an object handle relative to whose reference frame you want the position
Output
result (int32): -1 if operation was not successful
pose (geometry_msgs/PoseStamped): the object pose (position and quaternion). Refer to the ROS documentation.

simRosGetObjects
regular API equivalent: simGetObjects
remote API equivalent: simxGetObjects

Description Retrieves object handles of a given type, or of all types (i.e. all object handles). See also simRosGetObjectGroupData.

Equivalent topic publishing command: simros_strmcmd_get_objects
Input
objectType (int32): object type (sim_object_shape_type, sim_object_joint_type, etc., or sim_handle_all for any type of object
Output
result (int32): -1 if operation was not successful, otherwise the number of returned object
objectHandles (int32[]): the returned object handles.

simRosGetObjectSelection
regular API equivalent: simGetObjectSelection
remote API equivalent: simxGetObjectSelection

Description Retrieves all selected object's handles. See also simRosSetObjectSelection.

Equivalent topic publishing command: simros_strmcmd_get_object_selection
Input
-
Output
handles (int32[]): the selected object handles

simRosGetStringParameter
regular API equivalent: simGetStringParameter
remote API equivalent: simxGetStringParameter

Description Retrieves a string value. See the string parameter identifiers. See also simRosGetBooleanParameter, simRosGetIntegerParameter, simRosGetArrayParameter and simRosGetFloatingParameter.

Equivalent topic publishing command: simros_strmcmd_get_string_parameter
Input
parameter (int32): a string parameter identifier
Output
result (int32): -1 if operation was not successful
parameterValue (string): the parameter value

simRosGetStringSignal
regular API equivalent: simGetStringSignal
remote API equivalent: simxGetStringSignal

Description Gets the value of a string signal. Signals are cleared at simulation start. See also simRosSetStringSignal, simRosClearStringSignal, simRosGetIntegerSignal and simRosGetFloatSignal.

Equivalent topic publishing command: simros_strmcmd_get_string_signal
Input
signalName (string): name of the signal
Output
result (int32): -1 if operation was not successful, 0 if the signal does not exist. 1 otherwise.
signalValue (string): the value of the signal, which may contain any data (also embedded zeros).

simRosGetUIButtonProperty
regular API equivalent: simGetUIButtonProperty
remote API equivalent: simxGetUIButtonProperty

Description Retrieves the properties of an OpenGl-based custom UI button. See also simRosSetUIButtonProperty.

Equivalent topic publishing command: simros_strmcmd_get_ui_button_property
Input
uiHandle (int32): handle of the OpenGl-based custom UI
buttonID (int32): handle (or id) of the OpenGl-based custom UI button
Output
propertyValue (int32): -1 if operation was not successful, otherwise a button property value.

simRosGetUIEventButton
regular API equivalent: simGetUIEventButton
remote API equivalent: simxGetUIEventButton

Description Gets the button handle (i.e. ID) and some auxiliary values of the last occurred event in that OpenGl-based custom UI. The function will then clear the event. When an OpenGl-based custom UI button is pressed, a slider is moved or an edit box is changed, an event is registered and stored in the OpenGl-based custom UI.

Equivalent topic publishing command: simros_strmcmd_get_ui_event_button
Input
uiHandle (int32): handle of the OpenGl-based custom UI
Output
buttonID (int32): id of the UI button where an event occured, or -1 if no event occured or the operation was not successful
auxValues (int32[]): 2 values:
value1: the button property
value2: for sliders: slider state (0-1000), for stay down buttons: down state (0 or 1), for up/down event buttons: up/down events (0 or 1)

simRosGetUIHandle
regular API equivalent: simGetUIHandle
remote API equivalent: simxGetUIHandle

Description Retrieves the handle of an OpenGl-based custom UI. See also simRosGetObjectGroupData.
Input
uiName (string): name of the UI. If possibe, don't rely on the automatic name adjustment mechanism, and always specify the full object name, including the #: if the UI is "myUI", specify "myUI#", if the UI is "myUI#0", specify "myUI#0", etc.
Output
handle (int32): -1 if operation was not successful, otherwise the handle

simRosGetUISlider
regular API equivalent: simGetUISlider
remote API equivalent: simxGetUISlider

Description Gets the slider position of an OpenGl-based custom UI button (must be slider-type button). See also simRosSetUISlider.

