ROS API list (by category)

The list of functions below can easily be extended, refer to the source code in the programming folder. Alternatively, you can always prepare a child script in your simulation, that listens to a specific signal that can trigger the execution of a regular API function

Publisher and subscriber functions

simRosEnablePublisher
simRosDisablePublisher
simRosEnableSubscriber
simRosDisableSubscriber

File operations

simRosTransferFile
simRosEraseFile
simRosLoadModel
simRosLoadScene
simRosLoadUI

General object handle retrieval

simRosGetObjectHandle
simRosGetObjectGroupData (equiv. streaming cmd: simros_strmcmd_get_object_group_data)
simRosGetObjects (equiv. streaming cmd: simros_strmcmd_get_objects)
simRosGetObjectChild
simRosGetObjectParent (equiv. streaming cmd: simros_strmcmd_get_object_parent)
simRosGetUIHandle
simRosGetCollisionHandle
simRosGetDistanceHandle

Collision detection functionality

simRosGetCollisionHandle
simRosGetObjectGroupData (equiv. streaming cmd: simros_strmcmd_get_object_group_data)
simRosReadCollision (equiv. streaming cmd: simros_strmcmd_read_collision)

Minimum distance calculation functionality

simRosGetDistanceHandle
simRosGetObjectGroupData (equiv. streaming cmd: simros_strmcmd_get_object_group_data)
simRosReadDistance (equiv. streaming cmd: simros_strmcmd_read_distance)

Proximity sensor functionality

simRosGetObjectHandle
simRosGetObjectGroupData (equiv. streaming cmd: simros_strmcmd_get_object_group_data)
simRosReadProximitySensor (equiv. streaming cmd: simros_strmcmd_read_proximity_sensor)
simRosGetObjectFloatParameter (equiv. streaming cmd: simros_strmcmd_get_object_float_parameter)
simRosSetObjectFloatParameter (equiv. streaming cmd: simros_strmcmd_set_object_float_parameter)
simRosGetObjectIntParameter (equiv. streaming cmd: simros_strmcmd_get_object_int_parameter)
simRosSetObjectIntParameter (equiv. streaming cmd: simros_strmcmd_set_object_int_parameter)

See also the simRosSetObjectXXXParameter and simRosGetObjectXXXParameter functions
and their proximity sensor related parameters.

Vision sensor functionality

simRosGetObjectHandle
simRosGetObjectGroupData (equiv. streaming cmd: simros_strmcmd_get_object_group_data)
simRosGetVisionSensorImage (equiv. streaming cmd: simros_strmcmd_get_vision_sensor_image)
simRosSetVisionSensorImage (equiv. streaming cmd: simros_strmcmd_set_vision_sensor_image)
simRosGetVisionSensorDepthBuffer (equiv. streaming cmd: simros_strmcmd_get_vision_sensor_depth_buffer)
simRosReadVisionSensor (equiv. streaming cmd: simros_strmcmd_read_vision_sensor)
simRosGetObjectFloatParameter (equiv. streaming cmd: simros_strmcmd_get_object_float_parameter)
simRosSetObjectFloatParameter (equiv. streaming cmd: simros_strmcmd_set_object_float_parameter)
simRosGetObjectIntParameter (equiv. streaming cmd: simros_strmcmd_get_object_int_parameter)
simRosSetObjectIntParameter (equiv. streaming cmd: simros_strmcmd_set_object_int_parameter)

simros_strmcmd_get_vision_sensor_info

See also the simRosSetObjectXXXParameter and simRosGetObjectXXXParameter functions
and their vision sensor related parameters.

Force sensor functionality

simRosGetObjectHandle
simRosGetObjectGroupData (equiv. streaming cmd: simros_strmcmd_get_object_group_data)
simRosBreakForceSensor
simRosReadForceSensor (equiv. streaming cmd: simros_strmcmd_read_force_sensor)
simRosGetObjectFloatParameter (equiv. streaming cmd: simros_strmcmd_get_object_float_parameter)
simRosSetObjectFloatParameter (equiv. streaming cmd: simros_strmcmd_set_object_float_parameter)
simRosGetObjectIntParameter (equiv. streaming cmd: simros_strmcmd_get_object_int_parameter)
simRosSetObjectIntParameter (equiv. streaming cmd: simros_strmcmd_set_object_int_parameter)

See also the simRosSetObjectXXXParameter and simRosGetObjectXXXParameter functions
and their force sensor related parameters.

