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--- ilias:unreal-ur5 [2020/02/20 16:00] – asil
+++ ilias:unreal-ur5 [2021/08/26 09:38] (current) – s_fuyedc
@@ Line 1: / Line 1: @@
 ====== URoboSim Installation Instructions with UR5  ======
+**The following manual is outdated, please refer to** [[https://github.com/urobosim/DemoProject|this readme]] **instead.**
+-----
 ===== Installation Prerequisites =====
@@ Line 9: / Line 13: @@
 __**ROS version:**__ Melodic (Full)
-__**Unreal engine version to be installed:**__ 4.22
+__**Unreal engine version to be installed:**__ 4.22.3
+Source. You need to link your Epic Games account with github to access the sources. The process is explained in the install guide below.
+https://github.com/EpicGames/UnrealEngine/archive/refs/tags/4.22.3-release.tar.gz
+Install guide. **Making** the build (part 3.3.) takes very long and all cpu power. Start that before leaving the pc alone for a couple of hours.
+https://docs.unrealengine.com/4.26/en-US/SharingAndReleasing/Linux/BeginnerLinuxDeveloper/SettingUpAnUnrealWorkflow/
 __**Packages to be installed (Please report if I missed any):**__
@@ Line 35: / Line 45: @@
-===== Game Engine Side =====
+===== Game Engine Side Configuration=====
 ) clone URoboSim Repo recursively (dev branch) to some path
@@ Line 59: / Line 69: @@
 ) After the editor launches, choose "Maps" folder from down below.
+) Remove PR2 by clicking onto it and hitting delete button.
+) Add UR5 model by
+  * clicking Import
+  * going into URoboSimExampleRobots path from Step 3
+  * going into UR5_10/ur_description
+  * clicking ur5.sdf
+  * In the upcoming dialog menu, extending "Mesh" section and enable "Combine Meshes" checkbox
+  * clicking import all
+  * drag and drop ur5 from below menu to the environment
+  * placing it somewhere appropriate like onto the kitchen island
+) Click onto UR5 in the environment and click to add component and add "RRosComponent"
+) Click onto UR5 in the environment and click to add component and add "RController"
+) Find UR5's RController component from the component menu at the right and configure it as in the image below (except Mode... Mode should be Kinematic for now):
+{{ :ilias:rc1.png?600 |}}
+) Find UR5's RRosComponent component from the component menu at the right and configure it as in the image below:
+{{ :ilias:rros1.png?600 |}}
+{{ :ilias:rros2.png?600 |}}
+) Click Save Current
+===== Catkin WS (ROS) Side Configuration=====
+) Your catkin workspace should have following ROS Packages/Metapackages checked out:
+   https://github.com/urobosim/cram_unreal_world_tutorial
+   https://github.com/urobosim/urobosim_msgs
+   https://github.com/code-iai/omni_pose_follower
+   https://github.com/utecrobotics/ur5
+   https://github.com/code-iai/iai_common_msgs
+   https://github.com/code-iai/iai_pr2
+   https://github.com/code-iai/iai_maps
+   https://github.com/asilx/urobosim_ros_config
+) catkin build or make your workspace
+===== Running =====
+Open three terminals and run the following commands in parallel:
+)
+   cd [your_path_to_unreal_engine_4.22]/Engine/Binaries/Linux
+   ./UE4Editor [path_to_RobCoG-URoboSim_repo]/RobCoG.uproject
+)
+   roslaunch rosbridge_server rosbridge_websocket.launch
+)
+   roslaunch urobosim_ros_config world.launch
+After these, press "Play" button in Unreal Editor