4. Connect with other physics engine

Connect with other physics engine using UROSBridge

1. Setup Robot Controller in Unreal

• Go to Chapter 3 and add the desired controller for the robot

2. Setup ROS Communication in Unreal

• Open tab ROS Manager of the Actor RoboManager

• Add ROS Subcribers by hitting the (+) Button

• Choose the corresponding Subscriber to your need. For example to control the joints we have Joint State Subscriber, to control the base we have Base Pose Subscriber. Just open the tab of each ROS Subscriber and look at the Message Type, you would get the idea.

• Configure the Controller Name and the Topic to the correct names

• Now the robot in Unreal is ready to be controlled from outside

3. Launch the robot from outside, for example by MuJoCo

• Setup this repo mujoco_sim

• Launch the rosbridge_server roslaunch rosbridge_server rosbridge_websocket.launch port:=9393

• Launch the corresponding robot, in this example roslaunch tiago_mujoco tiago_display.launch

• It will pop up a bunch of windows to test and see the capability of the software.

• Hit Play of Unreal to start the connection, enjoy controlling the robot!

Click on the image to play the video