Milling functionality

simRosGetObjectHandle
simRosGetObjectGroupData (equiv. streaming cmd: simros_strmcmd_get_object_group_data)
simRosGetObjectFloatParameter (equiv. streaming cmd: simros_strmcmd_get_object_float_parameter)
simRosSetObjectFloatParameter (equiv. streaming cmd: simros_strmcmd_set_object_float_parameter)
simRosGetObjectIntParameter (equiv. streaming cmd: simros_strmcmd_get_object_int_parameter)
simRosSetObjectIntParameter (equiv. streaming cmd: simros_strmcmd_set_object_int_parameter)

See also the simRosSetObjectXXXParameter and simRosGetObjectXXXParameter functions
and their mill related parameters.

Joint object functionality

simRosGetObjectHandle
simRosGetObjectGroupData (equiv. streaming cmd: simros_strmcmd_get_object_group_data)
simRosGetJointMatrix
simRosGetJointState (equiv. streaming cmd: simros_strmcmd_get_joint_state)
simRosSetJointState (equiv. streaming cmd: simros_strmcmd_set_joint_state)
simRosSetJointForce (equiv. streaming cmd: simros_strmcmd_set_joint_force)
simRosSetJointPosition (equiv. streaming cmd: simros_strmcmd_set_joint_position)
simRosSetJointTargetPosition (equiv. streaming cmd: simros_strmcmd_set_joint_target_position)
simRosSetJointTargetVelocity (equiv. streaming cmd: simros_strmcmd_set_joint_target_velocity)
simRosSetSphericalJointMatrix
simRosRMLPosition
simRosRMLVelocity
simRosGetObjectFloatParameter (equiv. streaming cmd: simros_strmcmd_get_object_float_parameter)
simRosSetObjectFloatParameter (equiv. streaming cmd: simros_strmcmd_set_object_float_parameter)
simRosGetObjectIntParameter (equiv. streaming cmd: simros_strmcmd_get_object_int_parameter)
simRosSetObjectIntParameter (equiv. streaming cmd: simros_strmcmd_set_object_int_parameter)

See also the simRosSetObjectXXXParameter and simRosGetObjectXXXParameter functions
and their joint related parameters.

Path object functionality

simRosGetObjectHandle
simRosGetObjectGroupData (equiv. streaming cmd: simros_strmcmd_get_object_group_data)
simRosGetObjectFloatParameter (equiv. streaming cmd: simros_strmcmd_get_object_float_parameter)
simRosSetObjectFloatParameter (equiv. streaming cmd: simros_strmcmd_set_object_float_parameter)
simRosGetObjectIntParameter (equiv. streaming cmd: simros_strmcmd_get_object_int_parameter)
simRosSetObjectIntParameter (equiv. streaming cmd: simros_strmcmd_set_object_int_parameter)

See also the simRosSetObjectXXXParameter and simRosGetObjectXXXParameter functions
and their path related parameters.

Shape object functionality

simRosGetObjectHandle
simRosGetObjectGroupData (equiv. streaming cmd: simros_strmcmd_get_object_group_data)
simRosGetObjectFloatParameter (equiv. streaming cmd: simros_strmcmd_get_object_float_parameter)
simRosSetObjectFloatParameter (equiv. streaming cmd: simros_strmcmd_set_object_float_parameter)
simRosGetObjectIntParameter (equiv. streaming cmd: simros_strmcmd_get_object_int_parameter)
simRosSetObjectIntParameter (equiv. streaming cmd: simros_strmcmd_set_object_int_parameter)

See also the simRosSetObjectXXXParameter and simRosGetObjectXXXParameter functions
and their shape related parameters.

Graph object functionality

simRosGetObjectHandle
simRosGetObjectGroupData (equiv. streaming cmd: simros_strmcmd_get_object_group_data)
simRosGetObjectFloatParameter (equiv. streaming cmd: simros_strmcmd_get_object_float_parameter)
simRosSetObjectFloatParameter (equiv. streaming cmd: simros_strmcmd_set_object_float_parameter)
simRosGetObjectIntParameter (equiv. streaming cmd: simros_strmcmd_get_object_int_parameter)
simRosSetObjectIntParameter (equiv. streaming cmd: simros_strmcmd_set_object_int_parameter)

See also the simRosSetObjectXXXParameter and simRosGetObjectXXXParameter functions
and their graph related parameters.

