rclUE_client_example

Example of rclUE client

Overview

This is client example of rclUE and related UnrealEngine x ROS 2 porject.

Please check following as well

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

How to use

Setup UE project

1. Download Unreal Engine 5 and set up rclUE-Examples by following README of the repo.
2. Open Default/Character/Warehouse map and play

Setup and run ROS2 ws project

1. Install ROS 2 by following https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html
2. Create and build ROS 2 ws.

   mkdir -p colcon_ws/src
   cd colcon_ws/src
   git clone  --recursive [email protected]:yuokamoto/rclUE_client_example.git
   cd ../../
   source /opt/ros/<ros-distro>/setup.bash
   rosdep install --from-paths src -y --ignore-src
   colcon build --symlink-install --packages-up-to rclUE_client_example
   

3. Run example client

   source /opt/ros/<ros-distro>/setup.bash
   source colcon_ws/install/setup.bash
   ros2 run rclUE_client_example <example package name, e.g. conveyor_client>
   # or
   ros2 launch rclUE_client_example <example launch name, e.g. conveyor_client>
   

List of examples

*Client script will do following from ROS 2 interface

• Turtlebot3(tb3_client_launch.py)

  • Turltbot3_benchmark.umap
  1. Spawn turtlebot3 and start tb3_simulation_launch.py which start navigation action server
  2. Send /initial_pose
  3. Send navigation goal.

• Conveyor(conveyor_client_launch.py)

  • Default.umap
  1. Spawn conveyor with mode=1 and speed=200, i.e. payload will move and stop at entrance/exit
  2. Spawn Payload
  3. Wait until payload stop at entrance/exit
  4. Set mode=0, i.e. paylod will move until move out from conveyor
  5. Set speed=-200.
  6. Wait until paylod move out.
  7. Repeat from step 1

• Character(charcter_client_launch.py)

  • CharacterMap.umap

  1. Spawn character with all modes, 0. manual mode. Move when it subscribes goal. Goal can be pose or actor name.

     1. sequence mode. Move to goal sequence one by one
     2. random sequence mode. Move to goal sequence randomly
     3. random area mode. Move inside bounding box randomly.

     Please check paramters in ai_actor_client.py and ai_actor_client_launch.py

  2. keep sending random goal to manual mode(=0) cahracter. Other characters move with

• Warehouse(warehouse_client.py)

  • Warehouse.umap
  1. Load tasks and agents from Agents.csv and Task.csv in config
  2. Send task one by one from Tasks.csv via ROS 2 topic.
     • Track move and open container.
     • Forklift unload pallet from the track and drop to trackberth
     • Forklift pick pallet from floor and drop to rack
     • Human move cart near the trackberth
     • Human load boxes to the cart
     • Human move cart to the conveyor and drop box to the conveyor
     • Human move cart to the rack and drop box to the rack

• Spline Conveyor: todo

• Elevator: todo

• VerticalConveyor: todo