LeoRoverUE5

This project implements a virtual model of a LeoRover in Unreal Engine 5 and enables communication via ROS 2.

Prerequisite

This project is tesed under the following conditions:

• Ubutnu 22.04
• Unreal Engine 5.2.x
• ROS 2 Humble (binary install)

Installation

Unreal Engine 5

You can download pre-compiled UE5 for linux here. After unzipping the downloaded file, set the environment variable for the UE5 root directory.

export UE5_ROOT=</path/to/ue5/root>

Clone this repo.

git clone https://github.com/metabotics-ai/LeoRoverUE5.git

ROS 2 Humble

See this for installing ROS 2 Humble.

Plugins

This project depends on the following plugins for interfacing with ROS 2.

• RapyutaSimulationPlugins
• rclUE

You should download 'RapyutaSimulationPlugins' and 'rclUE' plugins for this project. You can simply import these plugin using 'leorover.repos' file via vcstool as below:

vcs import < leorover.repos

Build & Run

We are providing three scripts for compile and run this project. First, generate the 'Makefile' from 'uproject' file:

./update_project_files.sh

Then compile the project:

./make_editor.sh

Finally, the following command run the Unreal Editor:

./run_editor.sh

Note: 'cleanup.sh' is a convenient script for deleting project files.

./cleanup.sh

ROS Topics Published

ROS Topic	Interface
/image_raw	sensor_msgs/Image
/odom	nav_msgs/Odometry
/clock	rosgraph_msgs/Clock

ROS 2 Topics Subscribed

ROS Topic	Interface
/cmd_vel	geometry_msgs/Twist