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As SOFA has been around for 5-6 years so it has a great community support and also has been maintained very efficiently. So, I was trying out the new simulators which have been introduced in the field of soft robotics like ChainQueen, Elastica. They are relatively new, so they don’t have any ROS functionality available for them or a way to connect them with the ROS environment.
So, I was interested in developing some ROS plugin for them like ROS connector in SOFA while utilising SOFA for continuum soft robot simulations parallely. As they utilise techniques different to SOFA which depends on FEM so, it would be interesting to create some RS functionality for them which could ease the process for the developers and researchers.
Therefore, I was looking into the ROS connector plugin for getting an idea of how my objective can be achieved by developing something on the same ground.
I would be truly grateful to you guys if you could help me out or give me direction in this regard.
hey @ruffy369
As I replied to you in PM, regarding the coupling SOFA-ROS, as you noted, a plugin was designed for this purpose by an independent developer but not really maintained anymore.
However, using the SofaPython3 allowing to run simulations from a python environment, you can simply make SOFA and ROS communicate through python (since ROS is also interfaced with python). This is now how the soft-robotics community is working.
Finally, we recently heard about a new C++ plugin interfacing SOFA with ROS 2. If this is of strong interest (if the python solution is not fitting the expectations), I could see how to access this new plugin.
Best wishes,
Hugo
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