SODA.Sim ROS2 Plugin

This repository is a plugin for UnrealEngine and an extension of the SODA.Sim to support ROS2 capabilities. Current version of supported ROS2 is Humble.

Warning

For the Linux version supported only FastDDS RMW.

Installing

• Make sure the SODA.Sim plugin is installed.
• Clone ros-humble to the plugins folder
• Clone soda-sim-ros2 to the plugins folder

Note

See more information about Working with Plugins in Unreal Engine.

What is Currently Implemented

• Generic Camera Sensor Publisher using sensor_msgs/msg/Image.
• Generic Lidar Sensor Publisher using sensor_msgs/msg/LaserScan .
• Generic Lidar Sensor Publisher using sensor_msgs/msg/PointCloud.
• Generic Lidar Sensor Publisher using sensor_msgs/msg/PointCloud2.
• Generic Nav Sensor Publisher using sensor_msgs/msg/NavSatFix .
• Generic Nav Sensor Publisher using nav_msgs/msg/Odometry.
• Generic Nav Sensor Publisher using nav_msgs/msg/Imu.
• Generic Wheeled Vehicle Sensor Publisher using sensor_msgs/msg/JointState .
• Generic Radar Sensor Publisher using sensor_msgs/msg/PointCloud2.
• TF publisher Sensor using tf2_msgs/TFMessage.msg.
• Generic Wheeled Vehicle Control using ackermann_msgs/msg/AckermannDriveStamped.
• CANDev Component
• Shaft Adapter Component
• Wheel Interface Component

What Next

• Support of the ros2 control .
• Support ultrasonic sensors.
• Add the fully equipped turtlebot model.
• Add custom messages to control SODA.Sim via ROS2.
• Support the time sync messages
• Add LIN and Serial virtual hardware interfaces

Copyright and License

Copyright © 2023 SODA.AUTO UK LTD. ALL RIGHTS RESERVED.
This software contains code licensed as described in LICENSE.