uBotSensor

Simulated sensors for Unreal Engine 5.5: pose, IMU, odometry, lidar and cameras.

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What it is

uBotSensor provides simulated sensors for Actors: pose, odometry, IMU, 2D and 3D lidar, RGB and depth cameras. Each sensor is a component added in the editor and read from Blueprint or C++. It builds on uBotCore, which supplies the simulation clock and the frame header carried by every sample.

• Blueprint-first. Every sensor appears under uBot in the component list; its properties, functions and events are exposed to Blueprint.
• No ROS dependency. Output consists of native UE structs and objects: positions, ranges and velocities in meters and seconds, angles in radians. uBotROS publishes it to ROS 2.
• Sampling on simulation time. Scheduled sampling follows the simulation clock with at most one sample per world tick, so timestamps strictly increase. Noise uses a fixed seed.
• Self-describing frames. Each sample carries a header with sensor id, frame id, sequence number, timestamp and status.
• Synchronized cameras. A capture coordinator triggers several cameras at the same simulation instant.

Component	Output	Default rate
uBot Pose Sensor	Position (m), orientation quaternion, optional velocity	30 Hz
uBot Odometry Sensor	Pose relative to the start (m), velocity in the local frame, covariance	30 Hz
uBot IMU Sensor	Orientation, angular velocity (rad/s), specific force (m/s²), variance	100 Hz
uBot 2D LiDAR Sensor	Range, hit flag and intensity for each angle	10 Hz
uBot 3D LiDAR Sensor	Point cloud: hit points (m), ring, intensity	10 Hz
uBot RGB Camera Sensor	BGRA8 image; pixels are read back to the CPU on request	30 Hz
uBot Depth Camera Sensor	Depth32FC1 depth in meters, 0 means invalid	30 Hz
Perception medium (smoke)	Stops lidar rays, tints RGB images, sets depth to the entry distance	—

Install

Recommended: uBot Manager. Download the installer from the uBotManager releases, open the project's .uproject, select UBotSensor in the Packages view, click Install, then Apply…. uBotCore is installed as a dependency; the plugin goes into Plugins/uBot/.

Manual. Clone both repositories into the project, enable uBot Core and uBot Sensor in Edit > Plugins (category uBot) and restart the editor:

mkdir <Project>/Plugins/uBot -Force; cd <Project>/Plugins/uBot
git clone --branch v0.1.2 https://github.com/AstreoX/uBotCore.git
git clone --branch v0.1.1 https://github.com/AstreoX/uBotSensor.git

Requirements: Unreal Engine 5.5, uBotCore ^0.1.0, Visual Studio 2022 with the C++ toolchain for source builds, Windows 10/11 for uBot Manager.

Documentation

The documentation site and the files under docs/ are in Simplified Chinese.

I want to ...	Go to
Build the first sensor step by step	Five-minute quick start
Look up every sensor and its output	uBotSensor overview
Start, stop and read a sensor	Common usage
Choose sample rates	Performance and sample rate
Add smoke that affects lidar and cameras	Perception medium
Publish sensor data to ROS 2	Publish sensor data
Use the sensors from C++	Sensors and interfaces in C++
Migrate from AgentSensorCore	Migrating from old plugins
Look up modules and scheduling internals	docs/ARCHITECTURE.md
Run the automation tests	docs/TESTING.md

uBot series

Repository	What it is
uBotCore	Simulation clock, frame header, shared interfaces, package management
uBotSensor	Pose, IMU, odometry, 2D/3D lidar, RGB and depth cameras
uBotROS	ROS 2 over a TCP bridge: sensors, TF, /clock, cmd_vel
uBotAerial	Multirotor drones: simplified flight, rigid-body dynamics, wind
uBotManager	Desktop app and CLI to install, update and build uBot packages
uBotDocs	Documentation site: https://astreox.github.io/uBotDocs/

Development

• Build: place the repository in <Project>/Plugins/uBot/uBotSensor with uBotCore enabled; the editor offers to compile UBotSensor and UBotSensorEditor on first open.
• Test: the tests are Unreal automation tests named UBotSensor.*, run from Session Frontend or the command line; see docs/TESTING.md.
• Internals: modules, capability keys and scheduling details are in docs/ARCHITECTURE.md.
• Issues: report bugs on GitHub Issues and include the UE version, the plugin version and steps to reproduce.

License

Copyright 2026 AstreoX. Licensed under the Apache License 2.0 (see NOTICE); use, modification and redistribution, including commercial use, are permitted. Redistributions must keep LICENSE and NOTICE and mark modified files.