- If using ROS (melodic or noetic), copy the `tutorials/ros_packages/robotics_demo` folder of this repo into the `src` folder in your Catkin workspace.
- If using ROS (melodic or noetic), copy the contents of `tutorials/ros_unity_integration/ros_packages` from this repo into the `src` folder in your Catkin workspace. (If using ROS2, instead go to the [Setting Up ROS2](publisher.md#setting-up-ros2) section.)
- Follow the [ROS–Unity Initial Setup](setup.md) guide.
source devel/setup.bash
rosrun robotics_demo server_endpoint.py
rosrun unity_robotics_demo server_endpoint.py
```
Once the server_endpoint has started, it will print something similar to `[INFO] [1603488341.950794]: Starting server on 192.168.50.149:10000`.
rostopic echo pos_rot
```
- Now proceed to [Setting Up Unity Scene](publisher.md#setting-up-unity-scene).
- If using ROS2, copy the `tutorials/ros2_packages/robotics_demo` folder of this repo into the `src` folder in your Colcon workspace.
- <imgsrc="images/ros2_icon.png"alt="ros2"width="16"height="16"/> If using ROS2, copy the contents of `tutorials/ros_unity_integration/ros2_packages` from this repo into the `src` folder in your Colcon workspace.
- The `server_endpoint` script we'll be using has a parameter ROS_IP. You will need to know the IP address of your ROS machine; the command `hostname -I` can be used to find it. Or, if you're using Docker, the IP address to use is `0.0.0.0`.
ros2 run robotics_demo server_endpoint.py
ros2 run unity_robotics_demo server_endpoint --ros-args -p ROS_IP:=127.0.0.1
Once the server_endpoint has started, it will print something similar to `[INFO] [1603488341.950794]: Starting server on 192.168.50.149:10000`.
Or if you need the server to listen on a port that's different from the default 10000, you can set the ROS_TCP_PORT parameter too:
```bash
ros2 run unity_robotics_demo server_endpoint --ros-args -p ROS_IP:=127.0.0.1 -p ROS_TCP_PORT:=10000
```
Once the server_endpoint has started, if everything worked ok, it will print something similar to `[INFO] [1622239914.040931500] [TCPServer]: Starting server on 127.0.0.1:10000`.
- Open another new terminal window, navigate to your ROS workspace, and run the following commands:
```bash
## Setting Up Unity Scene
- In the menu bar, find and select `Robotics` -> `Generate ROS Messages...`
- Set the ROS message path to `PATH/TO/Unity-Robotics-Hub/tutorials/ros_packages/robotics_demo`.
- Expand the robotics_demo subfolder and click "Build 2 msgs" to generate new C# scripts from the ROS .msg files.
- Set the ROS message path to `PATH/TO/Unity-Robotics-Hub/tutorials/ros_unity_integration/ros_packages/unity_robotics_demo_msgs`.(The version in the ros2_packages folder is equivalent; Ros2 users can feel free to use it, or not.)
- In the message browser, expand the unity_robotics_demo_msgs subfolder and click "Build 2 msgs" to generate new C# scripts from the ROS .msg files.
- The generated files will be saved in the default directory `Assets/RosMessages/RoboticsDemo/msg`.
- The generated files will be saved in the default directory `Assets/RosMessages/UnityRoboticsDemo/msg`.
- **Note** Script can be found at`tutorials/ros_unity_integration/unity_scripts`
- (Alternatively, you can copy the script file from`tutorials/ros_unity_integration/unity_scripts/RosPublisherExample.cs`)
using RosMessageTypes.RoboticsDemo;
using RosMessageTypes.UnityRoboticsDemo;
using UnityEngine;
using Unity.Robotics.ROSTCPConnector;
- Add a plane and a cube to the empty Unity scene
- Move the cube a little ways up so it is hovering above the plane
- In the main menu bar, open `Robotics/ROS Settings`.
- Set the ROS IP address and port to match the ROS IP and port variables defined when you set up ROS.
- If using ROS2, switch to the ROS2 protocol.
- Set the ROS IP address and port to match the ROS IP and port variables defined when you started the ROS endpoint.
- If using ROS2, select the ROS2 protocol.
- Pressing play in the Editor should publish a message to the terminal running the `rostopic echo pos_rot` command every 0.5 seconds
- Pressing play in the Editor should publish a message every 0.5 seconds to the terminal running the `echo` command.
