Unreal_MWController

General

This software is a controller for Mecanum Wheel robots in the Unreal Engine. The controller is under development. The software includes a ThirdParty plugin with Reflexxes Motion Libraries Type II. It can be added to an existing project. The robot in Unreal can be controlled via ROS. Some included plugins are from the IAI (Institute for Artificial Intelligence - University of Bremen).

Quick Start

1. Integrate

• Integrate plugin folder into your project.
• Build your project

2. Using DemoMode (Map):

• Load Demomap.
• Found under UBaseControllerMW Content -> MWDemoMap.

2.1 Set Game Mode.

• Create Blueprint version from the MyProjectGameModeBase (c ++ Classes -> MyProject)
• Set the PawnClass to "MWControllerDemoPawn" and PlayerController to "MWControllerController" with MyProjectGameModeBaseBLUEPRINT.

2.2 If necessary: Reload and set the meshes.

• The sample meshes are located under UBaseControllerMW Content -> Meshes -> MW.

• For each mesh under Tags, set the following tag: "MWControllerComponentTag"

• For the three meshes (base, wheel left, wheel right) you may have to delete the collision (double-click on the Asset / Mesh -> Collision (next to Mesh) -> remove Collision) and create your own.

• Base = Box Collision

• This needs to be increased slightly. For Collision (next to Bounds) -> activate simple Collision. Click on the green box and adjust it slightly with the Unreal Editor Tool.

• Wheels = Sphere Collision

• No adjustment needed.

2.3 Reassigning the Meshes (Consider the possible configurations of a Mecanum Wheel vehicle)

• Wheel Left Front = Left Wheel

• Wheel Right Front = Right Wheel

• Wheel Left Rear = Right wheel

• Wheel Right Rear = Left wheel

• If necessary, add the MWController again via AddComponent to the actor "MWRobotBaseActor".

2.4 Play

3. Build your own MW.

3.1 Use Empty Actors

• One for the base and one for each wheel.

3.2 Designation of Actors:

• Base = MWRobotBaseActor
• Wheel Left Front = MWRobotWheelLF
• Wheel Right Front = MWRobotWheelRF
• Wheel Left Rear = MWRobotWheelLR
• Wheel Right Rear = MWRobotWheelRR

3.3 load and set the meshes.

• See 2.2.

3.4 Position the wheels evenly.

• Too large deviations lead to suspension of the MWController functionality.

3.5 Name the meshes as following:

• Base = MW_Base
• Wheel Left Front = Wheel_Left_Front
• Wheel Right Front = Wheel_Right_Front
• Wheel Left Rear = Wheel_Left_Rear
• Wheel Right Rear = Wheel_Right_Rear

3.6 Add a MW controller via "Add Component".

• This will automatically create all the remaining settings.
• Only one controller may be used at a time.
• Adding a new MWController deletes the old one.

3.7 If necessary, load the config file for the controller.

• (see 2.3).
• Or use a ROSMWController Subscriber for control over ROS.
• Use a ROSMWController Subscriber.
• See for more information ROSBridge

3.8 Set Gamemode

• See 2.1.
• Pawn creates a camera.

3.9 Play.

Requirements

• Windows
• UE 4.21