Hi, I am following tutorial and on the step "Build and Run" I have error message:

Build and run (after I fill UE and exe paths):

cd turtlebot3-UE
export UE5_DIR=<path to UE5>
./update_project_files.sh
./make_editor.sh
./run_editor.sh $(pwd) <ue_exe>

my first lines of output:

Server creation failed with the given settings. Please review locators setup.2023-03-16 16:11:40.578 [
PARTICIPANT Error] Problem creating RTPSParticipant -> Function createParticipant
fastdds discovery <discovery-args>

1
 fast-discovery-server tool not found!

It is suspicious because after - UE is opening uproject, all compiles and even runs. But does not send any ros2 messages I can see using ros2 topic echo /scan. But /scan topics is seen in ros2 topic list and I see some scan visualization in game view.

please help me - I actually looking for ability to create functionality with the same idea - UE app listen some msg, visualize something and post another messages. But after running example - it is silent. Thanks =)

./run_editor.sh <false or true to use dds server or not> $(pwd) <ue_exe>

I did this command.

マップのロードに失敗しました！../../../../ws/turtlebot3-UE/Content/Maps/Turtlebot3_benchmark.umapは、この[Cur:v522|1,004]より新しいエンジンリリースからのUEマップ[File:v522|1,008]です。

I got this error.
Even if the unreal engine editor comes out, it will remain completely dark.
How do I solve this?
OS:Ubuntu20.04
Unreal engine version :5
turtlebot3-UE branch is devel.

I am using ubuntu 22.04 (jammy) and Unreal Engine 5.1.1. i follow description in readme. Then working fine world map which i use turtlebot3 benchmark. However, the turtlebot3 does not spawn it. In Unreal engine log massage says that BP_TurtlebotBuger is invalid. take a look picture.
What should i do? can you help this problem?

I'm trying to get the Turtlebot example working on my machine. Currently using UE5.1 on Ubuntu 22.04 w/ ROS2 Humble. I have checked out the corresponding branches (Jammy, devel-humble, etc.) for this repository and the sub-repository plugins.

In UE5, I can see the LiDAR scans, but I can't get the robot to move with rviz2. After putting in the initial pose estimate, I can't actually get the robot to navigate and move around. I've also tested, and I'm able to get the robot to move in UE5 with teleop control from ROS2. Checking the logs, this is what gets returned constantly from rviz:

[rviz2-3] [ERROR] [1690931335.516706034] [rviz2]: Lookup would require extrapolation into the future.  Requested time 683.613197 but the latest data is at time 683.589966, when looking up transform from frame [base_scan] to frame [map]
[rviz2-3] Warning: Invalid frame ID "wheel_left_link" passed to canTransform argument source_frame - frame does not exist
[rviz2-3]          at line 93 in ./src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "wheel_right_link" passed to canTransform argument source_frame - frame does not exist
...

This is what the rviz displays look like.

I'm new to ROS2 and rviz, so I was wondering if I was doing something wrong here, or if this was a bug. Thanks.

hello, i appreciate about spawning problem. i read a docs from getting started rapyuta robotics which is https://rapyutasimulationplugins.readthedocs.io/en/devel/getting_started.html.

I success control robot with nav2, but i don't understand how to control robot from teleop. i use ros2 run teleop_twist_keyboard teleop_twist_keyboard command but nothing happen when use it. why does not move robot? do you know about this problem?

Thanks a lot

Hi, I can't get the simulation and terminals to communicate using source run_discovery_service.sh in Ubuntu 22.04 + humble, using the jammy branch and UE5.1. After starting the simulation, I can't see topics published by the engine. Here are my outputs:

• Editor

~/dev/turtlebot3-UE$ ./run_editor.sh 
2024-07-05 11:26:38.919 [XMLPARSER Error] Found incorrect tag 'userTransports' -> Function fillDataNode
2024-07-05 11:26:38.919 [XMLPARSER Error] Error parsing participant profile -> Function parseXMLParticipantProf
2024-07-05 11:26:38.920 [XMLPARSER Error] Error parsing profile's tag participant -> Function parseProfiles
2024-07-05 11:26:38.920 [XMLPARSER Error] Error parsing '/home/catec/dev/turtlebot3-UE/fastdds_config.xml' -> Function loadXMLFile
### Server is running ###
  Participant Type:   SERVER
  Security:           NO
  Server ID:          0
  Server GUID prefix: 44.53.00.5f.45.50.52.4f.53.49.4d.41
  Server Addresses:   UDPv4:[0.0.0.0]:11811
The daemon has been started
Increasing per-process limit of core file size to infinity.
* UE5 output * 

