Hey ellenfshelley,
you should leave padding in your lightmap UVs to avoid shadow bleeding, but you don't need to work with a pixel-perfect grid.
Maya, for instance, can layout the UVs itself and uses a user-set distance between the UVs.
If the object is important, though, or you just want to learn how to create lightmap UVs, you should keep going the 'manual' way by setting the grip correctly and straighten your UVs as good as you can.
A minimum of 2px padding is advisable.
Even if the tutorial is for UDK, you can perfectly switch to UE4 from it:
Lightmap UV TutorialI hope that help you.
Best Regards