RenderTexture2ROS2Image

Bridge between RenderTexture (Unity) object and sensor_msgs/Image (ROS2).

The size of the image to be published depends on the value set in RenderTexture.

Requirements

• ROS2 Foxy
• Unity 2020
• ros2-for-unity

Run on Unity

1. Create Project (3D World)
2. Add Assets from this repository

3. Add Components
4. Setting "TargetTexture" to "Camera2Texture"

5. Push Play button

Check image topic using ROS2

source /opt/ros/foxy/setup.bash
ros2 run rqt_image_view rqt_image_view

About writer

• Ar-Ray : Japanese student.
• Blog (Japanese) : https://ar-ray.hatenablog.com/
• Twitter : https://twitter.com/Ray255Ar