Mobile-Robot-Demo-with-Unity-ROS

Dependencies

This repository has been developed and tested in Ubuntu 18.04 and ROS Melodic, with Unity 20.3.12f1 LTS.

Before running this package, it is highly recommended to try the Unity Robotics Hub pick&place demo first. It shows the steps to import robot, convert messages, and communicate with ROS in details. But you could still run this package by following the steps below.

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Clone this project by git clone --recurse-submodules git@github.com:ZhuoyunZhong/Mobile-Robot-Demo-with-Unity-ROS.git

Part 1: Unity Setup

This part includes how to import the mobile robot in Unity scene, and control the mobile robot with your keyboard.

Part 2: Sensors

This part includes how to attach common sensors: camera, laser and robot state readers to the robot.

Part 3: ROS Setup

This part includes how to add ROS communication scripts and set up the ROS node to communicate with robots in Unity.

TODO List

• Robot State Publisher (Publish tf frames)
• RGB-D Camera / Pointcloud
• More publishers and subscribers to use Unity as control or vision interface