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Ext_UnityRoboticsHub
is a Unity package for sending/receiving messages to/from ROS. It contains extra functionality that, when generating a C# class from a ROS message, functions are also generated that will serialize and deserialize the messages as ROS would internally.
This package, when used with Unity-Technologies/ROS-TCP-Endpoint, can increase the speed of message-passing between ROS and Unity, which may be especially important when messages contain images. The tradeoff is that ROS-TCP-Endpoint is not as general as ROS# with rosbridge and has the strict requirement that all messages be serialized by the ROS-TCP-Connector code.
is a Unity package with added support for instantiating a robot from URDF into a Unity scene with Articulation Body components.
Visit the Unity Robotics Hub for more information on how to use these packages.
© Unity Technologies, 2021
Author: Cameron Greene (cameron.greene@unity3d.com)
1. Installation and Configuration
1.1 Unity on Windows
1.2 Ubuntu on Oracle VM
1.3 ROS on Ubuntu
1.4 Gazebo Setup on VM
1.5 TurtleBot2
1.6 Shadow Hand
1.7 Gazebo Simulation Example Setup
1.8 Unity Simulation Example Setup
2. Application examples with ROS communication
2.1 Transfer a URDF from ROS to Unity
2.2 Transfer a URDF from Unity to ROS
2.3 Gazebo Simulation Example
2.4 Unity Simulation Example
2.5 Fibonacci Action Client
2.6 Fibonacci Action Server
3. Application examples without ROS communication
3.1 Import a URDF on Windows
3.2 Create, Modify and Export a URDF Model
3.3 Animate a Robot Model in Unity
ROS-Unity Coordinate System Conversions
How to add new Message Types
RosBridgeClient Protocols
RosBridgeClient Serializers
Message Handling Code Map
Action Server State Machine Model
License Headers