Equivalent topic publishing command: simros_strmcmd_get_ui_slider
Input
uiHandle (int32): handle of the OpenGl-based custom UI
buttonID (int32): handle of a button inside the specified OpenGl-based custom UI
Output
position (int32): -1 if operation was not successful, otherwise the slider position (value between 0 and 1000)

simRosGetVisionSensorDepthBuffer
regular API equivalent: simGetVisionSensorDepthBuffer
remote API equivalent: simxGetVisionSensorDepthBuffer

Description Retrieves the depth buffer of a vision sensor. The returned data doesn't make sense if simHandleVisionSensor wasn't called previously (simHandleVisionSensor is called by default in the main script if the vision sensor is not tagged as explicit handling). See also simRosGetVisionSensorImage.

Equivalent topic publishing command: simros_strmcmd_get_vision_sensor_depth_buffer
Input
handle (int32): handle of the vision sensor
Output
result (int32): -1 if operation was not successful
resolution (int32[]): 2 values for the resolution of the image
buffer (float32[]): the depth buffer data. Values are in the range of 0-1 (0=closest to sensor, 1=farthest from sensor).

simRosGetVisionSensorImage
regular API equivalent: simGetVisionSensorImage
remote API equivalent: simxGetVisionSensorImage

Description Retrieves the image of a vision sensor. The returned data doesn't make sense if simHandleVisionSensor wasn't called previously (simHandleVisionSensor is called by default in the main script if the vision sensor is not tagged as explicit handling). See also simRosSetVisionSensorImage, simRosGetVisionSensorDepthBuffer and simRosReadVisionSensor.

Equivalent topic publishing command: simros_strmcmd_get_vision_sensor_image
Input
handle (int32): handle of the vision sensor
options (uint8): image options, bit-coded:
bit0 set: each image pixel is a byte (greyscale image (MONO8)), otherwise each image pixel is a rgb byte-triplet (RGB8).
Output
result (int32): -1 if operation was not successful
image (sensor_msgs/Image): the image. Refer to the ROS documentation

simRosLoadModel
regular API equivalent: simLoadModel
remote API equivalent: simxLoadModel

Description Loads a previously saved model. See also simRosLoadUI, simRosLoadScene and simRosTransferFile.
Input
fileName (string): the model filename, including the path and extension ("ttm"). The file is relative to the server system (V-REP application)
Output
result (int32): -1 if operation was not successful
baseHandle (int32): the loaded model base.

simRosLoadScene
regular API equivalent: simLoadScene
remote API equivalent: simxLoadScene

Description Loads a previously saved scene. Should only be called when simulation is not running. See also simRosCloseScene, simRosLoadModel, simRosLoadUI and simRosTransferFile.
Input
fileName (string): the scene filename, including the path and extension ("ttt"). The file is relative to the server system (V-REP application)
Output
result (int32): -1 if operation was not successful

simRosLoadUI
regular API equivalent: simLoadUI
remote API equivalent: simxLoadUI

Description Loads previously saved OpenGl-based custom UIs. See also simRosLoadModel, simRosLoadScene and simRosTransferFile.
Input
fileName (string): the ui filename, including the path and extension ("ttb"). The file is relative to the server system (V-REP application)
Output
result (int32): -1 if operation was not successful
uiHandles (int32[]): the loaded UI handles.

simRosPauseSimulation
regular API equivalent: simPauseSimulation
remote API equivalent: simxPauseSimulation

Description Requests a pause of a simulation. See also simRosStartSimulation and simRosStopSimulation.
Input
Output
result (int32): -1 if operation was not successful

simRosReadCollision
regular API equivalent: simReadCollision
remote API equivalent: simxReadCollision

Description Reads the collision state of a registered collision object. This function doesn't perform collision detection, it merely reads the result from a previous call to simHandleCollision (simHandleCollision is called in the default main script). See also simRosGetObjectGroupData.

Equivalent topic publishing command: simros_strmcmd_read_collision
Input
handle (int32): handle of the collision object
Output
collisionState (int32): -1 if operation was not successful, otherwise the collision state

simRosReadDistance
regular API equivalent: simReadDistance
remote API equivalent: simxReadDistance

Description Reads the distance that a registered distance object measured. This function doesn't perform minimum distance calculation, it merely reads the result from a previous call to simHandleDistance (simHandleDistance is called in the default main script). See also simRosGetObjectGroupData.

