ros与vrep通信：ROS Indigo+ubuntu14.04.4+V-REP_PRO_EDU_V3_3_1_64_Linux
纸上得来终觉浅，绝知此事要躬行。
前后绕了很多弯路，最后发现只要按照vrep的官方教程安装就没有问题，不需要安装什么vrep-ros-bridge。
不需要安装什么vrep-ros-bridge.不需要安装什么vrep-ros-bridge!!!
重要的事情说三遍！！
地址在http://www.coppeliarobotics.com/helpFiles/en/rosTutorialIndigo.htm
1. 安装ros indigo
参考官方教程一步一步来，应该没有问题。
教程地址：http://wiki.ros.org/indigo/Installation/Ubuntu
2. 创建catkin_ws
http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment
按照教程就行。
3. 安装catkin_tools
也有相应的教程，按照其中的ubuntu那部分来做就行。安装这个主要是为了之后会用到catkin build
http://catkin-tools.readthedocs.io/en/latest/installing.html
4. 进入安装vrep的文件下的compiledRosPlugins这个文件，复制两个文件
libv_repExtRos.so和libv_repExtRosInterface.so到vrep文件夹下。
5. 进入安装vrep的文件下的programming/ros_packages这个文件夹，
把它下面的八个文件夹都复制到~/catkin_ws/src中。就是ros_bubble_rob，vrep_plugin还有其他六个
6. $ sudo apt-get install ros-indigo-pr2-controllers ros-indigo-joystick-drivers
7. 回到catkin目录下
$~/catkin_ws
$ export VREP_ROOT=~/path/to/v_rep/folder
这里~/path/to/v_rep/folder换成自己装VREP的文件夹
$ catkin build
只要没报错就大功告成啦！！按照上面的一步一步来，我没有报错哈！
8.这里我加了一步
$ sudo gedit ~/.bashrc
在最后加一行：
source ~/catkin_ws/devel/setup.bash
这样就可以用roscd找到刚才安装的那些包啦。
检验是否成功：
1. roscd检验
$ roscd vrep_ros_interface
$ roscd vrep_plugin
$ roscd vrep_common
$ roscd vrep_joy
$ roscd ros_bubble_rob
$ roscd ros_bubble_rob2
$ roscd vrep_skeleton_msg_and_srv
$ roscd vrep_plugin_skeleton
应该都能找到
2. 打开vrep
$ roscore
进入安装VREP的文件夹，
$ ./vrep.sh
看下终端有没有报错，正常的话应该不会报错。
是这样的：
Simulator launched. Plugin 'MeshCalc': loading... Plugin 'MeshCalc': load succeeded. Plugin 'BubbleRob': loading... Plugin 'BubbleRob': load succeeded. Plugin 'Collada': loading... Plugin 'Collada': load succeeded. Plugin 'ConvexDecompose': loading... Plugin 'ConvexDecompose': load succeeded. Plugin 'CustomUI': loading... Plugin 'CustomUI': load succeeded. Plugin 'DynamicsBullet-2-78': loading... Plugin 'DynamicsBullet-2-78': load succeeded. Plugin 'DynamicsBullet-2-83': loading... Plugin 'DynamicsBullet-2-83': load succeeded. Plugin 'DynamicsNewton': loading... Plugin 'DynamicsNewton': load succeeded. Plugin 'DynamicsOde': loading... Plugin 'DynamicsOde': load succeeded. Plugin 'DynamicsVortex': loading... Plugin 'DynamicsVortex': load succeeded. Plugin 'ExternalRenderer': loading... Plugin 'ExternalRenderer': load succeeded. Plugin 'K3': loading... Plugin 'K3': load succeeded. Plugin 'LuaRemoteApiClient': loading... Plugin 'LuaRemoteApiClient': load succeeded. Plugin 'Mtb': loading... Plugin 'Mtb': load succeeded. Plugin 'OMPL': loading... Plugin 'OMPL': load succeeded. Plugin 'OpenMesh': loading... Plugin 'OpenMesh': load succeeded. Plugin 'PovRay': loading... Plugin 'PovRay': load succeeded. Plugin 'Qhull': loading... Plugin 'Qhull': load succeeded. Plugin 'RRS1': loading... Plugin 'RRS1': load succeeded. Plugin 'ReflexxesTypeIV': loading... Plugin 'ReflexxesTypeIV': load succeeded. Plugin 'RemoteApi': loading... Starting a remote API server on port 19997 Plugin 'RemoteApi': load succeeded. Plugin 'Ros': loading... Plugin 'Ros': load succeeded. Plugin 'RosInterface': loading... Plugin 'RosInterface': load succeeded. Plugin 'SimpleFilter': loading... Plugin 'SimpleFilter': load succeeded. Plugin 'Urdf': loading... Plugin 'Urdf': load succeeded. Plugin 'Vision': loading... Plugin 'Vision': load succeeded. Using the 'MeshCalc' plugin. Checking for an updated V-REP version... qt.network.ssl: QSslSocket: cannot resolve SSLv2_client_method qt.network.ssl: QSslSocket: cannot resolve SSLv2_server_method Failed checking whether this V-REP version is up-to-date. Please visit www.coppeliarobotics.com to verify that you are running the last V-REP version. Initializing the Bullet physics engine in plugin 'DynamicsBullet_2_78'... Engine version: 2.78 Plugin version: 8 Initialization successful.然后看下vrep是否能正常仿真，就完成啦。