ros2-tools-to-use-unity-like-gazebo

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This repository shows how to control the robot from ros2_control to make Unity easier to use. “unity_ros2_scripts” has the python script to launch and control Unity.

The features of this repository are below:

• This shows how to control a robot on Unity with ros2_control.
• This provides a Dockerfile where Unity and ROS2 Humble can coexist.
• This currently supports prismatic and rotational joints using position and velocity control.
• This sends joint status (position, velocity and effort) to ros2_control from Unity.
• This spawns URDF model at the desired timing and position.
• This sets stiffness, damping and friction from URDF description.

Prerequisite

1. Docker
2. Unity account

Prepare Docker container

1. Clone this repository

   git clone https://github.com/hijimasa/ros2-tools-to-use-unity-like-gazebo.git
   

1. Initialize Git submodule

   cd ros2-tools-to-use-unity-like-gazebo/
   git submodule update --init --recursive
   

1. Move to docker directory

   cd docker
   

1. Build docker image

   ./build-dokcer-image.bash
   

1. Run docker container

   ./run-docker-container.bash
   

1. Run UnityHub

   unityhub
   

1. Sign in Unity

How to Use

Tips: Use below command to launch another docker terminal

docker exec -it ros-humble-unity /bin/bash

1. launch Unity.

   ros2 run unity_ros2_scripts launcher
   

1. Import URDF.

   ros2 launch unity_diffbot_sim diffbot_spawn.launch.py
   

1. launch ros_tcp_endpoint

   ros2 run ros_tcp_endpoint default_server_endpoint --ros-args -p ROS_IP:=0.0.0.0
   

1. Add “3D Object Plane” to use ground plane.

2. Run Simulation

3. launch teleop_twist_keyboard

   ros2 run teleop_twist_keyboard teleop_twist_keyboard