ROS-UE5 Agricultural Robot Simulation (ROS)

This repo host the ROS part for the simulation, there is a seperate UE5 repo that work along side this simulation.

benchbot_multi_eef_moveit_configs demos the 2-robot_plant_vis movement, image capturing, and visualization.

tomato_moveit_configs demos the ur5e_tomato movement, image capturing, and visualization.

ROS noetic and moveit is tested, ur_description from this repo (melodic-devel branch), and rosbridge from rosbridge (ros1 branch).

Usage

1. clone repo
2. clone ur_description and rosbridge
3. build and source
4. roslaunch rosbridge_server rosbridge_websocket.launch bson_only_mode:=True websocket_external_port:=80
5. roslaunch benchbot_multi_eef_moveit_configs startup.launch or roslaunch tomato_moveit_configs startup.launch depending on the UE5 simulation
6. Run UE5 simulation
7. Run ROS_UE_comm.py