ROS Data Model

The ROS Data Model Inside Unreal Engine

🚀 Overview

MorseRosDataModel is an Unreal Engine plugin that implements the ROS Data Model.

It does not contain a direct dependency on ROS and uses the Morse Core, based on Cyclone DDS, as the communication layer. You need Morse Core in you're project for using the ROS Data Model. With the With the MorseRosDataModel and Morse Core, you can distribute your Unreal simulation data into the ROS framework (see examples in Morse Core).

Here is a list of the implemented ROS data model:

Ros Messages :

Module	Data Type	Implementation
BuiltinInterface	Duration	✅
BuiltinInterface	Time	✅
Std	Header	✅
RclInterface	Log	✅
RosGraph	Clock	✅
Geometry	Accel	✅
Geometry	Point	✅
Geometry	Point32	✅
Geometry	PointStamped	✅
Geometry	Pose	✅
Geometry	PoseStamped	✅
Geometry	PoseWithCovariance	✅
Geometry	PoseWithCovarianceStamped	✅
Geometry	Quaternion	✅
Geometry	Vector3	✅
Geometry	Transform	✅
Geometry	TransformStamped	✅
Tf2	TfMessage	✅
Sensor	CameraInfo	✅
Sensor	ChannelFloat32	✅
Sensor	Image	✅
Sensor	Imu	✅
Sensor	JointState	✅
Sensor	LaserScan	✅
Sensor	NavSatFix	✅
Sensor	NavSatStatus	✅
Sensor	PointCloud	✅
Sensor	PointCloud2	✅
Sensor	PointField	✅
Sensor	RegionOfInterest	✅
Sensor	FluidPressure	🔜
Sensor	LaserEcho	🔜
Sensor	MagneticField	🔜
Sensor	BatteryState	🔜
SimulationInterfaces	Bounds	✅
SimulationInterfaces	EntityCategory	✅
SimulationInterfaces	Result	✅
SimulationInterfaces	TagFilter	✅
SimulationInterfaces	EntityFilter	✅

Ros Services :

Module	Data Type	Implementation
SimulationInterfaces	SpawnEntity	✅
SimulationInterfaces	DeleteEntity	✅
SimulationInterfaces	GetEntity	✅

📫 Contact

If you have any questions, feedback, or inquiries about this project, feel free to reach out via the following methods:

• Email: nicolasbrugie@gmail.com
• LinkedIn: Brugie Nicolas
• GitHub Issues: Open an Issue

📝 License

This project is licensed under the MIT. Please refer to the LICENSE file for further details.