Unreal Engine 5.1
Please download UE5.1 for Linux by following Unreal Engine for Linux
devel: This build of the plugin is based on ROS2 Foxy and has been tested on Ubuntu 20 and UE5.1.
UE5_devel_humble_20.04(experimental): This build of the plugin is based on ROS2 humble and has been tested on Ubuntu 20.04 and UE5.10.
UE5_devel_humble(experimental): This build of the plugin is based on ROS2 humble, Ubuntu 22.04 and UE5.1.
Experimental and WIP
rclUE and ROS2
We use ros2 ‘foxy’ lightweighted (not all binaries are included). Source/ThirdParty/ros folder is fully autogenerated by UE_tools
ros includes UE_msgs
UE uses centimeters but ROS uses meters. Please convert manually or use URRConversionUtils in RapyutaSimulationPlugins
within the Unreal Editor: Edit->Plugins, search and enable for
Windows is currently unsupported
The plugin folder contains a video “Example_BP_PubSub.mp4” demonstrating how to setup a PubSub example in Blueprint.
An example setup using this plugin can be found at turtlebot3-UE
Notes on working with ROS2 and UE
rcl and void* types cannot be managed by UE (no UPROPERTY) and therefore can’t be used directly in Blueprint. Whenever access to these variables is needed, the user should write a class to wrap it and all of their handling must be done in C++.
some basic numerical types are not natively supported in Blueprint (e.g. double, unsigned int). In order to use these, a workaround is needed (a plugin implementing those types for BP, a modified UE or a custom implementation).
In autogenerated messages, the method MsgToString() should be implemented by the user as its current purpose is to help debugging.
How to update ROS inside RclUE
Currently there is a scripts in UE_tools to automatically build and update ROS2 libraries. Follow steps 1) for building and copying ros2 base library under rclUE and 2) for generating UE src codes to access msg from UE. Please check UE_tools README and
git clone https://github.com/rapyuta-robotics/UE_tools cd UE_tools # build and copy ros2 base libraries python3 build_install_codegen.py -b --remove --type base # Generate msg classes to access msg from UE python3 build_install_codegen.py -bc --type pkgs
Please install pre-commit before commiting your changes. Follow this instruction https://pre-commit.com/
documentation is built with three tools
install tools in #tools section.
cd docs make --always-make html
Open following in your browser.
file:///<path to cloned repo>/docs/source/_build/html/index.html
Original doxygen output at
file:///<path to cloned repo>/docs/source/_build/html/doxygen_generated/html/index.html