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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

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

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

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