您最多选择25个主题 主题必须以中文或者字母或数字开头,可以包含连字符 (-),并且长度不得超过35个字符
 
 
 
 
 
GitHub e7ebebf6 Merge v0.5.0 (#260) 3 年前
..
images Merge v0.5.0 (#260) 3 年前
ros2_docker Merge v0.5.0 (#260) 3 年前
ros2_packages Merge v0.5.0 (#260) 3 年前
ros_docker Merge v0.5.0 (#260) 3 年前
ros_packages Merge v0.5.0 (#260) 3 年前
unity_scripts Merge v0.5.0 (#260) 3 年前
README.md Merge v0.5.0 (#260) 3 年前
network.md Merge v0.5.0 (#260) 3 年前
publisher.md Merge v0.5.0 (#260) 3 年前
service_call.md Merge v0.5.0 (#260) 3 年前
setup.md Merge v0.5.0 (#260) 3 年前
subscriber.md Merge v0.5.0 (#260) 3 年前
unity_service.md Merge v0.5.0 (#260) 3 年前

README.md

ROS–Unity Integration

Editor Version

Most of our projects are developed/tested on Unity Editor version 2020.2.0f9 or later. We expect that anything 2020.2+ should be compatible, and will be actively working to ensure this for future versions. 2020.1.X and below are unlikely to work well, if at all, and we strongly encourage updating to a more recent version to support the bleeding edge updates to Unity's physics and simulation components that we are leveraging.

ROS–Unity Communication

A TCP endpoint running as a ROS node, which facilitates message passing to and from Unity and ROS.

The messages being passed between Unity and ROS are expected to be serialized as ROS would internally serialize them. To achieve this, the MessageGeneration plugin (from the ROS TCP Connector repo) can generate C# classes, including serialization and deserialization functions, from ROS .msg files.

The ROSConnection plugin (also from ROS TCP Connector) provides the Unity scripts necessary to publish, subscribe, or call a service.

Tutorials

Example Unity Scripts

Example scripts implemented in tutorials:

  • unity_scripts/RosPublisherExample.cs

    • Publishes the position of a GameObject every 0.5 seconds.
  • unity_scripts/RosSubscriberExample.cs

    • Subscribes to a topic that accepts color messages and uses them to change the color of a GameObject in the Unity scene.
  • unity_scripts/RosUnityServiceExample.cs

    • Runs a service in the Unity scene that takes a GameObject's name and responds with the Pose of that object.
  • unity_scripts/RosServiceExample.cs

    • Returns a destination position for a GameObject to move towards each time the service is called.