URoboViz

Unreal plugin for robot visualisation using ROS connecting with WebSockets. This plugin supports controlling robots built on SkeletalMeshActor and switching physics with an external physics engine MuJoCo.

Overview

https://user-images.githubusercontent.com/64316740/235268851-fa43c940-2173-424b-9d42-6485c9b80f42.mp4

Features

• Combine photorealistic graphics from Unreal Engine with advanced physics engine from MuJoCo in runtime
• Spawning and Destroying objects in MuJoCo world using Overlap Events from Unreal Engine in runtime
• Robot control using ROS as middleware
• Run on both latest version of Unreal Engine 4.27 and 5.0.0

Installation

To run this plugin properly, some dependencies need to be included. From Unreal side I use UROSBridge for ROS Communication and UUtils for coordination exchange between Unreal world and ROS world. To import robot from FBX format, I implemented an add-on for Blender urdf_importer, which can be used to convert robot from URDF to FBX format with textures. The robot can be controlled using physics engine of MuJoCo with ROS Interface from mujoco_sim. See Wiki for more information.

Tutorials

The tutorials can be found in Wiki