Equivalent topic publishing command: simros_strmcmd_read_distance
Input
handle (int32): handle of the distance object
Output
result (int32): -1 if operation was not successful
distance (float32): the minimum distance

simRosReadForceSensor
regular API equivalent: simReadForceSensor
remote API equivalent: simxReadForceSensor

Description Reads the force and torque applied to a force sensor (filtered values are read), and its current state ('unbroken' or 'broken'). See also simRosBreakForceSensor, simRosGetJointStateand simRosGetObjectGroupData.

Equivalent topic publishing command: simros_strmcmd_read_force_sensor
Input
handle (int32): handle of the force sensor
Output
result (int32): -1 if operation was not successful, otherwise bit-coded value:
bit 0 set: force and torque data is available, otherwise it is not (yet) available (e.g. when not enough values are present for the filter)
bit 1 set: force sensor is broken, otherwise it is still intact ('unbroken')
force (geometry_msgs/Vector3): the force vector
torque (geometry_msgs/Vector3): the torque vector

simRosReadProximitySensor
regular API equivalent: simReadProximitySensor
remote API equivalent: simxReadProximitySensor

Description Reads the state of a proximity sensor. This function doesn't perform detection, it merely reads the result from a previous call to simHandleProximitySensor (simHandleProximitySensor is called in the default main script). See also simRosGetObjectGroupData.

Equivalent topic publishing command: simros_strmcmd_read_proximity_sensor
Input
handle (int32): handle of the proximity sensor
Output
result (int32): -1 if operation was not successful, otherwise the detection state
detectedPoint (float32[]): the detected point coordinates (relative to the sensor reference frame).
detectedObject (int32): the handle of the detected object.
normalVector (float32[]): the normal vector (normalized) of the detected surface. Relative to the sensor reference frame.

simRosReadVisionSensor
regular API equivalent: simReadVisionSensor
remote API equivalent: simxReadVisionSensor

Description Reads the state of a vision sensor. This function doesn't perform detection, it merely reads the result from a previous call to simHandleVisionSensor (simHandleVisionSensor is called in the default main script). See also simRosGetVisionSensorImageand simRosGetObjectGroupData.

Equivalent topic publishing command: simros_strmcmd_read_vision_sensor
Input
handle (int32): handle of the vision sensor
Output
result (int32): -1 if operation was not successful, otherwise the detection state (trigger state)
packetData (float32[]): auxiliary values returned from the applied filters. By default V-REP returns one packet of 15 auxiliary values:the minimum of {intensity, red, green, blue, depth value}, the maximum of {intensity, red, green, blue, depth value}, and the average of {intensity, red, green, blue, depth value}. If additional filter components return values, then they will be appended as packets to the first packet.
packetSizes (int32[]): contains information about the packet sizes. The first value is the size of packet 1, the second value the size of packet 2, etc.

simRosRemoveModel
regular API equivalent: simRemoveModel
remote API equivalent: simxRemoveModel

Description Removes a model from the scene. See also simRosRemoveObject.
Input
handle (int32): handle of the model to remove (specified object should be flagged as model base).
Output
result (int32): -1 if operation was not successful

simRosRemoveObject
regular API equivalent: simRemoveObject
remote API equivalent: simxRemoveObject

Description Removes a scene object. See also simRosRemoveModel.
Input
handle (int32): handle of the object to remove
Output
result (int32): -1 if operation was not successful

simRosRemoveUI
regular API equivalent: simRemoveUI
remote API equivalent: simxRemoveUI

Description Removes an OpenGl-based custom UI.
Input
handle (int32): handle of the OpenGl-based custom UI
Output
result (int32): -1 if operation was not successful

simRosSetArrayParameter
regular API equivalent: simSetArrayParameter
remote API equivalent: simxSetArrayParameter

Description Sets 3 values of an array parameter. See also simRosGetArrayParameter, simRosSetBooleanParameter, simRosSetIntegerParameter and simRosSetFloatingParameter.

