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3.6 KiB

ROS–Unity Integration: Publisher

Create a simple Unity scene which publishes a GameObject's position and rotation to a ROS topic.

Setting Up ROS

  • Copy the tutorials/ros_packages/robotics_demo folder of this repo into the src folder in your Catkin workspace.

  • Follow the ROS–Unity Initial Setup guide.

  • Open a new terminal window and run the following commands:

     source devel/setup.bash
     rosrun 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.

  • Open another new terminal window, navigate to your ROS workspace, and run the following commands:
     source devel/setup.bash
     rostopic echo pos_rot
    

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.

  • The generated files will be saved in the default directory Assets/RosMessages/RoboticsDemo/msg.
  • Create a new directory in Assets and name it Scripts
  • Create a new script in the Scripts directory and name it RosPublisherExample.cs
  • Open RosPublisherExample.cs and paste the following code:
    • Note Script can be found at tutorials/ros_unity_integration/unity_scripts
using RosMessageTypes.RoboticsDemo;
using UnityEngine;
using Random = UnityEngine.Random;

/// <summary>
/// 
/// </summary>
public class RosPublisherExample : MonoBehaviour
{
    ROSConnection ros;
    public string topicName = "pos_rot";

    // The GameObject 
    public GameObject cube;
    // Publish the cube's position and rotation every N seconds
    public float publishMessageFrequency = 0.5f;

    // Used to determine how much time has elapsed since the last message was published
    private float timeElapsed;

    void Start()
    {
        // start the ROS connection
        ros = ROSConnection.instance;
    }

    private void Update()
    {
        timeElapsed += Time.deltaTime;

        if (timeElapsed > publishMessageFrequency)
        {
            cube.transform.rotation = Random.rotation;

            PosRot cubePos = new PosRot(
                cube.transform.position.x,
                cube.transform.position.y,
                cube.transform.position.z,
                cube.transform.rotation.x,
                cube.transform.rotation.y,
                cube.transform.rotation.z,
                cube.transform.rotation.w
            );

            // Finally send the message to server_endpoint.py running in ROS
            ros.Send(topicName, cubePos);

            timeElapsed = 0;
        }
    }
}
  • 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.
  • Create another empty GameObject, name it RosPublisher and attach the RosPublisherExample script.

    • Drag the cube GameObject onto the Cube parameter.
  • Pressing play in the Editor should publish a message to the terminal running the rostopic echo pos_rot command every 0.5 seconds

Continue to the ROS Subscriber tutorial.