The CoppeliaSim interface publishes sensor data to a set of standard topics, with only 1 exception: /cop/prox_sensors.

How to import the custom message will be part of the tutorial specifics to the ROS labs.

Message: sensor_msgs/LaserScan

Topic: /hokuyo

Message: demo_programs/prox_sensor (custom message)

Topic: /cop/prox_sensors

Message: geometry_msgs/Twist

Topic: /cop/twist

Message: geometry_msgs/Pose

Topic: /cop/pose

Message: sensor_msgs/Image

Topic: cop/rgb_image

Message: sensor_msgs/Image

Topic: cop/depth_image

Message: sensor_msgs/CameraInfo

Topic: /cop/camera_info

Message: demo_programs/line_sensor

Topic: /cop/line_sensors

Message: geometry_msgs/Twist

Topic: /cmd_vel

Message: demo_programs/ackermann_control

Topic: cmd_vel_ack

1. float32 prox_front_left

2. float32 prox_front

3. float32 prox_front_right

4. float32 prox_back

5. float32 prox_back_left

6. float32 prox_back_right

7. float32 prox_back_left_left

8. float32 prox_back_right_right

9. float32 prox_front_left_left

10. float32 prox_front_right_right

1. bool line_right

2. bool line_middle

3. bool line_left

1. float32 steering_angle

2. float32 speed