UTFPublisher

TF Publisher using:

• UROSBridge for communication
• UTags for marking tf tree dependencies on items
• UCoordConv to convert between ROS and Unreal coordinate systems

Usage

• Add the plugin and its dependencies to your project (e.g MyProject/Plugins/UTFPublisher);

• Add TFPublisher to your World:

• Fill out the settings on the TFPublisher actor:

• Server IP - IP where the rosbridge_server is running
• Server PORT - PORT where the rosbridge_server is running
• TFRoot Frame Name - The name of the root node (world, map etc.)
• Use Blank Root Node :
  • TRUE = The root node is in 0,0,0, relative transforms will not be calculated between the root and its immediate children (optimization)
  • FALSE = The root node takes its initial pose where the TFPublisher is located
• Use Constant Publish Rate (seconds) - every tf frame will be published at the same update rate
• Constant Publish Rate - the delta time (seconds) of the update rate (0.0 seconds means the tf frame will be updated every tick)

• Tag your tf properties on your items (Actors or SceneComponents):

Set your child and parent frame ids as UTags key value pairs;

If parent frame is missing, tf frame is a directly connected to the tf root node /world /map etc.

Example

• See the ex-ros-tf-robosim branch of RobCoG as a project example;

Engine Version 4.19