ROS-Unity连接教程

电玩女神 2023-09-23 16:30 40阅读 0赞

本篇文章主要介绍基于ROS-TCP-Connector、ROS-TCP-Endpoint两个Unity接口与ROS进行通信的环境配置，并对官方给出的Unity和ROS相互通信示例中的消息部分做了说明

## 一、环境配置 ##

参考：[Unity-Robotics-Hub/setup.md at main · Unity-Technologies/Unity-Robotics-Hub (github.com)][Unity-Robotics-Hub_setup.md at main _ Unity-Technologies_Unity-Robotics-Hub _github.com]

Ununtu环境下

####   1.成功配置ros环境 ####

####   2.下载ROS-TCP-Endpoint放在工作空间编译 ####

ROS-TCP-Endpoint下载地址：[Unity-Technologies/ROS-TCP-Endpoint: ROS package used to create an endpoint to accept ROS messages sent from a Unity scene using the ROS TCP Connector scripts (github.com)][Unity-Technologies_ROS-TCP-Endpoint_ ROS package used to create an endpoint to accept ROS messages sent from a Unity scene using the ROS TCP Connector scripts _github.com]

Unity环境下

####   1.创建新项目，在Window/Package Manager下导入两个包(方式有两个，本地导入和URL导入) ####

URL导入：  
![在这里插入图片描述][db5d5aca0ada41a8a0ec7849740a2051.png]  
  两个包：

https://github.com/Unity-Technologies/ROS-TCP-Connector.git?path=/com.unity.robotics.ros-tcp-connector
    https://github.com/Unity-Technologies/ROS-TCP-Connector.git?path=/com.unity.robotics.visualizations

导入成功结果如下：  
![在这里插入图片描述][b731a1232bcc4f29a3babf9fa8f6c964.png]  
  因为URL是在线下载，可能会连接失败(但我多试了几次也成功了)。选择本地的方式也可以，把整个包下载到本地，然后选择这两个com包：  
![在这里插入图片描述][5c895c95181e4a14946d88e92ad552aa.png]  
  下载上面画的这两个，然后路径选择本地磁盘，点击之后，导入com文件夹下的package.json即可：  
![在这里插入图片描述][f484c0213e3d4e6f80e299aeb01c9def.png]  
  这个时候发现Unity上多了一个选项：  
![在这里插入图片描述][81d64112c86446659640454fcea78418.png]  
  点击Robotics下面的ROS Settings进行配置，主要是两个ROS IP Address和ROS Port，关于ROS IP Address在ubuntu下用ifconfig查一下设置，然后端口任意了默认10000了  
![在这里插入图片描述][50c6d514d2b64dcba921798c14ca5fe6.png]  
  到目前为止，两方的环境配置就结束了。

## 二、demo环境配置 ##

Ubuntu环境  
  下载这两个到同一个工作空间，然后catkin\_make一下  
  下载路径：[Unity-Robotics-Hub/tutorials/ros\_unity\_integration/ros\_packages at main · Unity-Technologies/Unity-Robotics-Hub (github.com)][Unity-Robotics-Hub_tutorials_ros_unity_integration_ros_packages at main _ Unity-Technologies_Unity-Robotics-Hub _github.com]  
![在这里插入图片描述][7a3975985d7a4e768315c00f9681203f.png]  
  Unity环境下  
  点击“Robotics -> Generate ROS Messages…”  
![在这里插入图片描述][4b8f74dd285341cebb2429cea4e37c70.png]  
  那个ROS message path是把整个项目下载下来，然后选择tutorials/ros\_unity\_integration/ros\_packages/unity\_robotics\_demo\_msgs文件夹，最后再Build两个一下(为了换成C\#文件)

## 三、实例：Unity发布，ros订阅 ##

####   1.ubuntu端先查一下IP(根据自己的IP地址实际替换) ####

然后执行：

roslaunch ros_tcp_endpoint endpoint.launch tcp_ip:=192.168.178.134 tcp_port:=10000

![在这里插入图片描述][10c2581d6ddd46fb802674e9b698916e.png]

####   2.Unity端建立空物体挂载文件（命名：RosPublisherExample）把以下代码放进去，再新建一个Cube，把Cube做参数传入文件 ####

using UnityEngine;
    using Unity.Robotics.ROSTCPConnector;
    using RosMessageTypes.UnityRoboticsDemo;
    
    /// <summary>
    ///
    /// </summary>
    public class RosPublisherExample : MonoBehaviour
    {
        
        ROSConnection ros;
        public string topicName = "pos_rot";
    
        // The game object
        public GameObject cube;
        // Publish the cube's position and rotation every N seconds
        public float publishMessageFrequency = 0.5f;
    
        // Used to determine how much time has elapsed since the last message was published
        private float timeElapsed;
    
        void Start()
        {
        
            // start the ROS connection
            ros = ROSConnection.GetOrCreateInstance();
            ros.RegisterPublisher<PosRotMsg>(topicName);
        }
    
        private void Update()
        {
        
            timeElapsed += Time.deltaTime;
    
            if (timeElapsed > publishMessageFrequency)
            {
        
                cube.transform.rotation = Random.rotation;
    