• Listener

~/dev/turtlebot3-UE$ source run_discovery_service.sh 
2024-07-05 11:26:56.890 [XMLPARSER Error] Found incorrect tag 'userTransports' -> Function fillDataNode
2024-07-05 11:26:56.890 [XMLPARSER Error] Error parsing participant profile -> Function parseXMLParticipantProf
2024-07-05 11:26:56.890 [XMLPARSER Error] Error parsing profile's tag participant -> Function parseProfiles
2024-07-05 11:26:56.890 [XMLPARSER Error] Error parsing '/home/catec/dev/turtlebot3-UE/fastdds_config.xml' -> Function loadXMLFile
2024-07-05 11:26:56.892 [RTPS_PARTICIPANT Error] Discovery Server wasn't able to allocate the specified listening port. -> Function createParticipant
2024-07-05 11:26:56.893 [DOMAIN_PARTICIPANT Error] Problem creating RTPSParticipant -> Function enable
Server creation failed with the given settings. Please review locators setup.
The daemon is already running
fastdds discovery <discovery-args>

1
 fast-discovery-server tool not found!
~/dev/turtlebot3-UE$ ros2 topic list
/parameter_events
/rosout
~/dev/turtlebot3-UE$ 

This was not an issue in Ubuntu 20.04 + foxy under the devel branch. I have noticed that the fastdds_config.xml is the same for both devel and jammy. Might this be an issue with this config file, which is outdated for the more recent humble fastdds version?

As a workaround, not using the repo scripts and just running $UE5_DIR/Engine/Binaries/Linux/UnrealEditor turtlebot.uproject then sourcing ROS on the receiving terminal makes all topics visible and echoable.

Hello is it possible to launch UE4 branch with ROS2 Humble?

Hi,

I find the integration with ROS2 and UE4&5 would be great. Thanks for the rclUE plug in. I am planning to test it to use ROS2. But I have few questions:

1. What are the things to keep to use different vehicle that turtlebot3. For example: construction equipment (loader for example)
2. What is the difficulty level when we try to use CARLA along with rclUE ? or Airsim ?

It would be really great if you could answer these questions?

Thank you :)

Hi, I have an issue, while trying to clone the repository:

error: RPC failed; curl 56 GnuTLS recv error (-9): Error decoding the received TLS packet.
error: 6667 bytes of body are still expected
fetch-pack: unexpected disconnect while reading sideband packet
fatal: early EOF
fatal: fetch-pack: invalid index-pack output

Ubuntu 22.04

Current Situation

I am interested in performing Vision SLAM using Turtlebot3-UE.
I am considering using the ORB_SLAM3_ROS2 repository for this process.

Detailed Questions

Can you advise on how to integrate Turtlebot3-UE with ORB_SLAM3_ROS2? Please provide specific methods.
If there are any steps or precautions needed for this integration, please share those details as well.

Objective

My goal is to implement an efficient and accurate Vision SLAM using Turtlebot3-UE.
I aim to fully utilize the capabilities of ORB_SLAM3_ROS2 to enhance the performance of the SLAM system.

Additional Information

Any information on the current configuration of Turtlebot3-UE or previous attempts at integration would be helpful.
Details regarding any hardware constraints or specific versions of ROS2 may also be useful.

I want to designate the first camera in play as the camera installed in turtolbot3 in unreal engine 5. However, I have to change the blue print and I don't know which blue print to change. How do I set the camera installed on my turtolbot3 as the first camera in play?

Rviz output following issue frequently with navigation2. It seems nav2 works even with this error.
Lookup would require extrapolation into the future

I noticed I can see 2d and 3d lidar where logically I should not. Is there any config to make it disappears?
![Screenshot from 2023-08-10 14-38-26]

(https://github.com/rapyuta-robotics/turtlebot3-UE/assets/110361659/814b67af-2912-48af-9705-31e098d50ee7)

I'm trying to visualize the base turtlebot3-ue laser scan in Rviz but I get this error I can't seem to follow. Images for context below.

[INFO][<timestamp>][rviz]: Message Filter dropping message: frame 'base_scan' at time <simtime> for reason 'Unknown'

Using devel branch on Ros Foxy, UE5.1 on Ubuntu 20.04.

Is this related to a TF tree? Could you give any hint? Thanks in advance

Ubuntu 22.04
Unreal Engine 5.1.1
turtlebot3-UE : branch jammy

I got Error Messages. Is there any way to solve this problem?