Light object functionality

simRosGetObjectHandle
simRosGetObjectGroupData (equiv. streaming cmd: simros_strmcmd_get_object_group_data)
simRosGetObjectFloatParameter (equiv. streaming cmd: simros_strmcmd_get_object_float_parameter)
simRosSetObjectFloatParameter (equiv. streaming cmd: simros_strmcmd_set_object_float_parameter)
simRosGetObjectIntParameter (equiv. streaming cmd: simros_strmcmd_get_object_int_parameter)
simRosSetObjectIntParameter (equiv. streaming cmd: simros_strmcmd_set_object_int_parameter)

See also the simRosSetObjectXXXParameter and simRosGetObjectXXXParameter functions
and their light related parameters.

Camera object functionality

simRosGetObjectHandle
simRosGetObjectGroupData (equiv. streaming cmd: simros_strmcmd_get_object_group_data)
simRosGetObjectFloatParameter (equiv. streaming cmd: simros_strmcmd_get_object_float_parameter)
simRosSetObjectFloatParameter (equiv. streaming cmd: simros_strmcmd_set_object_float_parameter)
simRosGetObjectIntParameter (equiv. streaming cmd: simros_strmcmd_get_object_int_parameter)
simRosSetObjectIntParameter (equiv. streaming cmd: simros_strmcmd_set_object_int_parameter)

See also the simRosSetObjectXXXParameter and simRosGetObjectXXXParameter functions
and their camera related parameters.

Dummy object functionality

simRosCreateDummy
simRosGetObjectHandle
simRosGetObjectGroupData (equiv. streaming cmd: simros_strmcmd_get_object_group_data)
simRosGetObjectFloatParameter (equiv. streaming cmd: simros_strmcmd_get_object_float_parameter)
simRosSetObjectFloatParameter (equiv. streaming cmd: simros_strmcmd_set_object_float_parameter)
simRosGetObjectIntParameter (equiv. streaming cmd: simros_strmcmd_get_object_int_parameter)
simRosSetObjectIntParameter (equiv. streaming cmd: simros_strmcmd_set_object_int_parameter)

See also the simRosSetObjectXXXParameter and simRosGetObjectXXXParameter functions
and their dummy related parameters.

Scene object functionality

simRosGetObjectHandle
simRosGetObjectGroupData (equiv. streaming cmd: simros_strmcmd_get_object_group_data)
simRosGetObjects (equiv. streaming cmd: simros_strmcmd_get_objects)
simRosRemoveObject
simRosGetObjectChild
simRosGetObjectParent (equiv. streaming cmd: simros_strmcmd_get_object_parent)
simRosSetObjectParent
simRosGetObjectPose (equiv. streaming cmd: simros_strmcmd_get_object_pose)
simRosSetObjectPose (equiv. streaming cmd: simros_strmcmd_set_object_pose)
simRosSetObjectPosition (equiv. streaming cmd: simros_strmcmd_set_object_position)
simRosSetObjectQuaternion (equiv. streaming cmd: simros_strmcmd_set_object_quaternion)
simRosCopyPasteObjects
simRosGetObjectSelection (equiv. streaming cmd: simros_strmcmd_get_object_selection)
simRosSetObjectSelection (equiv. streaming cmd: simros_strmcmd_set_object_selection)
simRosGetObjectFloatParameter (equiv. streaming cmd: simros_strmcmd_get_object_float_parameter)
simRosSetObjectFloatParameter (equiv. streaming cmd: simros_strmcmd_set_object_float_parameter)
simRosGetObjectIntParameter (equiv. streaming cmd: simros_strmcmd_get_object_int_parameter)
simRosSetObjectIntParameter (equiv. streaming cmd: simros_strmcmd_set_object_int_parameter)

simros_strmcmd_get_transform

See also the simRosSetObjectXXXParameter and simRosGetObjectXXXParameter functions
and their scene object related parameters.

