RapyutaSimulationPlugins

Robot common assets/utils used with rclUE

Online documentation

https://RapyutaSimulationPlugins.readthedocs.io/en/devel/

Depedency repository

• rclUE : Core functionalities to integrate ROS 2 and UE4.

Example repository

• turtlebot3-UE : Package to simulate turtlebot3 with UE4.

Example BP robots

• SampleArm: Simple kinematics-based 4-link arm enabled with ROS controller.
• Turtlebot3: Kinematics & Physics-based turtlebot3 Burger & Waffle enabled with ROS controller.
• Skeletal Turtlebot3: Physics-enabled skeletal mesh component-based turtlebot3 robots of types:
  • BallCasterSphereWheeled : With ball caster sphere wheel
  • ConvexWheeled : Wheels have convex-hull collision
  • SphereWheeled : Wheels have sphere collision
  • StaticMeshConstrained : Built from separate static mesh components connected to one another by physics constraints
  • FullLockConstrained : All physics constraints are locked
  • WheeledVehicle : Utilize SimpleWheeledVehicleMovement
• SkeletalTurtlebot3Examples level: Have all example skeletal robots being put to automatically move forward upon Play.

Install pre-commit

Please install pre-commit before commiting your changes. Follow this instruction https://pre-commit.com/

then run

pre-commit install

Documentation

Online doc are available in readthedoc

https://RapyutaSimulationPlugins.readthedocs.io/en/devel/

Tools

Documentation is built with three tools

• doxygen
• sphinx
• breathe

Locally build

1. Install tools in #tools section.
2. Build

   cd docs
   make --always-make html

3. Open following in your browser.
   • Sphinx at 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

Maintainer

yu.okamoto@rapyuta-robotics.com

ducanh.than@rapyuta-robotics.com