MorseRosDataModel is an Unreal Engine plugin that implements the ROS Data Model.
It does not contain a direct dependency on ROS and uses the Morse Core, based on Cyclone DDS, as the communication layer. You need Morse Core in you're project for using the ROS Data Model. With the With the MorseRosDataModel and Morse Core, you can distribute your Unreal simulation data into the ROS framework (see examples in Morse Core).
Here is a list of the implemented ROS data model:
Ros Messages :
| Module | Data Type | Implementation |
|---|---|---|
| BuiltinInterface | Duration | ✅ |
| BuiltinInterface | Time | ✅ |
| Std | Header | ✅ |
| RclInterface | Log | ✅ |
| RosGraph | Clock | ✅ |
| Geometry | Accel | ✅ |
| Geometry | Point | ✅ |
| Geometry | Point32 | ✅ |
| Geometry | PointStamped | ✅ |
| Geometry | Pose | ✅ |
| Geometry | PoseStamped | ✅ |
| Geometry | PoseWithCovariance | ✅ |
| Geometry | PoseWithCovarianceStamped | ✅ |
| Geometry | Quaternion | ✅ |
| Geometry | Vector3 | ✅ |
| Geometry | Transform | ✅ |
| Geometry | TransformStamped | ✅ |
| Tf2 | TfMessage | ✅ |
| Sensor | CameraInfo | ✅ |
| Sensor | ChannelFloat32 | ✅ |
| Sensor | Image | ✅ |
| Sensor | Imu | ✅ |
| Sensor | JointState | ✅ |
| Sensor | LaserScan | ✅ |
| Sensor | NavSatFix | ✅ |
| Sensor | NavSatStatus | ✅ |
| Sensor | PointCloud | ✅ |
| Sensor | PointCloud2 | ✅ |
| Sensor | PointField | ✅ |
| Sensor | RegionOfInterest | ✅ |
| Sensor | FluidPressure | 🔜 |
| Sensor | LaserEcho | 🔜 |
| Sensor | MagneticField | 🔜 |
| Sensor | BatteryState | 🔜 |
| SimulationInterfaces | Bounds | ✅ |
| SimulationInterfaces | EntityCategory | ✅ |
| SimulationInterfaces | Result | ✅ |
| SimulationInterfaces | TagFilter | ✅ |
| SimulationInterfaces | EntityFilter | ✅ |
Ros Services :
| Module | Data Type | Implementation |
|---|---|---|
| SimulationInterfaces | SpawnEntity | ✅ |
| SimulationInterfaces | DeleteEntity | ✅ |
| SimulationInterfaces | GetEntity | ✅ |
If you have any questions, feedback, or inquiries about this project, feel free to reach out via the following methods:
- Email: nicolasbrugie@gmail.com
- LinkedIn: Brugie Nicolas
- GitHub Issues: Open an Issue
This project is licensed under the MIT. Please refer to the LICENSE file for further details.