Equivalent topic subscribtion command: simros_strmcmd_set_array_parameter
Input
parameter (int32): an array parameter identifier
parameterValues (float32[]): the array containing the 3 values to set
Output
result (int32): -1 if operation was not successful

simRosSetBooleanParameter
regular API equivalent: simSetBoolParameter
remote API equivalent: simxSetBooleanParameter

Description Sets a boolean parameter. See also simRosGetBooleanParameter, simRosSetIntegerParameter, simRosSetArrayParameter and simRosSetFloatingParameter.

Equivalent topic subscribtion command: simros_strmcmd_set_boolean_parameter
Input
parameter (int32): a Boolean parameter identifier
parameterValue (uint8): the parameter value
Output
result (int32): -1 if operation was not successful

simRosSetFloatingParameter
regular API equivalent: simSetFloatParameter
remote API equivalent: simxSetFloatingParameter

Description Sets a floating point parameter. See also simRosGetFloatingParameter, simRosSetBooleanParameter, simRosSetArrayParameter and simRosSetIntegerParameter.

Equivalent topic subscribtion command: simros_strmcmd_set_floating_parameter
Input
parameter (int32): a floating parameter identifier
parameterValue (float32): the parameter value
Output
result (int32): -1 if operation was not successful

simRosSetFloatSignal
regular API equivalent: simSetFloatSignal
remote API equivalent: simxSetFloatSignal

Description Sets the value of a float signal. If that signal is not yet present, it is added. See also simRosGetFloatSignal, simRosClearFloatSignal, simRosSetIntegerSignal and simRosSetStringSignal.

Equivalent topic subscribtion command: simros_strmcmd_set_float_signal
Input
signalName (string): name of the signal
signalValue (float32): value of the signal
Output
result (int32): -1 if operation was not successful

simRosSetIntegerParameter
regular API equivalent: simSetInt32Parameter
remote API equivalent: simxSetIntegerParameter

Description Sets an integer parameter. See also simRosGetIntegerParameter, simRosSetBooleanParameter, simRosSetArrayParameter and simRosSetFloatingParameter.

Equivalent topic subscribtion command: simros_strmcmd_set_integer_parameter
Input
parameter (int32): an integer parameter identifier
parameterValue (int32): the parameter value
Output
result (int32): -1 if operation was not successful

simRosSetIntegerSignal
regular API equivalent: simSetIntegerSignal
remote API equivalent: simxSetIntegerSignal

Description Sets the value of an integer signal. If that signal is not yet present, it is added. See also simRosGetIntegerSignal, simRosClearIntegerSignal, simRosSetFloatSignal and simRosSetStringSignal.

Equivalent topic subscribtion command: simros_strmcmd_set_integer_signal
Input
signalName (string): name of the signal
signalValue (int32): value of the signal
Output
result (int32): -1 if operation was not successful

simRosSetJointForce
regular API equivalent: simSetJointForce
remote API equivalent: simxSetJointForce

Description Sets the maximum force or torque that a joint can exert. This function has no effect when the joint is not dynamically enabled, or when it is a spherical joint. See also simRosSetJointState and simRosGetJointState.

Equivalent topic subscribtion command: simros_strmcmd_set_joint_force
Input
handle (int32): handle of the joint
forceOrTorque (float64): the maximum force or torque that the joint can exert
Output
result (int32): -1 if operation was not successful

simRosSetJointPosition
regular API equivalent: simSetJointPosition
remote API equivalent: simxSetJointPosition

Description Sets the intrinsic position of a joint. May have no effect depending on the joint mode. This function cannot be used with spherical joints (use simRosSetSphericalJointMatrix instead). See also simRosSetJointState, simRosGetJointState and simRosSetJointTargetPosition.

Equivalent topic subscribtion command: simros_strmcmd_set_joint_position
Input
handle (int32): handle of the joint
position (float64): position of the joint (angular or linear value depending on the joint type)
Output
result (int32): -1 if operation was not successful

simRosSetJointState

Description Allows setting the state of several joints at the same time. You can set a joint's position, target position (when in position control mode), target velocity (when in velocity mode), or maximum force. This function cannot be used with spherical joints (use simRosSetSphericalJointMatrix instead). See also simRosGetJointState, simRosSetJointPosition, simRosSetJointTargetPosition, simRosSetJointTargetVelocity and simRosSetJointForce.

