This repository has been developed and tested in Ubuntu 18.04 and ROS Melodic, with Unity 20.3 LTS. Other later versions of ROS and Unity should also work.
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.
Clone this project by git clone --recurse-submodules git@github.com:ZhuoyunZhong/Mobile-Robot-Demo-with-Unity-ROS.git
This part includes how to import the mobile robot in Unity scene, and control the mobile robot with your keyboard.
This part includes how to attach common sensors: camera, laser and robot state readers to the robot.
This part includes how to add ROS communication scripts and set up the ROS node to communicate with robots in Unity.
This part includes how to make use of ROS packages to achive mapping the environment, localizing robot and autonomous navigation.
This repository serves as a basic tutorial of setting up mobile robot in Unity simulation. If you are intested in more about ROS-Unity robot simulation. Please feel free to try our repository Gopher In Unity Simulation.
- RGB-D Camera / Pointcloud