Unereal ROS bridge plugin for communication with rosbridge using WebSockets. The plugin supports subscribing and publishing both ROS messages (topics) and services.
Most standard ros msgs are supported (std_msgs, sensor_msgs, geometry_msgs, std_srvs etc.). If you are going to add new message / service types, please make a pull request. To add new message / service classes, please refer to Source/UROSBridge/Public directory (see here).
Tutorials on how to subscribe to topic, publish to topic, call external services and advertise to service calls.
See the ex-ros-tf-robosim branch of RobCoG as an Unreal Project example to test all these functionalities.
Add the plugin to your project (e.g MyProject/Plugins/UROSBridge)
Add the module dependency to your module (Project, Plugin); In the
MyModule.Build.cs file:
PublicDependencyModuleNames.AddRange(
new string[]
{
...
"UROSBridge",
"Json",
"JsonUtilities",
...
}
); This library uses libwebsockets as the WebSocket library and uses the WebSocket UE4 Wrapper from HTML5Networking Plugin.
This plugin is originated from Michael Jenkin and Mathias Ciarlo's ROSBridgeLib, a Unity-based ROS bridge library;
Thanks to Yilong Li for the contributions during the Google Summer of Code 2017.