Plug In System for SkillGraph simulation

ROS (Robot Operating System)

The ROS plug-in generates a project based on a Skill Graph to run in a gazebo simulation environment. The generated project is automatically started in gazebo afterwards.

Installation

(TODO)

Create a project

(TODO)

AirSim

The AirSim plug-in allows to export a project based on a Skill Graph to run (externally) in an AirSim simulation environment.

Installation (on Windows)

• Download simulation environment (for example AirSimNH.zip) and Source code (zip) here.
• Unzip both.
• Install Visual Studio 2019. Make sure to select Desktop Development with C++ and Windows 10 SDK 10.0.18362 (should be selected by default) while installing VS 2019.
• Start Developer Command Prompt for VS 2019.
  Note: It's generally not a good idea to install AirSim in C drive. This can cause scripts to fail, and requires running VS in Admin mode. Instead clone in a different drive such as D or E.
  
• Run build.cmd from the command line. (This will create ready to use plugin bits in the Unreal\Plugins folder that can be dropped into any Unreal project.)
  
  
  Source and further information here.
  

Create a project

• Open Run Configurations in Skeditor
• Set path to a Skill Graph (*.sked)
• Set path to Visual Studio Solution file in AirSim source code folder (AirSim.sln)
• Create a new folder for the project and set the path in Project Folder
• Run (to generate project)
• Go to the generated project files and copy the settings.json to the AirSim folder in documents.
• Implement sensor and actuator behaviour in the generated main.cpp (INSERT CODE HERE annotations)
• Build the generated project (for example with CLion)

Run project

• Go to the unziped folder of the downloaded simulation environment and run the executable (for example AirSimNH.exe)
• Go to the .exe from the generated and build Skill Graph project and run