Unereal ROS bridge plugin for communication with rosbridge using WebSockets. The plugin supports subscribing and publishing both ROS messages (topics) and services.

Most standard ros msgs are supported (std_msgs, sensor_msgs, geometry_msgs, std_srvs etc.). If you are going to add new message / service types, please make a pull request. To add new message / service classes, please refer to Source/UROSBridge/Public directory (see here).

• Tutorials on how to subscribe to topic, publish to topic, call external services and advertise to service calls.

• See the ex-ros-tf-robosim branch of RobCoG as an Unreal Project example to test all these functionalities.

• Add the plugin to your project (e.g MyProject/Plugins/UROSBridge)

• Add the module dependency to your module (Project, Plugin); In the MyModule.Build.cs file:

  PublicDependencyModuleNames.AddRange(  
  new string[]  
  {  
  ...  
  "UROSBridge",
  "Json",
  "JsonUtilities",
  ...  
  }  
  );  
  

• UROSActorControl

• This library uses libwebsockets as the WebSocket library and uses the WebSocket UE4 Wrapper from HTML5Networking Plugin.

• This plugin is originated from Michael Jenkin and Mathias Ciarlo's ROSBridgeLib, a Unity-based ROS bridge library;

• Thanks to Yilong Li for the contributions during the Google Summer of Code 2017.