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rapyuta-robotics / rclUE

Apache License 2.0
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TF2 API availability #104

Closed vanem closed 8 months ago

vanem commented 9 months ago

Looking through the documentation there is no mention of TF in rclUE. Is there a way to use lookupTransform() API?

yuokamoto commented 9 months ago

Currently don't have plan to support lookupTransform() since transformation among actors can be easily get from UE API. Are there any case that you need lookupTransform?

vanem commented 9 months ago

I would like to use UE as a source for high quality camera video stream for example, but leave physics simulation outside of it. Having access to the TF API (broadcast and listen) from rclUE would allow seamless integration. I could also use robot_state_publisher to publish and use TF from URDF. I will try to look over your turtlebot example simulation soon, but doesn't the navigation uses tf? Tf is such an integral part of ROS, would it be difficult to port it to rclUE?

yuokamoto commented 9 months ago

You can access TF by publish/subscribe /tf topic directly. Please check https://github.com/rapyuta-robotics/RapyutaSimulationPlugins/blob/devel/Source/RapyutaSimulationPlugins/Private/Tools/RRROS2TFPublisher.cpp

yuokamoto commented 8 months ago

Please repoen if you have more request/question