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halBRY / EVL_DigitalTwin

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Connecting Unity to ROS2 #2

Open halBRY opened 6 months ago

halBRY commented 6 months ago

Search around on the web and see what methods exist for sharing data between a Unity application and ROS2.

fjassim commented 5 months ago

Unity has a repo called Unity-Robotics-Hub which contains documentation for robotic simulation on Unity. They contain support for ROS/ROS2 Unity integration which involves installing ROS-TCP Connector and creating a scene in Unity that is connected to that. We can then generate C# scripts from ROS .msg and .srv files and run them by adding a publisher or subscriber script and gameobject to Unity. Hence, if the computer we are running this on is connected to the Roomba's minirouter, the same script can be applied to the roomba gameobject and move the Roomba. However, we are not able to connect to the Roomba's topics, we can only subscribe to topics coming from the computer. Attempting to subscribe to the Roomba does not give an error, but rather nothing happens. The next steps are to troubleshoot this, most likely it stems from the ROS-TCP connection.