URoboSim

Unreal engine based robot simulator.

Version using SDF for loading robots. See gzsdf for converting URDF to SDF.

Plugin Dependencies

• UUtils
• UROSWorldControl
• UROSBridge
• URoboVision

Installation

• place the URobosim into the plugin folder of your project
• place all plugin dependencies into the plugin folder of your project
• add URoboSim as dependency to the *.Build.cs

ROS requirements

• install ROS (tested on kinetic)
• install rosbridge_suite
• add urobosim_msgs to your workspace

Tools

• Github Organization
• Msg Generation
• Action Generation
• ROS configuration Example

Creating the robot model

• Create CollisionChannel Robot in new Projects
• import the sdf file (enable: Combine Meshes)
• drag and dorp the sdf file into the map (while dragging wait for the mesh creation to be finished before dropping the model)

Add Controller

• add RControllerComponent to the model
• add new element to the ControllerList (Left field: Controller Name, Right field: Controller Type)
• BaseController:
  • Base Name: Name of the Base
• JointController:
  • Base Link: same as BaseController Base Name
  • DesiredJointState: TMap of the desired joint angles, can be set manually or by adding a RJointControllerConfigurationClient to the ROSCommunication Component
• CameraController:
  • CameraRef: Name of the Reference Link
  • Camera Name: Name of the Camera (Placed in the world)
  • Perceived Object: List of Perceived object, used for fake perception
  • PoseOffset: offset of the camera from ReferenceFrame
• HeadController
• GripperController(only tested on PR2):
  • GripperCompSetting: Setting of the Gripper Component (ReferenceFrame, Offset)
  • Right/LeftJointName:
  • Right/LeftFingerTipName
  • GraspComponent: Name of the GraspComponent (GraspComponent has to be added to model)

Add ROSCommunication

• Publisher:
  • OdometriePublisher:
    • Publishes the odometrie of the robot
    • FrameTransform: Position of the origin of the odometrie
    • MapFrameId: Name of the map frame
    • OdomFrameId: Name of the odometrie frame
    • BaseFrameId: Name of the base frame of the robot
    • Topic: Name of the topic to publish the odometrie
  • JointStatePublisher:
    • Publishes the current joint state of the robot
    • JointParamTopic: Name of the topic inside the parameter server containing the joints to be published
    • Topic: Name of the topic on which is published
  • R2DLidarPublisher:
    • Publishes the lidar measurement
    • SensorName: Name of the lidar sensor
    • Topic: Name of the topic on which is published
  • RJointTrajectoryControllerStatePublisher:
    • Publishes the state of the JointController (necessary for Giskard)
    • JointParamTopic: Name of the topic inside the parameter server containing the joints to be controlled by giskard
    • Topic: Name of the topic on which is published
• Subscriber:
  • RVelocityCommandSubscriber
    • Listens to the velocity commands and sets the desired velocity for the URBaseController (URBaseController in ControllerComponent has to be called "BaseController")
• Client:
  • URJointControllerConfigurationClient:
    • Configures the DesirdJoints (actuated joints) of the JointController
    • JointParamTopic: Name of the topic inside the parameter server containing the actuated joints
• Action:
  • URFollowJointTrajectoryActionServer:
    • Actions server for the FollowJointTrajectoryAction
    • Type: control_msgs/FollowJointTrajectoryAction
    • FeedbackPublisher -> JointParamTopic: Name of the topic inside the parameter server containing the joints to be controlled by giskard
    • ControllerName: Name of the JointController
    • ActionName: Name of the action
  • URGripperCommandActionServer:
    • Actions server for the GripperAction
    • Type: pr2_controllers_msgs/Pr2GripperAction
    • ControllerName: Name of the GripperController
    • ActionName: Name of the action
  • URPerceiveObjectActionServer:
    • Actions server for the fake perception
    • Type: urobosim_msgs/PerceiveObjectAction
    • ControllerName: Name of the CameraController
    • ActionName: Name of the action
  • URPointHeadActionServer:
    • Actions server for the HeadAction
    • Type: control_msgs/PointHeadAction
    • ControllerName: Name of the HeadController
    • ActionName: Name of the action

Example Workflow