Unity Teleop (for ARM lab's "Victor" robot)

This is the unity portion use for teleoperating a robot. This is the HEADLESS version, that does not require wearing the VR visor. For the original unity package where you control the robot while wearing the visor, see: https://github.com/UM-ARM-Lab/unity_victor_teleop

Want to learn how to use this package to teleop your robot? Check out the tutorials!

Brief description

This is a Unity project for controlling the armlab's Victor robot using an HTC vive. This unity project connects to VR Teleop, connecting the Unity interface to the ROS ecosystem. Video from a Kinect enter as ROS rgb and depth images. The current robot position enters as ROS robot_state messages The commanded gripper poses exit as geometry_msgs::pose.

Installation

1. Install unity (Free version)
2. Clone this repo
3. Open this repo as a unity project
4. Import SteamVR from the unity asset store
   • Window -> Asset Store and search for SteamVR

(If you are having issues, check out the tutorials)

Ubuntu Setup

To communicate to ROS: Set up an ubuntu computer with ROS, optionally a VM. Follow the instruction provided by ROSSharp [https://github.com/siemens/ros-sharp/wiki/User_Inst_ROSOnUbuntu]

Set up VR teleop on ubuntu: https://github.com/UM-ARM-Lab/vr_teleop

For more information, see the wiki