Realtime FEA visualization with ROS

[Acerakit]

Hello everyone, I’m completely new to SOFA. I am attempting to do a real time FEA with a gripper on a UR5 arm turning a valve. I have the xacro files from ROS and have downloaded the SofaROSConnector plugin. I was hoping to get help with the following:

What is the best way to go about setting up the scene for gripper/object model in SOFA? (As in a mental frame of thinking for solving this problem with SOFA).

Also, is there a video tutorial on how to send/receive ROS messages in SOFA, and how to setup the material properties and boundary conditions in SOFA for accurate FEA. I just started going through the readme.txt file on this github page: https://github.com/sofa-framework/SofaROSConnector but I’m not entirely sure on how to proceed.

Thank you.

[Hugo]

Hi @acerakit

Welcome on the SOFA forum!
I am actually myself not used to the ROS environment.
To create your scenario, you need to describe your scene with a graph including two subnodes, one for each of your objects (gripper/object) and define their solvers, physics etc.
Check out the tutorial in examples/Tutorials/. Are you in any way familiar with physics simulation?

There is unfortunately no existing video tutorial on how to send/receive ROS messages.

Regarding the SofaROSConnector, you need to compile it with SOFA. Then, you will be able to couple ROS and SOFA.

Best wishes,

Hugo

[Author]

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