UROSBridge

Unereal ROS bridge plugin for communication with rosbridge using WebSockets. The plugin supports subscribing and publishing both ROS messages (topics) and services.

Messages and Services

Most standard ros msgs are supported (std_msgs, sensor_msgs, geometry_msgs, std_srvs etc.). If you are going to add new message / service types, please make a pull request. To add new message / service classes, please refer to Source/UROSBridge/Public directory (see here).

Usage

• Tutorials on how to subscribe to topic, publish to topic, call external services and advertise to service calls.

• See the ex-ros-tf-robosim branch of RobCoG as an Unreal Project example to test all these functionalities.

How to include the plugin

• Add the plugin to your project (e.g MyProject/Plugins/UROSBridge)

• Add the module dependency to your module (Project, Plugin); In the MyModule.Build.cs file:

  PublicDependencyModuleNames.AddRange(  
  new string[]  
  {  
  ...  
  "UROSBridge",
  "Json",
  "JsonUtilities",
  ...  
  }  
  );  
  

Other projects using UROSBridge:

• UROSActorControl

Credits

• This library uses libwebsockets as the WebSocket library and uses the WebSocket UE4 Wrapper from HTML5Networking Plugin.

• This plugin is originated from Michael Jenkin and Mathias Ciarlo's ROSBridgeLib, a Unity-based ROS bridge library;

• Thanks to Yilong Li for the contributions during the Google Summer of Code 2017.

Engine Version 4.27