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tutorials:advanced:unreal-engine [2022/03/08 13:55] – vanessa | tutorials:advanced:unreal-engine [2022/03/08 14:00] – [Running the System] vanessa | ||
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If the build process wasn't successful, install the missing packages via apt, find missing repositories in the code-iai GitHub group or ask the contributors for help. | If the build process wasn't successful, install the missing packages via apt, find missing repositories in the code-iai GitHub group or ask the contributors for help. | ||
- | ====== Using Cram in Unreal Engine====== | ||
+ | ====== Running the System ====== | ||
+ | Finally, the connection to the ROS network can be established by launching the following nodes. Make sure the workspace is sourced. | ||
+ | |||
+ | <code bash> | ||
+ | #Launch rosbridge for communication between unreal and ROS | ||
+ | roslaunch rosbridge_server rosbridge_websocket.launch | ||
+ | |||
+ | # Launch urobosim world | ||
+ | roslaunch urobosim_ros_config world.launch | ||
+ | </ | ||
+ | |||
+ | Hit the ' | ||
+ | |||
+ | Giskard requires the whole_body_controller topics of the robot. To achieve that, make sure the rosbridge to Unreal is running properly. | ||
+ | |||
+ | <code bash> | ||
+ | roslaunch giskardpy giskardpy_pr2_unreal.launch | ||
+ | </ | ||
+ | |||
+ | This launches Giskards trajectory planner. There may occur one timeout error for the state topic, which is fine for now. | ||
+ | |||
+ | Launch RViz by executing rviz. Add the Robot Model to the scene. Add InteractiveMarkers and choose the topic; if / | ||
+ | |||
+ | ===== CRAM ===== | ||
+ | |||
+ | cram-urobosim (aka unreal) provides | ||
+ | |||
+ | a :detecting PM and plan to detect objects from Unreal to put them in Bullet | ||
+ | the service clients to spawn and move objects in a running Unreal world (and stubs to extend to further clients) | ||
+ | some unused plans for pouring (feeding-plans) | ||
+ | cram-pr2-unreal-process-modules (aka pr2-unreal-pms) provides | ||
+ | |||
+ | an extension to pr2-pms as | ||
+ | the with-unreal-robot macro uses unreal-detection, | ||
+ | Also a few changes to giskard' | ||
+ | |||
+ | Remove CATKIN_IGNORE in the cram_pr2 packages and cram_external_interfaces/ | ||
+ | |||
+ | <code bash> | ||
+ | |||
+ | </ | ||
+ | |||
+ | <code bash> | ||
+ | </ |