/URoboSim

Robot simulation in Unreal

Primary LanguageC++BSD 3-Clause "New" or "Revised" LicenseBSD-3-Clause

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URoboSim

Unreal engine based robot simulator.

Features

  • Import a URDF file into UE4 by drag & drop into the content browser. A new asset is created with the URDF information. Before dragging the asset into the game world, certain properties can be edited using a new visual interface found in the Editor Mode window.

  • As an optional feature, this project can be run with the UROSBridge plugin to control the imported robot from a ROS server through websockets.

  • The URDF can be placed inside a folder called XML which should be in the same directory as the Unreal Engine Project File.

  • Note that if the URDF uses meshes, it likely keeps them in one or more folders.

  • Make sure that for each robot within the XML folder, the file system reflects the structure that the URDF expects.

  • For example, for the pr2, it expects to find the wheel mesh here: "pr2_description/meshes/base_v0/wheel.dae". So in the same directory as the pr2.urdf, there should be a folder called pr2_description which contains the subsequent folders and file.

  • Be sure to check the Wiki page for more details.

  • See here PR2 Packages for ROS Kinetic Kame.

  • See the ex-ros-tf-robosim branch of RobCoG as an Unreal Project example with PR2 UROSBridge communication and TF publishing with UTFPublisher.

Quick Start

Drag and drop a compatible urdf in the content menu

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Drag and drop the the generated file in the world

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Generated robot tree

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Credits

  • Unreal Robots Bachelor Project students
  • GSoC 2017 students

Engine Version 4.18