                PosRotMsg cubePos = new PosRotMsg(
                    cube.transform.position.x,
                    cube.transform.position.y,
                    cube.transform.position.z,
                    cube.transform.rotation.x,
                    cube.transform.rotation.y,
                    cube.transform.rotation.z,
                    cube.transform.rotation.w
                );
    
                // Finally send the message to server_endpoint.py running in ROS
                ros.Publish(topicName, cubePos);
    
                timeElapsed = 0;
            }
        }
    }

#### 3.unity运行 ####

运行时出现下面的框，为蓝色时代表连接成功，红色是失败  
![在这里插入图片描述][8c5d710bc6844e189a5f90ca1e6604e3.png]  
  同时ubuntu那边也有显示：  
![在这里插入图片描述][9481ebc319244eedbaf136b49e3b903c.png]  
  然后rostopic echo pos\_rot，可以看到输出

## 四、实例：ros发布，Unity订阅 ##

####   1. ubuntu端先查一下IP(根据自己的IP地址实际替换) ####

然后执行：

roslaunch ros_tcp_endpoint endpoint.launch tcp_ip:=192.168.178.134 tcp_port:=10000

![在这里插入图片描述][756e3bd546354e269bbf399887abe61a.png]

####   2.Unity端建立空物体挂载文件（命名：RosSubscriberExample）把以下代码放进去，再新建一个Cube，把Cube做参数传入文件 ####

using UnityEngine;
    using Unity.Robotics.ROSTCPConnector;
    using RosColor = RosMessageTypes.UnityRoboticsDemo.UnityColorMsg;
    
    public class RosSubscriberExample : MonoBehaviour
    {
        
        public GameObject cube;
    
        void Start()
        {
        
            ROSConnection.GetOrCreateInstance().Subscribe<RosColor>("color", ColorChange);
        }
    
        void ColorChange(RosColor colorMessage)
        {
        
            cube.GetComponent<Renderer>().material.color = new Color32((byte)colorMessage.r, (byte)colorMessage.g, (byte)colorMessage.b, (byte)colorMessage.a);
        }
    }

####   3.unity运行 ####

运行时出现下面的框，为蓝色时代表连接成功，红色是失败  
![在这里插入图片描述][b18a913e363c4a4fb32b1d071c006b67.png]

####   4.ubuntu端再执行： ####

rosrun unity_robotics_demo color_publisher.py

运行一次Unity中物体改变一次颜色

完活~

[Unity-Robotics-Hub_setup.md at main _ Unity-Technologies_Unity-Robotics-Hub _github.com]: https://github.com/Unity-Technologies/Unity-Robotics-Hub/blob/main/tutorials/ros_unity_integration/setup.md
[Unity-Technologies_ROS-TCP-Endpoint_ ROS package used to create an endpoint to accept ROS messages sent from a Unity scene using the ROS TCP Connector scripts _github.com]: https://github.com/Unity-Technologies/ROS-TCP-Endpoint
[db5d5aca0ada41a8a0ec7849740a2051.png]: https://img-blog.csdnimg.cn/db5d5aca0ada41a8a0ec7849740a2051.png
[b731a1232bcc4f29a3babf9fa8f6c964.png]: https://img-blog.csdnimg.cn/b731a1232bcc4f29a3babf9fa8f6c964.png
[5c895c95181e4a14946d88e92ad552aa.png]: https://img-blog.csdnimg.cn/5c895c95181e4a14946d88e92ad552aa.png
[f484c0213e3d4e6f80e299aeb01c9def.png]: https://img-blog.csdnimg.cn/f484c0213e3d4e6f80e299aeb01c9def.png
[81d64112c86446659640454fcea78418.png]: https://img-blog.csdnimg.cn/81d64112c86446659640454fcea78418.png
[50c6d514d2b64dcba921798c14ca5fe6.png]: https://img-blog.csdnimg.cn/50c6d514d2b64dcba921798c14ca5fe6.png
[Unity-Robotics-Hub_tutorials_ros_unity_integration_ros_packages at main _ Unity-Technologies_Unity-Robotics-Hub _github.com]: https://github.com/Unity-Technologies/Unity-Robotics-Hub/tree/main/tutorials/ros_unity_integration/ros_packages
[7a3975985d7a4e768315c00f9681203f.png]: https://img-blog.csdnimg.cn/7a3975985d7a4e768315c00f9681203f.png
[4b8f74dd285341cebb2429cea4e37c70.png]: https://img-blog.csdnimg.cn/4b8f74dd285341cebb2429cea4e37c70.png
[10c2581d6ddd46fb802674e9b698916e.png]: https://img-blog.csdnimg.cn/10c2581d6ddd46fb802674e9b698916e.png
[8c5d710bc6844e189a5f90ca1e6604e3.png]: https://img-blog.csdnimg.cn/8c5d710bc6844e189a5f90ca1e6604e3.png
[9481ebc319244eedbaf136b49e3b903c.png]: https://img-blog.csdnimg.cn/9481ebc319244eedbaf136b49e3b903c.png
[756e3bd546354e269bbf399887abe61a.png]: https://img-blog.csdnimg.cn/756e3bd546354e269bbf399887abe61a.png
[b18a913e363c4a4fb32b1d071c006b67.png]: https://img-blog.csdnimg.cn/b18a913e363c4a4fb32b1d071c006b67.png