Unreal engine based robot simulator.

• Import a URDF file into UE4 by drag & drop into the content browser. A new asset is created with the URDF information. Before dragging the asset into the game world, certain properties can be edited using a new visual interface found in the Editor Mode window.

• As an optional feature, this project can be run with the UROSBridge plugin to control the imported robot from a ROS server through websockets.

• The URDF can be placed inside a folder called XML which should be in the same directory as the Unreal Engine Project File.

• Note that if the URDF uses meshes, it likely keeps them in one or more folders.

• Make sure that for each robot within the XML folder, the file system reflects the structure that the URDF expects.

• For example, for the pr2, it expects to find the wheel mesh here: "pr2_description/meshes/base_v0/wheel.dae". So in the same directory as the pr2.urdf, there should be a folder called pr2_description which contains the subsequent folders and file.

• Be sure to check the Wiki page for more details.

• See here PR2 Packages for ROS Kinetic Kame.

• See the robosim branch of RobCoG as an Unreal Project example with PR2 and UROSBridge communication.

Drag and drop a compatible urdf in the content menu

Drag and drop the the generated file in the world

Generated robot tree