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--- tutorials:advanced:unreal-engine [2022/03/08 13:55] – vanessa
+++ tutorials:advanced:unreal-engine [2022/03/08 14:15] (current) – [Spawn objects in Unreal from Cram] vanessa
@@ Line 52: / Line 52: @@
 </code>
 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
+</code>
+Hit the 'Play' button in Unreal. The rosbridge terminal should indicate, that the connection has been established. Also use rostopic list to check, if the controller topics for the robot are published.
+===== GISKARD =====
+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
+</code>
+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 /eef_control/update is not available, check the giskard setup again. Use the markers to move the robot and see the robot in Unreal move.
+===== CRAM =====
+cram-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 while using the same manipulation pms as pr2-pms:with-real-robot
+  * Also a few changes to Giskard's constraints, which seemed to be outdated. Giskard won't work without them.
+Note: Remove CATKIN_IGNORE in the cram_pr2 packages and cram_external_interfaces/cram_urobosim to build them.
+Play the map in Unreal. The PR2 should twitch and wiggle its arms a bit if it's good. If not, check the DemoProject repo ReadMe how to troubleshoot.
+====== Start the Demo ======
+Startup roslisp_repl. First load cram_pr2_pick_place_demo, then cram_pr2_unreal_process_modules. Start a rosnode with (roslisp-utilities:startup-ros). To start the setting demo, run
+<code bash>
+(pr2-unreal-pms:with-unreal-robot
+   (demo::setting-demo '(:spoon)))
+</code>
+====== Spawn objects in Unreal from Cram ======
+Run the same launch files as above, but without giskard. Open Emacs, load cram_urobosim and start a node. Try to spawn an object with
+<code bash>
+(unreal:spawn-object :spoon (cl-tf:make-identity-pose))
+</code>