puzzler7
commented
4 years ago http://www.coppeliarobotics.com/helpFiles/en/remoteApiFunctionsPython.htm#simxCallScriptFunction
Use for sending/receiving ROS messages. Still need to establish a protocol for sending receiving, but this is how it can be done.
Right now, the V-REP on the personal computer reads the position and orientation of every object in the docker container, and forces those positions on the objects in the personal computer. However, this doesn't allow for easily stopping and starting the simulation, or for tweaking the simulation scene.
It may be possible to have the docker V-REP broadcast and receive the information in the ROS Topics, essentially turning it into a ROS node itself, albeit one that can in theory communicate through a single port in the Docker container. If this is possible, it would move the physics calculations out of the Docker container into the computer. However, this would require a way to transmit arbitrary amounts of data through the remote API. This should be doable, I just don't know how yet (largely for lack of searching).