CoppeliaSim forums

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import vrep
import sys
import time

print 'Program started'

portNb = 0
leftMotorHandle = 0
rightMotorHandle = 0
sensorHandle = 0

if len(sys.argv) >= 5:
    portNb = int(sys.argv[1])
    leftMotorHandle = int(sys.argv[2])
    rightMotorHandle = int(sys.argv[3])
    sensorHandle = int(sys.argv[4])
else:
    print "Indicate following arguments: 'portNumber leftMotorHandle rightMotorHandle sensorHandle'"
    time.sleep(5000.0 / 1000.0)
    sys.exit(0)

vrep.simxFinish(-1) # just in case, close all opened connections
clientID = vrep.simxStart('127.0.0.1', portNb, True, True, 2000, 5)
if clientID != -1:
    print 'Connected to remote API server'
    driveBackStartTime = -99000
    motorSpeeds = [0, 0]

    while vrep.simxGetConnectionId(clientID) != -1:
        (errorCode, detectionState, detectedPoint, detectedObjectHandle, detectedSurfaceNormalVector) = vrep.simxReadProximitySensor(clientID, sensorHandle, vrep.simx_opmode_streaming)
        if errorCode == vrep.simx_return_ok:
            simulationTime = vrep.simxGetLastCmdTime(clientID)
            if simulationTime - driveBackStartTime < 3000:
                motorSpeeds[0] = -3.1415 * 0.5
                motorSpeeds[1] = -3.1415 * 0.25
            else:
                motorSpeeds[0] = 3.1415
                motorSpeeds[1] = 3.1415
                if detectionState:
                    driveBackStartTime = simulationTime

            errorCode = vrep.simxSetJointTargetVelocity(clientID, leftMotorHandle, motorSpeeds[0], vrep.simx_opmode_oneshot)
            vrep.simxSetJointTargetVelocity(clientID, rightMotorHandle, motorSpeeds[1], vrep.simx_opmode_oneshot)
            if errorCode != vrep.simx_return_ok:
                print "SetJointTargetVelocity got error code: %s" % errorCode

        else:
            print "ReadProximitySensor got error code: %s" % errorCode

        time.sleep(5.0 / 1000.0)

    vrep.simxFinish(clientID)
else:
    print 'Failed connecting to remote API server'
print 'Program ended'

Code: Select all

result = simLaunchExecutable("/usr/bin/python", "bubbleRobClient.py "..portNb.." "..leftMotor.." "..rightMotor.." "..noseSensor, 0)

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Traceback (most recent call last):
  File "bubbleRobClient.py", line 28, in <module>
    import vrep
  File "/home/reza/vrep64/vrep.py", line 44, in <module>
    c_GetJointPosition          = CFUNCTYPE(c_int32,c_int32, c_int32, POINTER(c_float), c_int32)(("simxGetJointPosition", libsimx))
AttributeError: ./remoteApi.so: undefined symbol: simxGetJointPosition
Simulator ended.