Equivalent topic subscription command: simros_strmcmd_set_joint_state
Input
handles (int32[]): handles of the joints. For each handle there must be a specific setMode and value to set.
setModes (int32[]): joint set modes:
0: sets the position
1: sets the target position (when joint is dynamically enabled and in position control)
2: sets the target velocity (when joint is dynamically enabled without position control, or when joint is in velocity mode)
3: sets the maximum force/torque that the joint can exert
values (float32[]): values to set
Output
result (int32): -1 if operation was not successful, otherwise the number of successfully set joint values

simRosSetJointTargetPosition
regular API equivalent: simSetJointTargetPosition
remote API equivalent: simxSetJointTargetPosition

Description Sets the target position of a joint if the joint is in torque/force mode (also make sure that the joint's motor and position control are enabled). See also simRosSetJointState and simRosSetJointPosition.

Equivalent topic subscribtion command: simros_strmcmd_set_joint_target_position
Input
handle (int32): handle of the joint
targetPosition (float64): target position of the joint (angular or linear value depending on the joint type)
Output
result (int32): -1 if operation was not successful

simRosSetJointTargetVelocity
regular API equivalent: simSetJointTargetVelocity
remote API equivalent: simxSetJointTargetVelocity

Description Sets the intrinsic target velocity of a non-spherical joint. This command makes only sense when the joint mode is in torque/force mode: the dynamics functionality and the joint motor have to be enabled (position control should however be disabled). See also simRosSetJointState.

Equivalent topic subscribtion command: simros_strmcmd_set_joint_target_velocity
Input
handle (int32): handle of the joint
targetVelocity (float64): target velocity of the joint (linear or angular velocity depending on the joint-type)
Output
result (int32): -1 if operation was not successful

simRosSetModelProperty
regular API equivalent: simSetModelProperty
remote API equivalent: simxSetModelProperty

Description Sets the properties of a model. See also simRosGetModelProperty.
Input
handle (int32): handle of the object
propertyValue (int32): a model property value
Output
result (int32): -1 if operation was not successful

simRosSetObjectFloatParameter
regular API equivalent: simSetObjectFloatParameter
remote API equivalent: simxSetObjectFloatParameter

Description Sets a floating-point parameter of a object. See also simRosGetObjectFloatParameter and simRosSetObjectIntParameter.

Equivalent topic subscribtion command: simros_strmcmd_set_object_float_parameter
Input
handle (int32): handle of the object
parameter (int32): identifier of the parameter to set. See the list of all possible object parameter identifiers
parameterValue (float32): the desired value of the parameter
Output
result (int32): -1 if operation was not successful

simRosSetObjectIntParameter
regular API equivalent: simSetObjectInt32Parameter
remote API equivalent: simxSetObjectIntParameter

Description Sets an integer parameter of a object. See also simRosGetObjectIntParameter and simRosSetObjectFloatParameter.

Equivalent topic subscribtion command: simros_strmcmd_set_object_int_parameter
Input
handle (int32): handle of the object
parameter (int32): identifier of the parameter to set. See the list of all possible object parameter identifiers
parameterValue (int32): the desired value of the parameter
Output
result (int32): -1 if operation was not successful

simRosSetObjectParent
regular API equivalent: simSetObjectParent
remote API equivalent: simxSetObjectParent

Description Sets an object's parent object. See also simRosGetObjectParent.
Input
handle (int32): handle of the object that will become child of the parent object. Can be combined with sim_handleflag_assembly, if the two objects can be assembled via a predefined assembly transformation (refer to the assembling option in the object common properties). In that case, parentObject can't be -1, and keepInPlace should be set to 0.
parentHandle (int32): handle of the object that will become parent, or -1 if the object should become parentless
keepInPlace (uint8): indicates whether the object's absolute position and orientation should stay same
Output
result (int32): -1 if operation was not successful

simRosSetObjectPose

Description Sets the pose (position and orientation) of an object. Dynamically simulated objects will implicitely be reset before the command is applied (i.e. similar to calling simResetDynamicObject just before). See also simRosGetObjectPose, simRosSetObjectPosition, and simRosSetObjectQuaternion.