> Please reference [networking troubleshooting](network.md) doc if any errors are thrown.
(Skip to [Start the Position service](service.md#start-the-position-service) if you already did the [ROS–Unity Integration Publisher](publisher.md) or [Subscriber](subscriber.md) tutorials.)
- Copy the `tutorials/ros_packages/robotics_demo` folder of this repo into the `src` folder in your Catkin workspace.
- Copy the `tutorials/ros_unity_integration/ros_packages/unity_robotics_demo` folder of this repo into the `src` folder in your Catkin workspace.
- Follow the [ROS–Unity Initial Setup](setup.md) guide.
## Setting Up Unity Scene
- Generate the C# code for `PositionService`'s messages by going to `Robotics` -> `Generate ROS Messages...`
- Set the input file path to `PATH/TO/Unity-Robotics-Hub/tutorials/ros_packages/robotics_demo`, expand the robotics_demo folder and click `Build 2 srvs`.
- Set the input file path to `PATH/TO/Unity-Robotics-Hub/tutorials/ros_unity_integration/ros_packages/robotics_demo`, expand the robotics_demo folder and click `Build 2 srvs`.
1. Download and copy the [TCP Endpoint](https://github.com/Unity-Technologies/ROS-TCP-Endpoint) package to the `src` folder in your Catkin workspace.
1. Navigate to your Catkin workspace and run `catkin_make && source devel/setup.bash`. Ensure there are no errors.
1. Navigate to your Catkin workspace and run `catkin_make`, then `source devel/setup.bash`. Ensure there are no errors.
1. Open a new terminal, navigate to your Catkin workspace, and run:
```
Once ROS Core has started, it will print `started core service [/rosout]` to the terminal window.
Once ROS Core has started, it will print `started core service [/rosout]` to the terminal window.
1. Note that in the `server_endpoint`, the script fetches parameters for the TCP connection. You will need to know the IP address of your ROS machine, which should be the same value as the one set as `Host Name` on the RosConnect component in Unity.
1. The `server_endpoint` script we'll be using will require the ros parameter ROS_IP to be defined. You will need to know the IP address of your ROS machine; the command `hostname -I` can be used to find it. Or, if you're using Docker, the IP address to use is `0.0.0.0`.
1. The ROS parameter values can be set using a YAML file. Create a `params.yaml` file in your package, e.g. `./config/params.yaml`. Open the file for editing.
1. Set the ros parameter using the command `rosparam set ROS_IP 127.0.0.1`, replacing this IP address with the appropriate IP address or hostname.
1. Update the `ROS_IP` below with the appropriate address and copy the contents into the `params.yaml` file.
1. By default, the server_endpoint will listen on port 10000, but this is also controlled by a parameter. If you need to change it, you can run the command `rosparam set ROS_IP 10000`, replacing 10000 with the desired port number.
1. (Optional) If you're going through this process often, you may find it useful to set the ROS parameter values using a YAML file. To do this, create a `params.yaml` file in your package, e.g. `./config/params.yaml`. Open the file for editing.
Update the `ROS_IP` below with the appropriate address and copy the contents into the `params.yaml` file.
```yaml
ROS_IP: <yourROSIP>
ROS_TCP_PORT: 10000
```
Ensure that the `ROS_TCP_PORT` is set to 10000.
1. Set these newly defined parameters by running `rosparam load`, e.g.:
Set these newly defined parameters by running `rosparam load`, e.g.:
```bash
rosparam load PATH/TO/config/params.yaml
1. Download the [ROS2 TCP Endpoint](https://github.com/Unity-Technologies/ROS2-TCP-Endpoint) repository and copy the folders `ROS2_packages/ros2_tcp_endpoint` and `ROS2_packages/unity_interfaces` into the `src` folder in your Colcon workspace.
1. Navigate to your Colcon workspace and run `colcon build && source install/setup.bash`. Ensure there are no errors.
1. Note that in the `server_endpoint`, the script fetches parameters for the TCP connection. You will need to know the IP address of your ROS2 machine - this should be the same value as the one set as `Host Name` on the RosConnect component in Unity.
1. Navigate to your Colcon workspace and run the following commands
(Skip to [Setting Up Unity Scene](subscriber.md#setting-up-unity-scene) if you already did the [Publisher](publisher.md) tutorial.)
