Turtlebot UE

UE Project which includes examples to use rclUE.

Documentation

• rclUE: This repo enables communication between UE and ROS 2.
• RapyutaSimulationPlugins: This repo has classes/tools to create ROS 2 enables robots with rclUE.

Branches

UE	Ubuntu	rclUE branch	RapyutaSimulationPlugin branch	turtlebot3-UE branch	Note
5.1.1	20.04	UE5_devel_foxy	devel	devel
5.1.1	22.04	UE5_devel_humble	devel	jammy_UE5.1	main branch
5.3.2	22.04	UE5_devel_humble	UE5.3	jammy_UE5.3
5.4.4	22.04	UE5_devel_humble	UE5.4.4	jammy_UE5.4
5.5.3	22.04	UE5.5_devel_humble	UE5.5	jammy_UE5.5

Maps

• Base ROS2 examples
  • ROS2TopicExamples: BP and C++ ROS2 example nodes of publisher/subscriber.
  • ROS2ServiceExamples: BP and C++ ROS2 example nodes of service server/client.
  • ROS2ActionExamples: BP and C++ ROS2 example nodes of action server/client
• Robot Examples(explanation of robots)
  • Turtlebot3 Benchmark: BP and C++ ROS2 turtlebot3 navigation. Burger is implemented in C++ and Waffle is implemented in BP.
  • RobotArmExample: Robot arm example which can be controlled from sensor_msgs/JointStates. This map has SimpleArim, KinematicUR10 and PhysicsUR10.
  • PandaArmExample: Panda Arm example which can be controlled from moveit2
  • PandaArmPhysicsExample: Physics Panda Arm example which can be controlled from moveit2
• Others
  • Entry: Get map name from command line and transition to that maps. Mainly used to packaged project to change initial map.
  • LargeGround: Large enough map for simulating many robots. Mainly used to test distributed multi-robot simulation.
  • Turtlebot3AutoTest: Maps for Automated test.

Setup and run

• please check Getting Started as well.

1. Download UE5.1 for Linux by following Unreal Engine for Linux
2. Clone this repo : git clone --recurse-submodules [email protected]: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
   export UE5_DIR=<path to UE5>
   ./update_project_files.sh
   make turtlebot3Editor
   ./run_editor.sh <false or true to use dds server or not> $(pwd) <ue_exe>
   

* Since the prooject is set to use ROS2 with Discovery Server to communicate with ROS2 Node in UE, you needs to execute source turtlebot3_UE/fastdds_setup.sh. You can run without server by ./run_editor.sh false

Install pre-commit

Please install pre-commit before commiting your changes. Follow this instruction https://pre-commit.com/

then run

./setup_pre_commit.sh

this will setup pre-commit to all submodules as well.

Turtlebot3 navigation

Installation

1. Install ROS2 foxy
   • you can use ROS2 humble as well by checkout Plugins/rclUE to UE5_devel_humble branch.
2. Install Nav2

Run

1. Play turtlebot3-UE
2. cd turtlebot3-UE && source fastdds_setup.sh #if you use ROS2 Discovery Server. You don't need this if you start editor with ./run_editor false.
3. ros2 launch nav2_bringup tb3_simulation_launch.py use_simulator:=False map:=<path to turtlebot3-UE>/Content/Turtlebot3_benchmark.yaml

Tests

!NOTE: The test script is setup to run with fastdds, which requires UE to start before ROS is enabled, thus /opt/ros/<ros_distro>/setup.bash, which is already run in the script, needs to be not added to ~/.bashrc

./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