# CoppeliaSim - version 4.2.0 released

**URL:** <https://discourse.openrobotics.org/t/coppeliasim-version-4-2-0-released/19902>\
**Category:** ROS General\
**Tags:** ros2\
**Created:** [April 13, 2021, 4:27pm UTC](https://discourse.openrobotics.org/t/coppeliasim-version-4-2-0-released/19902 "2021-04-13T16:27:16Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![Marc](https://avatars.discourse-cdn.com/v4/letter/m/8dc957/32.png) [@Marc](https://discourse.openrobotics.org/u/Marc)\
**Post date:** [April 13, 2021, 4:27pm UTC](https://discourse.openrobotics.org/t/coppeliasim-version-4-2-0-released/19902/1 "2021-04-13T16:27:16Z")

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Hello,

I am happy to announce the release of CoppeliaSim V4.2.0 (formerly known as V-REP), the extendable robotics simulation toolkit, with some nice new features:

- ROS2 interface now also available on Windows
- ZeromMQ interface
- Time optimal trajectory generation via TOPP-RA
- Support for generic conveyor systems: [https://youtu.be/eFuwQaR9fr8](https://youtu.be/eFuwQaR9fr8)
- etc.

For a full list of improvements and functionality, please visit [www.coppeliarobotics.com](http://www.coppeliarobotics.com)

Cheers,  
Marc