Unity ROS1 Integration Project

This project demonstrates the integration of Unity3D with ROS1 (Robot Operating System) to control a GameObject's movement within a Unity scene based on messages received from ROS1 topics. This integration is facilitated by the ROS# library, which provides the necessary tools and APIs to connect Unity with ROS via the rosbridge_suite.

Introduction

The aim of this project is to showcase real-time communication between ROS1 and Unity3D, enabling the dynamic control of virtual objects in a simulated environment. This setup is particularly useful for robotics simulations, educational purposes, and development of control systems in a virtual setting before deploying them in real-world scenarios.

Features

• ROS1 publisher node for sending movement commands.
• Unity subscriber using ROS# to receive movement commands from ROS1.
• Real-time control of a GameObject's movement in Unity based on ROS1 messages.

Prerequisites

Before you begin, ensure you have met the following requirements:

Software and Libraries

• Unity3D: Version 2019.4 LTS or newer recommended.
• ROS1: Any ROS1 distribution compatible with your operating system (e.g., Melodic or Noetic).
• rosbridge_suite: For setting up a WebSocket connection between ROS1 and Unity.
• ROS#: A Unity package for ROS integration, available on GitHub.
• Python: For writing ROS1 publisher nodes. Version 2.7 for older ROS distributions (e.g., Kinetic), or Version 3.5+ for newer distributions (e.g., Melodic, Noetic).

Hardware

• A computer running Ubuntu (for ROS1) and Windows/MacOS/Ubuntu (for Unity3D).

Installation

1. ROS1 Setup: Install your chosen ROS1 distribution following the official ROS Installation Instructions.
2. rosbridge_suite Installation: Install rosbridge_suite using the following command:

   sudo apt-get install ros-<distro>-rosbridge-server