- Copy the `tutorials/ros_packages/robotics_demo` folder of this repo into the `src` folder in your Catkin workspace.
- Copy the `tutorials/ros_unity_integration/ros_packages/robotics_demo` folder of this repo into the `src` folder in your Catkin workspace.
- Follow the [ROS–Unity Initial Setup](setup.md) guide.
Once the server_endpoint has started, it will print something similar to `[INFO] [1603488341.950794]: Starting server on 192.168.50.149:10000`.
- In Unity, we need to generate the C# code for the `UnityColor` message. Open `Robotics` -> `Generate ROS Messages...`.
- Set the ROS message path to `PATH/TO/Unity-Robotics-Hub/tutorials/ros_packages/robotics_demo/`, expand the robotics_demo subfolder and click `Build 2 msgs`.
- The generated files will be saved in the default directory `Assets/RosMessages/RoboticsDemo/msg`.
- Copy the `tutorials/ros2_packages/robotics_demo` folder of this repo into the `src` folder in your Colcon workspace.
- Copy the `tutorials/ros_unity_integration/ros2_packages/robotics_demo` folder of this repo into the `src` folder in your Colcon workspace.
- Follow the [ROS–Unity Initial Setup](setup.md) guide.
Once the server_endpoint has started, it will print something similar to `[INFO] [1603488341.950794]: Starting server on 192.168.50.149:10000`.
## Setting Up Unity Scene
- Set the ROS message path to `PATH/TO/Unity-Robotics-Hub/tutorials/ros_packages/robotics_demo/`, expand the robotics_demo subfolder and click `Build 2 msgs`.
- Set the ROS message path to `PATH/TO/Unity-Robotics-Hub/tutorials/ros_unity_integration/ros_packages/robotics_demo/`, expand the robotics_demo subfolder and click `Build 2 msgs`.
## Setting Up Unity Scene
- **Note** Script can be found at `tutorials/ros_unity_integration/unity_scripts`
- Alternatively, copy the script file from `tutorials/ros_unity_integration/unity_scripts/RosSubscriberExample.cs`
using RosColor = RosMessageTypes.RoboticsDemo.UnityColorMsg;
using RosColor = RosMessageTypes.UnityRoboticsDemo.UnityColorMsg;
public class RosSubscriberExample : MonoBehaviour
{
- Press play in the editor
### In ROS Terminal Window
- After the scene has entered Play mode, run the following command: `rosrun robotics_demo color_publisher.py` to change the color of the cube GameObject in Unity to a random color
- After the scene has entered Play mode, run the following command: `rosrun robotics_demo color_publisher.py` to change the color of the cube GameObject in Unity to a random color.
- In ROS2, instead run `ros2 run robotics_demo color_publisher.py`.
- In ROS2, instead run `ros2 run unity_robotics_demo color_publisher`.
> Please reference [networking troubleshooting](network.md) doc if any errors are thrown.
Create a simple Unity scene which create a [Service](http://wiki.ros.org/Services) in Unity that takes a request with a GameObject's name and responds with the GameObject's pose (position and orientation) in the ROS coordinate system.
Create a simple Unity scene which runs a [Service](http://wiki.ros.org/Services) in Unity that takes a request with a GameObject's name and responds with the GameObject's pose (position and orientation) in the ROS coordinate system.
- Copy the `tutorials/ros_packages/robotics_demo` folder of this repo into the `src` folder in your Catkin workspace.
- Copy the `tutorials/ros_unity_integration/ros_packages/robotics_demo` folder of this repo into the `src` folder in your Catkin workspace.
- Follow the [ROS–Unity Initial Setup](setup.md) guide.
## Setting Up the Unity Scene
- Generate the C# code for `ObjectPoseService`'s messages by going to `Robotics` -> `Generate ROS Messages...`
- Set the input file path to `PATH/TO/Unity-Robotics-Hub/tutorials/ros_packages/robotics_demo`, expand the robotics_demo folder and click `Build 2 srvs` (Note that you may skip this step if you have already done it in the previous tutorial).
- Set the input file path to `PATH/TO/Unity-Robotics-Hub/tutorials/ros_unity_integration/ros_packages/robotics_demo`, expand the robotics_demo folder and click `Build 2 srvs` (Note that you may skip this step if you have already done it in the previous tutorial).
LaurieCheers
3 年前
