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shliu84 / Unity-ROS-SIM

MIT License
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Unity_ROS_SIM

Demo

https://www.youtube.com/watch?v=0bVDirUqv3w

Installation and Configuration

Install Unity

Download Unity for ubuntu https://forum.unity.com/threads/unity-hub-v2-0-0-release.677485/?_ga=2.241212994.1757428817.1572957430-1380361049.1571101592

Install ROS

  1. Install the ros-kinetic-desktop-full here http://wiki.ros.org/kinetic/Installation/Ubuntu
  2. Install RoboRTS following the step. https://xinzhangk.github.io/ROS-docs/sim.html
  3. Install ROS bridge server 
    sudo apt-get install ros-kinetic-rosbridge-suite

    Configuration

    These files are in RoboRTS_Config folder

  4. add decision.prototxt to 
~/ws/src/RoboRTS-v2/roborts_decision/config/
  1. add unity_navigation.launch to 
    ~/ws/src/RoboRTS-v2/roborts_bringup/launch/
  2. replace static_tf.launch in 
    ~/ws/src/RoboRTS-v2/roborts_bringup/launch/

Run Navigation Simulation

  1. Run ROS bridge server
roslaunch rosbridge_server rosbridge_websocket.launch
  1. Open a NEW terminal and source the setup file
source $HOME/roborts_ws/devel/setup.bash
  1. Open Unity projoect and run
  2. Run Unity navigation simulation launch file 
    roslaunch roborts_bringup unity_navigation.launch
  3. Set the initial pose in Rriz
  4. Test navigation

Third Party Libraries