Hello,

You don't need a ROS-Vrep connection, it's integrated in VREP by default now : http://www.coppeliarobotics.com/helpFiles/en/rosInterf.htm

For example, launch a roscore, then launch vrep.sh, you should see these lines : 

    Plugin 'RosInterface': loading...
    Plugin 'RosInterface': load succeeded.

Then put this Non-Threaded Lua script in any object (Cuboid for example)  : 

    function sysCall_init()
      handle = simROS.advertise("/chatter", "std_msgs/String")
    end

    function sysCall_sensing()
      msg = {} 
      msg["data"] = "Hello World"
      simROS.publish(handle, msg)
    end

The chatter topic should be displayed in "rostopic list" and sending "Hello world" as a message (check with "rostopic echo /chatter".

There is also the example scene "rosInterfaceTopicPublisherAndSubscriber.ttt" given with V-rep that show image view, and the scene "controlTypeExamples.ttt" who show other type of Ros Interface


And for melodic package, we need to wait for the maintainer for porting their packages, there is only a quarter of the package available yet : https://discourse.ros.org/t/ros-melodic-morenia-release/





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