Whitney, D., Rosen, E., Phillips, E., Konidaris, G. and Tellex, S., 2017. Comparing Robot Grasping Teleoperation across Desktop and Virtual Reality with ROS Reality. In Proceedings of the International Symposium on Robotics Research.
Hi! Welcome to ROS Reality, a package made by the Humans to Robots Lab at Brown University. This package connects a ROS network to a Unity scene over the internet, passing messages back and forth. We also wrote a C# URDF parser, which you can find demoed in the provided scenes. We built this package for displaying and controlling a Baxter robot with a virtual reality headset, so the package is geared towards that, but the pacakge could be used for any project that needs a connection between ROS and Unity.
Currently only tested on Windows 10. The only large change needed to make this MacOS or Linux compatible is finding a new websocket library.
There are 4 scenes that show off different ways to interact with the robot.
We suggest using master, but feel free to look at other branches for extensions of this work.
gary-branch: ROS Reality for the PR2
json: Rather than use our custom string format to send robot joint data from ROS to Unity, we format it as a JSON string. If you use this, pull from the json branch on the ROS_Reality github page.
lfd: Branch for performing learning from demonstrations in VR. Pull the associated ROS_reality git branch
multiplayer: Allows for multiple humans to be in the VR scene.
Nao: ROS Reality for the Nao.