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GUI Options

My Figure Description My Figure Description

CurrentRobot - Dropdown Select which robot the following options should be applied to.

Segmentation Camera - Checkbox If the robot should publish the segmentation views (“/ue5/<CurrentRobot>/Segmentation”) in ROS.

Stereo Camera - Checkbox If the robot should publish the stereo pairs (“/ue5/<CurrentRobot>/ColorOne”, “/ue5/<CurrentRobot>/DepthOne”) in ROS.

Width/Height - Input box The resolution of the camera images.

Publish Rate - Input box The time gap between the image render in UE5 and published over ROS (actual publish rate may be slower).

X/Y - Input box Planar location of the robot (useful for getting a sense of the input in ROS).

ROS Options

LightSet:<color_temp,intensity,exposure> Changes the strobe lighting parameters. The light will always stay on in simulation.

Topics: “/ue5/<robot_name>/planar_robot_tf” the location and rotation of the base of the robot.

Topics: “/ue5/<robot_name>/joint_states” the joint position of the robot (only for BenchBot in this simulation). BenchBot joint names are “benchbot_plate” and “benchbot_camera”, both are linear joints defined in centimeters.