Custom user interface functionality

simRosLoadUI
simRosRemoveUI
simRosGetUIEventButton (equiv. streaming cmd: simros_strmcmd_get_ui_event_button)
simRosGetUIHandle
simRosGetObjectGroupData (equiv. streaming cmd: simros_strmcmd_get_object_group_data)
simRosGetUISlider (equiv. streaming cmd: simros_strmcmd_get_ui_slider)
simRosSetUISlider (equiv. streaming cmd: simros_strmcmd_set_ui_slider)
simRosGetUIButtonProperty (equiv. streaming cmd: simros_strmcmd_get_ui_button_property)
simRosSetUIButtonProperty (equiv. streaming cmd: simros_strmcmd_set_ui_button_property)
simRosSetUIButtonLabel (equiv. streaming cmd: simros_strmcmd_set_ui_button_label)

Generic dialog functionality

simRosDisplayDialog
simRosEndDialog
simRosGetDialogInput
simRosGetDialogResult (equiv. streaming cmd: simros_strmcmd_get_dialog_result)

Model functionality

simRosLoadModel
simRosGetModelProperty
simRosSetModelProperty

Object selection functionality

simRosGetObjectSelection (equiv. streaming cmd: simros_strmcmd_get_object_selection)
simRosSetObjectSelection (equiv. streaming cmd: simros_strmcmd_set_object_selection)

Simulation functionality

simRosPauseSimulation
simRosStartSimulation
simRosStopSimulation
simRosGetInfo (equiv. streaming topic: info)
simRosDisablePublisher
simRosEnablePublisher
simRosEnableSubscriber
simRosDisableSubscriber

Signals

simRosClearFloatSignal (equiv. streaming cmd: simros_strmcmd_clear_float_signal)
simRosClearIntegerSignal (equiv. streaming cmd: simros_strmcmd_clear_integer_signal)
simRosClearStringSignal (equiv. streaming cmd: simros_strmcmd_clear_string_signal)
simRosGetFloatSignal (equiv. streaming cmd: simros_strmcmd_get_float_signal)
simRosGetIntegerSignal (equiv. streaming cmd: simros_strmcmd_get_integer_signal)
simRosGetStringSignal (equiv. streaming cmd: simros_strmcmd_get_string_signal)
simRosGetAndClearStringSignal (equiv. streaming cmd: simros_strmcmd_get_and_clear_string_signal)
simRosSetFloatSignal (equiv. streaming cmd: simros_strmcmd_set_float_signal)
simRosSetIntegerSignal (equiv. streaming cmd: simros_strmcmd_set_integer_signal)
simRosSetStringSignal (equiv. streaming cmd: simros_strmcmd_set_string_signal)
simRosAppendStringSignal (equiv. streaming cmd: simros_strmcmd_append_string_signal)

Auxiliary console functions

simRosAuxiliaryConsoleClose
simRosAuxiliaryConsoleOpen
simRosAuxiliaryConsolePrint (equiv. streaming cmd: simros_strmcmd_auxiliary_console_print)
simRosAuxiliaryConsoleShow

Simulator parameter retrieval

simRosGetArrayParameter (equiv. streaming cmd: simros_strmcmd_get_array_parameter)
simRosSetArrayParameter (equiv. streaming cmd: simros_strmcmd_set_array_parameter)
simRosGetBooleanParameter (equiv. streaming cmd: simros_strmcmd_get_boolean_parameter)
simRosSetBooleanParameter (equiv. streaming cmd: simros_strmcmd_set_boolean_parameter)
simRosGetFloatingParameter (equiv. streaming cmd: simros_strmcmd_get_floating_parameter)
simRosSetFloatingParameter (equiv. streaming cmd: simros_strmcmd_set_floating_parameter)
simRosGetIntegerParameter (equiv. streaming cmd: simros_strmcmd_get_integer_parameter)
simRosSetIntegerParameter (equiv. streaming cmd: simros_strmcmd_set_integer_parameter)
simRosGetStringParameter (equiv. streaming cmd: simros_strmcmd_get_string_parameter)

Reflexxes Motion Library type IV

simRosRMLPosition
simRosRMLVelocity

Other commands

simRosAddStatusbarMessage (equiv. streaming cmd: simros_strmcmd_add_status_bar_message)
simRosGetLastErrors
simRosCloseScene
simRosCopyPasteObjects
simRosGetInfo (equiv. streaming topic: info)
simRosDisablePublisher
simRosEnablePublisher
simRosEnableSubscriber
simRosDisableSubscriber
simRosRMLPosition
simRosRMLVelocity

simros_strmcmd_get_range_finder_data
simros_strmcmd_get_transform
simros_strmcmd_get_twist_status
simros_strmcmd_set_twist_command

Recommended topics

  • ROS API list (alphabetical order)
  • API constants