[2023.06.11-11.23.21:496][491]LogTemp: Error: [ROS2Subscriber.cpp@44, virtual void UROS2Subscriber::Destroy()] Failed status on line 44 (function Destroy): 200. Continuing.
[2023.06.11-11.23.21:496][491]LogROS2Topic: [ROS2Publisher.cpp@108, virtual void UROS2Publisher::Destroy()] Publisher Destroy - rcl_publisher_fini
[2023.06.11-11.23.21:496][491]LogTemp: Error: [ROS2Publisher.cpp@109, virtual void UROS2Publisher::Destroy()] Failed status on line 109 (function Destroy): 200. Continuing.
[2023.06.11-11.23.21:496][491]LogROS2Node: [ROS2NodeComponent.cpp@67, virtual void UROS2NodeComponent::EndPlay(const EEndPlayReason::Type)] [ROS2NodeComponent_0] ROS2Node EndPlay - rcl_node_fini

[rcutils|error_handling.c:108] rcutils_set_error_state()
This error state is being overwritten:

'rcl node implementation is invalid, at /home/admin/UE_tools/ros2_ws/src/ros2/rcl/rcl/src/rcl/node.c:427'

with this new error message:

'init_options->impl argument is null, at /home/admin/UE_tools/ros2_ws/src/ros2/rcl/rcl/src/rcl/init_options.c:133'

rcutils_reset_error() should be called after error handling to avoid this.
<<<
[WARN] [1686482601.496332386] [rclc]: [rclc_support_fini] Warning in rcl_init_options_fini: init_options->impl argument is null, at /home/admin/UE_tools/ros2_ws/src/ros2/rcl/rcl/src/rcl/init_options.c:133

[2023.06.11-11.23.21:496][491]LogTemp: Error: [ROS2Support.cpp@18, void UROS2Support::Fini()] Failed status on line 18 (function Fini): 11. Continuing.

Hi,

I would like to know how to publish the topic /clock in ROS2 from the Unreal simulation time. I have seen that the turtlebot3 example publishes the topic /clock and that other topics, like the topic /points, also include the timestamp accordingly. However, I have not been able to find where and how it is done in the code provided, neither with the blueprints nor in the cpp code. Please, could you give me advise on this matter?

Thank you in advance!

Hello,

I am working with ROS2 Humble and am looking for guidance on controlling the camera on a Turtlebot. I previously came across a repository that was compatible with ROS2 Foxy, but it seems it’s not suitable for Humble. Could you please provide any information or resources on how to control the Turtlebot’s camera specifically in the Humble version? Advice on any relevant documentation, tutorials, or alternative repositories compatible with Humble would be incredibly helpful.

Thank you in advance for your time and assistance.

Best regards,

How do I fix errors when packaging a Pixel Streaming project?
https://docs.unrealengine.com/5.2/en-US/getting-started-with-pixel-streaming-in-unreal-engine/
Following the above, I got to 1.3 Package your Project for Windows. From the main menu in the Unreal Editor, choose Files > Package Project > Windows (64-bit).
But here I get an error.

UATHelper: Packaging (Linux): RunUAT ERROR: AutomationTool was unable to run successfully. Exited with code: 134
PackagingResults: Error: AutomationTool was unable to run successfully. Exited with code: 134
PackagingResults: Error: Unknown Error

How can this be resolved? Not packaged.
I was able to package it in the environment I made for testing simply to check if pixel streaming works. However, it could not be packaged in the environment of turtlebot3-UE.
Error log:
UBT-UnrealPak-Linux-Development.txt

UE version:5.1.1
OS: ubuntu 20.04

Hello,

I would like to be able to simulate a turtlebot3 in Carla Simulator using Carla-ROS-Bridge.
For this I need the blueprint and the functionality of the turtlebot in Unreal Engine. I saw your project and you managed to simulate a turtlebot and its different functionalities in Unreal engine.
Do you know how I can use your project to do the same thing in the Carla simulator?

Thank you in advance for your help

Hi,
I am testing this repo under following condition:

- Ubuntu 20.04.5
- Unreal Engine 5.1.0
- Nvidia graphic driver 525.78.01
- ROS 2 Foxy (apt install ros-foxy-desktop)
- ROS 2 Navigation2 (apt install ros-foxy-navigation2)
- ROS 2 Turtlebot3 (apt install ros-foxy-turtlebot3)

I followed setup guide describe here and packages are prepared as below:

- turtlebot3-UE(branch: devel)
- Plugin : rclUe(branch: devel)
- Plugin : RapyutaSimulationPlugins(branch: devel)

When press the 'Play' button to start simulation, the Unreal Editor is crashed as follow:

I attach the entire log
crash_log.txt

Any suggestions would be greatly appreciated.

Im following the turtlebo3-UE tutorial but I get an error in rviz:
[controller_server-6] [INFO] [1660832507.617404925] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist

When I check ros2 topic echo /odom, no messages are being published. I checked the turtlebot actor in UE and see there is no moveComponent. Do I need to manually add in a move component? this step is not included in the readme. Any help is appreciated

[ROS2 Rviz Error : Global Status Warn Fixed Frame No tf data. Actual error: Frame [world] does not exist]

I got this error in Rviz.

