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UM-ARM-Lab / unity_victor_teleop

Unity project for teleoperation of ARM-lab's "Victor" robot using an HTC Vive
Apache License 2.0
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Unity Teleop (for ARM lab's "Victor" robot)

This is the unity portion use for teleoperating a robot. Want to learn how to use this package to teleop your robot? Check out the tutorials!

Brief description

This is a Unity project for controlling the armlab's Victor robot using an HTC vive. This unity project connects to VR Teleop, connecting the Unity interface to the ROS ecosystem. Video from a Kinect enter as ROS rgb and depth images. The current robot position enters as ROS robot_state messages The commanded gripper poses exit as geometry_msgs::pose.

Installation

  1. Install unity (Free version)
  2. Clone this repo
  3. Open this repo as a unity project
  4. Import SteamVR from the unity asset store
    • Window -> Asset Store and search for SteamVR

(If you are having issues, check out the tutorials)

Ubuntu Setup

To communicate to ROS: Set up an ubuntu computer with ROS, optionally a VM. Follow the instruction provided by ROSSharp [https://github.com/siemens/ros-sharp/wiki/User_Inst_ROSOnUbuntu]

Set up VR teleop on ubuntu: https://github.com/UM-ARM-Lab/vr_teleop

For more information, see the wiki