SOutaHI / turtlebot3-UE

Turtlebot UE

UE4 Project which includes examples to use rclUE.

Maps

• PubSub: BP and C++ ROS2 publisher subscriber example.
• Turtlebot3 Benchmark: BP and C++ ROS2 turtlebot3 navigation. Burger is implemented in C++ and Waffle is implemented in BP

Setup and run

1. Setup UE4 in Linux by following Linux Quick Start
2. Clone this repo : git clone --recurse-submodules [e-mail]:rapyuta-robotics/turtlebot3-UE.git
3. Retrieve the large files : git-lfs pull && git submodule foreach git-lfs pull
4. Build and run

   cd turtlebot3-UE
   ./update_project_files.sh
   ./make_editor.sh
   ./run_editor.sh $(pwd) <ue_exe>
   # Eg: ./run_editor.sh $(pwd) ~/UE/UnrealEngine/Engine/Binaries/Linux/UE4Editor
   

Turtlebot3 navigation

Installation

1. Install ROS2 foxy
2. Install Nav2

Run

1. Play turtlebot3-UE
2. ros2 launch nav2_bringup tb3_simulation_launch.py use_simulator:=False map:=<path to turtlebot3-UE>/Content/Turtlebot3_benchmark.yaml

Tests

./ExternalTest/run_local_sim_tb3_tests.sh <ue_exe> <ue_map> <tb3_model> <tb3_name> <tb3_init_pos> <tb3_init_rot>

with:

• <ue_exe>: path to the UE editor executor, eg: ~/UE/UnrealEngine/Engine/Binaries/Linux/UE4Editor
• <ue_map>: ue map name, eg: Turtlebot3AutoTest
• <tb3_model>: burger or waffle
• <tb3_name> as the robot given names, eg: burger0
• <tb3_init_pos> as the robot initial position (x,y,z), eg: 0.0,0.0,0.1
• <tb3_init_rot> as the robot initial rotation (r,p,y), eg: 0.0,0.0,0.0