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CustomMsgExample

This is example plugin to use custom ROS 2 msg in UnrealEngine with rclUE.

CustomMsgs are defined at rclUE_example_custom_msgs

How to add custom msg

  1. Prepare custom_msg_config.yaml. Update mainly followings from example,
    1. Top part args which define path t Unreal Engine, project, plugin and etc paths.
    2. target_pkgs which defines target pkgs which include custom msg you want to use in UE.
    3. dependency which defines dependent pkgs to build target_pkgs.
    4. repos path to ros2_custom_pkgs which is explained in next step.
  2. Prepare ros2_custom_pkgs.repos. Update mainly followings from example,
    1. repos file which defindes repositories which needs to be clone before build. Since buildin_interfaces and std_msgs are already inside docker, you don't needs to add here.
  3. Build library, generate msg code and copy to the plugins
    1. clone UE_tools
    2. Execute command. Pleare replace rclUE-Exapmples/Plugins/CustomMsgExample/custom_msg_config.yaml to path to your own yaml file which is prepared in step 1
    python3 docker_build_install_codegen.py --type pkgs --build --install --codegen --rosdistro humble --config ~/rclUE-Examples/Plugins/CustomMsgExample/custom_msg_config.yaml

Limitation/Todo

As written in CustomMsgExample.Build.cs, currently library needs to be inside rclUE. That's why, Build.cs copy library to rclUE/Thirdparty/ros/lib durinb build.

Maintainer

[email protected]