Hi everyone, I am a final year B.Tech student at IIT Kharagpur. I am interested in ROS with PR2 integration in Unreal Engine. I contacted @andreihaidu and he advised me to ask questions regarding my approach here.
There is a ROS open source implementation (not all functionality, but simple topics, publishers, subscribers and serv-clients) that exists on C#. I have used this before on my Windows system for Unity based on ROS Websockets (roslibjs : https://github.com/RobotWebTools/roslibjs). In my opinion ROS Websockets are the best way to communicate to third party applications from ROS). A JSON parser in C++ would have to be used at the Unreal Engine end, which can easily be written.
We can use websockets in order to stream data from ROS to Unreal engine and vice-versa. Hence we can control the URDF the way we want from Engine itself.
@andreihaidu suggested that we
link against ros in the linux version of the engine . I would like to discuss more on this. I have previously used WebSockets and have been successful in teleoperation through Unity.