Bridge-For-AutonomousRGBDCamera

An Unreal Engine to ROS bridge for AutonomousRGBDCamera. Both RGB-D and annotation data are extracted and published as ROS topics.

A thesis elaborating the project can be requested at the Faculty of Mathematics and Computer Science at the University of Bremen. It includes the theoretical background, architecture and evaluation.

Demonstration

The bridge successfully connects to the server and receives packages:

Color and object mask images originally captured in Unreal Engine in RViz:

Annotation data corresponding to the images:

Usage

• Run Unreal Engine and press the "Play" button.
• Open a terminal in the correct folder (e.g MyProject/Bridge-For-AutonomousRGBDCamera).
• Use the following terminal commands:
  • catkin build
  • roscore
  • source devel/setup.bash
  • roslaunch unreal_vision_bridge unreal_vision_bridge.launch address:=192.168.178.20 (ensure the IP address is correct)
  • rostopic echo <path to topic>
• Access the data via ROS topics.

Credits

Based on the unreal_vision_bridge project.