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URoboSim Installation Instructions with UR5

Installation Prerequisites

The system should optimally have an RTX or GTX-family GPU.

Operating System: Ubuntu 18.04

ROS version: Melodic (Full)

Unreal engine version to be installed: 4.22

Packages to be installed (Please report if I missed any):

ros-melodic-rosbridge-server

ros-melodic-robot-state-publisher

ros-melodic-tf

ros-melodic-tf2

ros-melodic-tf2-ros

ros-melodic-pr2-arm-kinematics

User Account: To request a user account for our gitlab, please write an email to our admin ( pmania@cs.uni-bremen.de )

Access to repo: The aforementioned repo is private. Write an email to Michael Neumann ( neumann.michael@uni-bremen.de ) to gain access

1) clone URoboSim Repo recursively (dev branch) to some path

 git clone --branch dev --recurse-submodules https://gitlab.informatik.uni-bremen.de/haidu/RobCoG-URoboSim

2) update the plugin “URoboSim” to latest version

 cd RobCoG-URoboSim/Plugins/URoboSim
 git pull origin dev

3) clone the UR5 model for URoboSim

 
 git clone https://github.com/urobosim/URoboSimExampleRobots.git

4) run Unreal editor

 cd [your_path_to_unreal_engine_4.22]/Engine/Binaries/Linux
 ./UE4Editor [path_to_RobCoG-URoboSim_repo]/RobCoG.uproject

5) answer as “Yes” for the question of rebuilding

6) After the editor launches, choose “Maps” folder from down below.

7) Remove PR2 by clicking onto it and Hit delete button.

8) Add UR5 model by