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Sanic/rosbridge2cpp 22

A C++11 library to interface ROS via rosbridge

Sanic/ROSBridgeTestclient 10

Minimalistic python client to communicate with ROSBridge in bson or json and tcp or websockets

robcog-iai/UR17 3

Unreal Robots master project repository

Sanic/gztest 3

A distributed testing framework for gazebo.

Sanic/gz_sim-ss14 1

Homework repository for the gazebo simulation seminar

Sanic/rs_resources 1

resource files needed by RoboSherlock

bbferka/object_dataset 0

objects scans from turn table

bbferka/rs_turn_table 0

RoboSherlock modules for simplifying recording from a turn table

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pull request commentcode-iai/ROSIntegration

Add the ability to override and access clock related methods in ROSIntegrationGameInstance

Thanks for the PR! Congratz on having your first one 👍

harveybia

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Haowen Shi

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Make clock related methods accessible for children - Added virtual to enable dynamic dispatch for OnWorldTickStart so that it could be overridden - Made ClockTopic protected so it is accessible by children

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Haowen Shi

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Merge pull request #1 from code-iai/master Merge origin master changes

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Haowen Shi

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Merge branch 'master' into feature/manualclock

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Sanic

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Merge pull request #137 from harveybia/feature/manualclock Add the ability to override and access clock related methods in ROSIntegrationGameInstance

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PR merged code-iai/ROSIntegration

Add the ability to override and access clock related methods in ROSIntegrationGameInstance

I had the need to make my own game instance and override the behavior of clock topic published by the ROSIntegrationGameInstance.

Changes:

  • Added virtual to OnWorldTickStart to make it possible for children to override it
  • Changed ClockTopic from private to protected to make it accessible by children

Results: Tested on UE 4.25.3 and no behavior change is introduced. I created my own GameInstance which inherits the ROSIntegrationGameInstance and I was able to change the clock behavior (manually advance sim time when needed instead of sync with UE frame advance).

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Tooling related to the URoboSim robot simulator

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Resolve failed compilation of UVisionComponent::convertDepth https://github.com/code-iai/ROSIntegrationVision/issues/28

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Haowen Shi

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Fix some compilation warning

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Haowen Shi

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Fixed save problem for VisionActor Added transient property to scene capture components and topic to address failure to save

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Added BP R/W for vision component in VisionActor

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Merge pull request #1 from code-iai/master Merge pull request #29 from harveybia/bugfix/savefail

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Sanic

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Merge pull request #30 from harveybia/master Fixed some compilation failures and warnings for UE4.25 on Windows platform

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PR merged code-iai/ROSIntegrationVision

Fixed some compilation failures and warnings for UE4.25 on Windows platform
  • Fixed compilation failure of UVisionComponent::convertDepth.
  • Added some #include's to make VSCode IntelliSense happy.
  • Added BP R/W accessibility for vision component in VisionActor for conveniently changing camera parameters using BP on the fly. This PR fixes #28
+11 -3

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issue closedcode-iai/ROSIntegrationVision

Compilation issue on Windows for UVisionComponent::convertDepth

I tried adding the plugin to my existing project, my CPU has F16C Intrinsic Support but I'm getting compilation issues when rebuilding the project:

Building UE4Editor...
Using Visual Studio 2019 14.26.28806 toolchain (C:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.26.28801) and Windows 10.0.18362.0 SDK (C:\Program Files (x86)\Windows Kits\10).
Building 6 actions with 8 processes...
  @progress 'Compiling C++ source code...' 0%
  @progress 'Compiling C++ source code...' 17%
  [1/6] Default.rc2
  @progress 'Compiling C++ source code...' 33%
  [2/6] Module.ROSIntegrationVision.cpp
  E:/<redacted>/Plugins/ROSIntegrationVision/Source/ROSIntegrationVision/Private/VisionComponent.cpp(749): error C2678: binary '/': no operator found which takes a left-hand operand of type '__m128' (or there is no acceptable conversion)
  E:\Program Files\Epic Games\UE_4.25\Engine\Source\Runtime\Core\Public\Misc/FrameRate.h(242): note: could be 'double operator /(FFrameTime,FFrameRate)'
  E:\Program Files\Epic Games\UE_4.25\Engine\Source\Runtime\Core\Public\Misc/FrameRate.h(222): note: or       'TRange<double> operator /(const TRange<FFrameNumber> &,FFrameRate)'
  E:\Program Files\Epic Games\UE_4.25\Engine\Source\Runtime\Core\Public\Misc/FrameRate.h(217): note: or       'double operator /(FFrameNumber,FFrameRate)'
  E:\Program Files\Epic Games\UE_4.25\Engine\Source\Runtime\Core\Public\Misc/FrameRate.h(212): note: or       'FFrameRate operator /(FFrameRate,FFrameRate)'
  E:\Program Files\Epic Games\UE_4.25\Engine\Source\Runtime\Core\Public\Misc/FrameTime.h(276): note: or       'FFrameTime operator /(FFrameTime,float)'
  E:/<redacted>/Plugins/ROSIntegrationVision/Source/ROSIntegrationVision/Private/VisionComponent.cpp(750): note: while trying to match the argument list '(__m128, int)'
  @progress 'Compiling C++ source code...' 50%
  [3/6] Module.ROSIntegrationVision.gen.cpp
LogInit: Warning: Still incompatible or missing module: ROSIntegrationVision
LogCore: Engine exit requested (reason: EngineExit() was called)
LogExit: Preparing to exit.

