turtlebot3-UE

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# Turtlebot UE

UE Project which includes examples to use rclUE.

## Documentation
- [rclUE](): This repo enables communication between UE and ROS 2.
- [RapyutaSimulationPlugins](): This repo has classes/tools to create ROS 2 enables robots with rclUE.
## Branches
| UE    | Ubuntu | rclUE branch         | RapyutaSimulationPlugin branch | turtlebot3-UE branch | Note         |
|-------|--------|----------------------|--------------------------------|----------------------|--------------|
| 5.1.1 | 20.04  | UE5_devel_foxy       | devel                          | devel                |              |
| 5.1.1 | 22.04  | UE5_devel_humble     | devel                          | jammy_UE5.1         | main branch  |
| 5.3.2 | 22.04  | UE5_devel_humble     | UE5.3                          | jammy_UE5.3         |              |
| 5.4.4 | 22.04  | UE5_devel_humble     | UE5.4.4                        | jammy_UE5.4         |              |
| 5.5.3 | 22.04  | UE5.5_devel_humble   | UE5.5                          | jammy_UE5.5         |              |

## Maps
- Base ROS2 examples
    - `ROS2TopicExamples`: BP and C++ ROS2 example nodes of publisher/subscriber.
    - `ROS2ServiceExamples`: BP and C++ ROS2 example nodes of service server/client.
    - `ROS2ActionExamples`: BP and C++ ROS2 example nodes of action server/client
- Robot Examples(explanation of [robots](https://rapyutasimulationplugins.readthedocs.io/en/devel/robots.html))
    - `Turtlebot3 Benchmark`: BP and C++ ROS2 turtlebot3 navigation. Burger is implemented in C++ and Waffle is implemented in BP.
    - `RobotArmExample`: Robot arm example which can be controlled from [sensor_msgs/JointStates](http://docs.ros.org/en/melodic/api/sensor_msgs/html/msg/JointState.html). This map has SimpleArim, KinematicUR10 and PhysicsUR10.
    - `PandaArmExample`: Panda Arm example which can be controlled from moveit2
    - `PandaArmPhysicsExample`: Physics Panda Arm example which can be controlled from moveit2
- Others
    - `Entry`: Get map name from command line and transition to that maps. Mainly used to packaged project to change initial map.
    - `LargeGround`: Large enough map for simulating many robots. Mainly used to test [distributed multi-robot simulation](https://rapyutasimulationplugins.readthedocs.io/en/devel/distributed_simulation.html).
    - `Turtlebot3AutoTest`: Maps for Automated test.

## Setup and run
* please check [Getting Started](https://rapyutasimulationplugins.readthedocs.io/en/doc_update/getting_started.html) as well.

1.  Download UE5.1 for Linux by following [Unreal Engine for Linux](https://www.unrealengine.com/en-US/linux)
2.  Clone this repo : `git clone --recurse-submodules git@github.com:rapyuta-robotics/turtlebot3-UE.git`
3.  Retrieve the large files : `git-lfs pull && git submodule foreach git-lfs pull`
4.  Build and run
    ```
    cd turtlebot3-UE
    export UE5_DIR=<path to UE5>
    ./update_project_files.sh
    make turtlebot3Editor
    ./run_editor.sh <false or true to use dds server or not> $(pwd) <ue_exe>
    ```
\* Since the prooject is set to use 
[ROS2 with Discovery Server](https://docs.ros.org/en/foxy/Tutorials/Advanced/Discovery-Server/Discovery-Server.html)
to communicate with ROS2 Node in UE, you needs to execute `source turtlebot3_UE/fastdds_setup.sh`. You can run without server by `./run_editor.sh false`

## Install pre-commit
Please install pre-commit before commiting your changes.
Follow this instruction https://pre-commit.com/

then run

```bash
./setup_pre_commit.sh
```

this will setup pre-commit to all submodules as well.

## Turtlebot3 navigation

### Installation

1. [Install ROS2 foxy](https://docs.ros.org/en/foxy/Installation.html)
    * you can use ROS2 humble as well by checkout `Plugins/rclUE` to `UE5_devel_humble` branch.
2. [Install Nav2](https://navigation.ros.org/getting_started/index.html)

### Run

1. Play turtlebot3-UE
2. `cd turtlebot3-UE && source fastdds_setup.sh` #if you use ROS2 Discovery Server. You don't need this if you start editor with `./run_editor false`.
3. `ros2 launch nav2_bringup tb3_simulation_launch.py use_simulator:=False map:=<path to turtlebot3-UE>/Content/Turtlebot3_benchmark.yaml `

### Tests
!NOTE: The test script is setup to run with fastdds, which requires UE to start before ROS is enabled, thus `/opt/ros/<ros_distro>/setup.bash`, which is already run in the script, needs to be not added to `~/.bashrc`
```sh
./ExternalTest/run_local_sim_tb3_tests.sh <ue_exe> <ue_map> <tb3_model> <tb3_name> <tb3_init_pos> <tb3_init_rot>
```

with:

- `<ue_exe>`: path to the UE editor executor, eg: `~/UE/UnrealEngine/Engine/Binaries/Linux/UE4Editor`
- `<ue_map>`: ue map name, eg: `Turtlebot3AutoTest`
- `<tb3_model>`: `burger` or `waffle`
- `<tb3_name>` as the robot given names, eg: `burger0`
- `<tb3_init_pos>` as the robot initial position (x,y,z), eg: `0.0,0.0,0.1`
- `<tb3_init_rot>` as the robot initial rotation (r,p,y), eg: `0.0,0.0,0.0`

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