Equivalent topic subscribtion command: simros_strmcmd_set_object_pose
Input
handle (int32): handle of the object
relativeToObjectHandle (int32): indicates relative to which reference frame the pose is specified. Specify -1 to set the absolute pose, sim_handle_parent to set the posed relative to the object's parent, or an object handle relative to whose reference frame the pose is specified.
pose (geometry_msgs/Pose): the desired pose. Refer to the ROS documentation
Output
result (int32): -1 if operation was not successful

simRosSetObjectPosition
regular API equivalent: simSetObjectPosition
remote API equivalent: simxSetObjectPosition

Description Sets the position of an object. Dynamically simulated objects will implicitely be reset before the command is applied (i.e. similar to calling simResetDynamicObject just before). See also simRosGetObjectPose ,simRosSetObjectPose, and simRosSetObjectQuaternion.

Equivalent topic subscribtion command: simros_strmcmd_set_object_position
Input
handle (int32): handle of the object
relativeToObjectHandle (int32): indicates relative to which reference frame the position is specified. Specify -1 to set the absolute position, sim_handle_parent to set the position relative to the object's parent, or an object handle relative to whose reference frame the position is specified.
position (geometry_msgs/Point): the position. Refer to the ROS documentation
Output
result (int32): -1 if operation was not successful

simRosSetObjectQuaternion
regular API equivalent: simSetObjectQuaternion
remote API equivalent: simxSetObjectOrientation

Description Sets the quaternion (x,y,z,w) of an object. Make sure to set a valid quaternion, otherwise you might experience strange behaviours. Dynamically simulated objects will implicitely be reset before the command is applied (i.e. similar to calling simResetDynamicObject just before). See also simRosGetObjectPose, simRosSetObjectPose and simRosSetObjectPosition.

Equivalent topic subscribtion command: simros_strmcmd_set_object_quaternion
Input
handle (int32): handle of the object
relativeToObjectHandle (int32): indicates relative to which reference frame the orientation is specified. Specify -1 to set the absolute orientation, sim_handle_parent to set the orientation relative to the object's parent, or an object handle relative to whose reference frame the orientation is specified.
quaternion (geometry_msgs/Quaternion): the quaternion (x,y,z,w). Refer to the ROS documentation
Output
result (int32): -1 if operation was not successful

simRosSetObjectSelection (remote API equivalent: simxSetObjectSelection)

Description Sets the selection state for objects. See also simRosGetObjectSelection.

Equivalent topic subscribtion command: simros_strmcmd_set_object_selection
Input
handles (int32[]): the object handles
Output
result (int32): -1 if operation was not successful, otherwise the number of selected objects

simRosSetSphericalJointMatrix
regular API equivalent: simSetSphericalJointMatrix
remote API equivalent: simxSetSphericalJointMatrix

Description Sets the intrinsic orientation matrix of a spherical joint object. This function cannot be used with non-spherical joints (use simRosSetJointPosition instead). See also simRosGetJointMatrix.
Input
handle (int32): handle of the joint
quaternion (geometry_msgs/Quaternion): the orientation. Refer to the ROS documentation
Output
result (int32): -1 if operation was not successful

simRosSetStringSignal
regular API equivalent: simSetStringSignal
remote API equivalent: simxSetStringSignal

Description Sets the value of a string signal. If that signal is not yet present, it is added. See also simRosAppendStringSignal, simRosGetStringSignal, simRosClearStringSignal, simRosSetIntegerSignal and simRosSetFloatSignal.

Equivalent topic subscribtion command: simros_strmcmd_set_string_signal
Input
signalName (string): name of the signal
signalValue (string): value of the signal (which may contain any value, including embedded zeros)
Output
result (int32): -1 if operation was not successful

simRosAppendStringSignal (remote API equivalent: simxAppendStringSignal)

Description Appends a string to a string signal. If that signal is not yet present, it is added. See also simRosSetStringSignal.

Equivalent topic subscribtion command: simros_strmcmd_append_string_signal
Input
signalName (string): name of the signal
signalValue (string): string to append to the string signal. That string may contain any value, including embedded zeros.
Output
result (int32): -1 if operation was not successful

simRosSetUIButtonLabel
regular API equivalent: simSetUIButtonLabel
remote API equivalent: simxSetUIButtonLabel

Description Sets the up-state and down-state labels of an OpenGl-based custom UI button.

