Simbotic GAMS

Simulation Engine based on UE4.

Setup Instructions

Install UnrealEngine

git clone -b 4.21 git@github.com:EpicGames/UnrealEngine.git
cd UnrealEngine
./Setup.sh
./GenerateProjectFiles.sh
make

For more info visit Building on Linux.

Git Large File Storage (Git LFS)

sudo apt-get install git-lfs
git-lfs install

For more info visit Git LFS

Setup UnrealGAMS (this repo)

Clone repository:

git clone git@github.com:VertexStudio/UnrealGAMS.git

Environment variables:

export UE4_ROOT=/path/to/UE4.21
export UE4_GAMS=/path/to/UnrealGAMS

Generate project files and build

cd $UE4_GAMS
./generate.sh
./build.sh

Run:

./run_editor.sh

Using Quadcopter OSC

In UnrealEngine open and play map Robots/Quadcopter/Maps/MAP_Quadcopter.

Download Open Stage Control

./open-stage-control --load $UE4_GAMS/Config/UnrealGAMS-OSC.json -d --send 127.0.0.1:5555 --port 8000

Or use your favorite OSC controller.

Inputs:

XY velocity: /agent/0/velocity/xy [f32,f32]

Z velocity: /agent/0/velocity/z [f32]

Yaw: /agent/0/velocity/yaw [f32]

Outputs:

Vector3 Position: /agent/{agentId}/pos [f32,f32,f32]

Quaternion Rotation: /agent/{agentId}/rot [f32,f32,f32]

Pose (Position(x, y, z),Quaternion(x, y, z, w)): /agent/{agentId}/pose [f32,f32,f32,f32,f32,f32,f32]

Spawning Quadcopters

Sending OSC message to /spawn/quadcopter address. The message must be a blob containing a string serialized JSON structure like the following:

{
  "id": 0,
  "port": 8000,
  "location": {
    "x": 0, "y": 0, "z": 0
  },
  "rotation": {
    "x": 0, "y": 0, "z": 0
  }
}

Consume the camera feed

Note: GStreamer is required. Official installation instructions.

Bash GStreamer pipeline:
gst-launch-1.0 -v tcpclientsrc host=127.0.0.1 port=5000 ! rawvideoparse width=1920 height=1080 framerate=60/1 format=8 ! videoconvert ! fpsdisplaysink sync=false

Build a release

Execute the cook.sh script.

Usage:

cook.sh [RELEASE_VERSION] [PROJECT_NAME] [MAPS_TO_COOK] [WINDOW_RESOLUTION]

• RELEASE_VERSION: Version of the release. Default 1.0.
• PROJECT_NAME: Name of the UE4 project. By default, it takes the name of the current folder.
• MAPS_TO_COOK: List of maps to cook. Each map name must be separted by a + character. Example: GrassMountains+Desert.
• WINDOW_RESOLUTION: Dimensions of the window. Default dimensions 1024x576.

Create a DLC

1. Copy new content in the Content directory of the LoadMap plugin.
2. Execute the cook_dlc.sh script.

Usage:

cook_dlc.sh [BASED_ON_RELEASE_VERSION] [PROJECT_NAME] [DLC_NAME]

• BASED_ON_RELEASE_VERSION: Release version the DLC will be based on. Default 1.0.
• PROJECT_NAME: Name of the UE4 project. By default, it takes the name of the current folder.
• DLC_NAME: Name of the generated .pak file (DLC). Default value is DLC_based_on_{version it's based on}_{timestamp}.