How I solve this error?

./run_editor.sh <false or true to use dds server or not> $(pwd) <ue_exe>
cd turtlebot3-UE && source fastdds_setup.sh
ros2 launch nav2_bringup tb3_simulation_launch.py use_simulator:=False map:=<path to turtlebot3-UE>/Content/Turtlebot3_benchmark.yaml 

I did this command.
OS version :ubuntu 20.04
unreal engine5.1.1

I am learning about connecting UE5 and ROS2 humble.And, I've searched and found your solution, rclUE.But, from the beginning, I got stuck on adding plugin rclUE to unreal.I'm using ubuntu 22.04, UE 5.2.1, ROS2 Humble.As I add the 'rclUE' folder to "/Linux_Unreal_Engine_5.2.1/Engine/Plugins/", It got crashed.Is there another way to add plugin to unreal? Also, before trying "Turtlebot3-UE", What other plugins or setting do I need??

I've noticed when controlling via teleop_twist_keyboard the robot and giving a command to go purely forward the robot will slowly arc towards the right. I've check the inputs to the physics components for the wheels during runtime and the values are correct with the right being the negative of the left. These are the target angular velocities for the wheels.

Second I noticed that the robot moves even when it is supposed to be stationary.

What could be causing these?

Is it possible to just use the plugins without all of the extra setup that is written in the README? Just looking through, I don't fully understand what the setup and build scripts do that are required to get this project to work.

I'm also curious if it's possible to get everything to work on the Unreal side without specific ROS dependencies like nav2. I'm looking to have basically Unreal with the ROS bridge running on a server, and then the client would be running stuff like nav2 or teleop control to communicate information to the robots in Unreal through specified topics.

Hi
I've got following error while packaging turtlebot3-UE for Linux.

UATHelper: Packaging (Linux): /home/user/turtlebot3-UE/Plugins/RapyutaSimulationPlugins/Source/RapyutaSimulationPlugins/Private/Drives/RRFloatingMovementComponent.cpp:367:77: error: no member named 'IsDebugEnabled' in 'UAvoidanceManager'
UATHelper: Packaging (Linux):     const bool bRVODebugEnabled = RAPYUTA_SIM_DEBUG && RVOAvoidanceManager->IsDebugEnabled(RVOAvoidanceUID);

Packaging was conducted under following condition:

• turtlebot3-UE (branch: jammy)
• RapyutaSimulationPlugins(branch: UE5.3)
• rclUE(branch: UE5_devel_humble)

Does this repo work with cartographer? I want to map out the environment collected in UE5, but when I follow this guide but replace any Gazebo portions with the UE5 simulator, no map gets spawned.

The main difference is that rviz complains about a missing Map frame, but I've noticed this when using nav2 with rviz and it works just fine.

Hi,

I am trying to run this project with ROS2-Humble on Ubuntu-22.04 with UE5.1. Everything is a fresh install.

It seems that I have almost gotten it to run, but when I try to launch this project, I receive the following error:

symbol lookup error: /opt/ros/humble/lib/librmw_fastrtps_shared_cpp.so: undefined symbol: rmw_time_equal

Perhaps unrelated, but also whenever I make the editor I can no longer run "fastdds discovery -i 0" until I restart. That yields:

024-01-31 17:00:43.854 [RTPS_PARTICIPANT Error] Discovery Server wasn't able to allocate the specified listening port. -> Function createParticipant
Server creation failed with the given settings. Please review locators setup.
2024-01-31 17:00:43.856 [DOMAIN_PARTICIPANT Error] Problem creating RTPSParticipant -> Function enable
fastdds discovery <discovery-args>

1
 fast-discovery-server tool not found!

Any tips would be appreciated :).

Overview

I am looking to connect Turtlebot3 with RTAB-Map for autonomous navigation using a monocular camera. I referred to the official Turtlebot Navigation Tutorial, but details on setting up autonomous navigation with RTAB-Map using a monocular camera seem to be lacking.

Objective

• Understand the precise method for connecting Turtlebot3 with RTAB-Map.
• Configure the system for autonomous navigation using a monocular camera.

Attempts

• I have completed the basic setup for Turtlebot3 and can remotely control it manually without issues.
• RTAB-Map installation is done, but I'm unable to find a clear guide on how to connect it with Turtlebot3.

Questions

1. What are the specific steps to connect Turtlebot3 with RTAB-Map?
2. Is there a detailed guide on configuring autonomous navigation with RTAB-Map using a monocular camera?
3. Are there recommended settings or important points to consider for successful autonomous navigation?