I'm not sure if I am missing some dependencies but I found a workaround to solve this problem:

Change:

void UVisionComponent::convertDepth(const uint16_t *in, __m128 *out) const
{
  const size_t size = (Width * Height) / 4;
  for (size_t i = 0; i < size; ++i, in += 4, ++out)
  {
    // Divide by 100 here in order to convert UU (cm) into ROS units (m)
    *out = _mm_cvtph_ps(_mm_set_epi16(
      0, 0, 0, 0, *(in + 3), *(in + 2), *(in + 1), *(in + 0))) / 100;
  }
}

to:

void UVisionComponent::convertDepth(const uint16_t *in, __m128 *out) const
{
  const size_t size = (Width * Height) / 4;
  for (size_t i = 0; i < size; ++i, in += 4, ++out)
  {
    // Divide by 100 here in order to convert UU (cm) into ROS units (m)
    *out = _mm_cvtph_ps(
      _mm_div_epi16(
        _mm_set_epi16(0, 0, 0, 0, *(in + 3), *(in + 2), *(in + 1), *(in + 0)),
        _mm_set_epi16(100, 100, 100, 100, 100, 100, 100, 100)
      )
    );// / 100;
  }
}

I checked the depth output and the value seem correct. Has anyone else experienced this issue? Should I open a pull request for this?

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harveybia

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Tim Fronsee

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FIX Windows related includes

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MOD only wrap winsock2 include & remove whitespace changes

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Merge pull request #136 from Tim-Fronsee/fix/windows-includes WinSock2 Include Fix

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pull request commentcode-iai/ROSIntegration

WinSock2 Include Fix

Thanks!

Tim-Fronsee

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PR merged code-iai/ROSIntegration

WinSock2 Include Fix

Summary

Relates to and Closes #114

Fixes the WinSock2 include inside windows/bson-compat as it has a naming collision with UE4's TEXT macro.

Verified with 4.25.3

+8 -12

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Tim-Fronsee

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issue closedcode-iai/ROSIntegration

Unable to build on UE 4.24 windows

I am getting this error while building the plugin with the project on windows UE 4.24

Cannot open include file: 'WindowsHWrapper.h': No such file or directory

This header file is being used in the file ROSIntegration\Source\ROSIntegration\Private\Conversion\Messages\BaseMessageConverter.h

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nitin-ppnp

PR opened bbferka/rs_addons

removed the addons.xml file import.

Otherwise, you might not be able to load an AAE with Annotators from rs_addons. On my current install it yields the error that "addons.xml" couldnt be found on the filesystem. I guess this make sense since no type is currently defined in this package.

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PR opened bbferka/rs_addons

boost numpy include has changed in the last months

Still haven't figured out what all kinds of dependencies i needed... But i thought i contribute atleast this change

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Update package.xml - Include mongo dev stuff

Added necessary deb package for Ubuntu 18.04 and ROS melodic. Otherwise, i got the following error during catkin build:

CMake Error at /home/user/catkin_ws/src/robosherlock/robosherlock/CMakeLists.txt:46 (message): Mongo not found. Search for libmongocxx_ros or MongoClientLibrary was not successful

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PR opened Sanic/robosherlock

Update package.xml - Include mongo dev stuff

Added necessary deb package for Ubuntu 18.04 and ROS melodic. Otherwise, i got the following error during catkin build:

CMake Error at /home/user/catkin_ws/src/robosherlock/robosherlock/CMakeLists.txt:46 (message): Mongo not found. Search for libmongocxx_ros or MongoClientLibrary was not successful

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pull request commentcode-iai/ROSIntegrationVision

Fix save failure for VisionActor

Thanks for the PR!

harveybia

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Haowen Shi

commit sha e9802ff362ea0cf210953c4ef47711642d522c66

Fixed save problem for VisionActor Added transient property to scene capture components and topic to address failure to save

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Sanic

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Merge pull request #29 from harveybia/bugfix/savefail Fix save failure for VisionActor

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PR merged code-iai/ROSIntegrationVision

Fix save failure for VisionActor

Added transient property to scene capture components and topic to address failure to save UE4 version: 4.25.1

Problem description: I added a bare VisionActor to the scene and tried to save the level, UE4 had the following compliant message: save_bug_rosintegrationvision

Resolution: Added Transient property specifier to the blocking items under VisionComponent to prevent them from being serialized when saving. Now the scene with an instantiated VisionActor can be saved without problems.

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issue commentcode-iai/ROSIntegrationVision

Compilation issue on Windows for UVisionComponent::convertDepth

Hi @harveybia Thanks for your report and the workaround. On which UE4 version are you running this?

harveybia

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Added new Service GetModelPose

This will require you to update your unreal_ros_pkgs / world_control_msgs. The PR for that is here: https://github.com/robcog-iai/unreal_ros_pkgs/pull/11

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New service type for Pose retrieval of a given Object

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