Equivalent topic subscribtion command: simros_strmcmd_set_ui_button_label
Input
uiHandle (int32): handle of the OpenGl-based custom UI
buttonID (int32): handle (or ID) of the OpenGl-based custom UI button
upStateLabel (string): the label of the button when it is up.
downStateLabel (string): the label of the button when it is down.
Output
result (int32): -1 if operation was not successful

simRosSetUIButtonProperty
regular API equivalent: simSetUIButtonProperty
remote API equivalent: simxSetUIButtonProperty

Description Sets the properties of an OpenGl-based custom UI button. See also simRosGetUIButtonProperty.

Equivalent topic subscribtion command: simros_strmcmd_set_ui_button_property
Input
uiHandle (int32): handle of the OpenGl-based custom UI
buttonID (int32): handle (or ID) of the OpenGl-based custom UI button
propertyValue (int32): a button property value.
Output
result (int32): -1 if operation was not successful

simRosSetUISlider
regular API equivalent: simSetUISlider
remote API equivalent: simxSetUISlider

Description Sets the slider position of an OpenGl-based custom UI button (must be a slider-type button). See also simRosGetUISlider.

Equivalent topic subscribtion command: simros_strmcmd_set_ui_slider
Input
uiHandle (int32): handle of the OpenGl-based custom UI
buttonID (int32): id of the button (slider) in the OpenGl-based custom UI
position (int32): slider position. valid values are between 0 and 1000
Output
result (int32): -1 if operation was not successful

simRosSetVisionSensorImage
regular API equivalent: simSetVisionSensorImage
remote API equivalent: simxSetVisionSensorImage

Description Sets the image of a vision sensor (and applies any image processing filter if specified in the vision sensor dialog). Make sure the vision sensor is flagged as use external image. The "regular" use of this function is to first read the data from a vision sensor with simRosGetVisionSensorImage, do some custom filtering, then write the modified image to a passive vision sensor. The alternate use of this function is to display textures, video images, etc. by using a vision sensor object (without however making use of the vision sensor functionality), since a vision sensor can be "looked through" like camera objects. Make sure the image data corresponds to the vision sensor's resolution.

Equivalent topic subscribtion command: simros_strmcmd_set_vision_sensor_image
Input
handle (int32): handle of the vision sensor
image (sensor_msgs/Image): the image. Has to be the same resolution as the vision sensor. Supported formats are RGB8 and MONO8. Refer to the ROS documentation
Output
result (int32): -1 if operation was not successful

simRosStartSimulation
regular API equivalent: simStartSimulation
remote API equivalent: simxStartSimulation

Description Requests a start of a simulation (or a resume of a paused simulation). See also simRosPauseSimulation and simRosStopSimulation.
Input
Output
result (int32): -1 if operation was not successful

simRosStopSimulation
regular API equivalent: simStopSimulation
remote API equivalent: simxStopSimulation

Description Requests a stop of the running simulation. See also simRosStartSimulation and simRosPauseSimulation.
Input
-
Output
result (int32): -1 if operation was not successful

simRosSynchronous (remote API equivalent: simxSynchronous)

Description Enables or disables the synchronous operation mode. While in synchronous operation mode, the client application is in charge of triggering the next simulation step. This function should only be called when simulation is not running. See also simRosSynchronousTrigger and this section.
Input
enable (uint8): the enable state of the synchronous operation
Output
result (int32): -1 if operation was not successful

simRosSynchronousTrigger (remote API equivalent: simxSynchronousTrigger)

Description Sends a synchronization trigger signal to the server. The server needs to be previously enabled for synchronous operation via the simRosSynchronous function. The trigger signal will inform V-REP to execute the next simulation step (i.e. to call simHandleMainScript). While in synchronous operation mode, the client application is in charge of triggering the next simulation step, otherwise simulation will stall. See also this section.
Input
-
Output
result (int32): -1 if operation was not successful

simRosTransferFile (remote API equivalent: simxTransferFile)

Description Allows transferring a file from the client to the server. See also simRosEraseFile.
Input
data (uint8[]): the file content (i.e. its data)
fileName (string): a file name under which the transferred file will be saved on the server side. For now, do not specify a path (the file will be saved in the V-REP directory)
Output
result (int32): -1 if operation was not successful