MRS UAV Unreal Engine 5 (UE5) Simulator

Requirements

• A dedicated NVidia GPU (at least MX450, RTX is recommended) or a comparable AMD GPU
• 3 GB of HDD space

The Maps

Map Name		Map Name
Valley		Cave
Forest		Erding Airbase
Warehouse		Infinite forest

Controls

• m/ESC - show menu for switching graphics and worlds

Installation

Linux

1. Install the MRS UAV System
2. Install the MRS UAV System UE5 endpoint

sudo apt install ros-noetic-mrs-uav-unreal-simulation

3. Download the and unpack Unreal Engine Drone Simulator
4. Launch the UE5 Simulator by ./ueds.sh. Alternatively, start it in a headless mode via ./ueds.sh -renderOffScreen.
5. Start the MRS UAV System UE5 endpoint

roscd mrs_uav_unreal_simulation
./tmux/one_drone/start.sh

Windows

Requirements:

• Windows 11 + updates
• WSL 2.0

1. Install Ubuntu 20.04 into the WSL 2.0 using the Microsoft Store
2. Install the MRS UAV System into WSL 2.0
3. Create .wslconfig file in C:/Users/<User>/.wslconfig
4. Place the following content into .wslconfig

[wsl2]
firewall=false
networkingMode=mirrored
debugConsole=false
[experimental]
hostAddressLoopback=true

5. Restart the WSL by issuing wsl --shutdown into a comand line.
6. Install the MRS UAV System UE5 endpoint

sudo apt install ros-noetic-mrs-uav-unreal-simulation

7. Download and unpack the Unreal Engine Drone Simulator
8. Start the Unreal Engine Drone Simulator
9. Start the MRS UAV System UE5 endpoint

roscd mrs_uav_unreal_simulation
./tmux/one_drone/start.sh

10. The first start might require hitting "CTRL+C" in the roscore tab of the tmux session. The roscore is always stuck for the first time after rebooting the computer.

TODO

• UAVs don't see eachother in their cameras / LiDARS
• possible coloring of the depth pointcloud using the segmented RGB image
• ability to switch worlds in C++ from the ROS side
• ability to switch graphics scaling in C++ from the ROS side
• finer settings of the graphics scaling than (low, middle, etc).
• adding weather effects controllable form the ROS side