├── .gitattributes ├── .gitignore ├── Assets ├── Materials.meta ├── Materials │ ├── 3.mat │ ├── 3.mat.meta │ ├── 3.png │ ├── 3.png.meta │ ├── BlueArmor.mat │ ├── BlueArmor.mat.meta │ ├── BlueLight.mat │ ├── BlueLight.mat.meta │ ├── RedArmor.mat │ ├── RedArmor.mat.meta │ ├── RedLight.mat │ ├── RedLight.mat.meta │ ├── WhiteLight.mat │ ├── WhiteLight.mat.meta │ ├── cameraRT.renderTexture │ └── cameraRT.renderTexture.meta ├── Models.meta ├── Models │ ├── Robot.meta │ ├── Robot │ │ ├── armor_base.dae │ │ ├── armor_base.dae.meta │ │ ├── armor_light.dae │ │ ├── armor_light.dae.meta │ │ ├── base_link.dae │ │ ├── base_link.dae.meta │ │ ├── camera_link.dae │ │ ├── camera_link.dae.meta │ │ ├── carbon_fiber.jpg │ │ ├── carbon_fiber.jpg.meta │ │ ├── fpv_link.dae │ │ ├── fpv_link.dae.meta │ │ ├── pitch_link.dae │ │ ├── pitch_link.dae.meta │ │ ├── wheel_link.dae │ │ ├── wheel_link.dae.meta │ │ ├── yaw_link.dae │ │ └── yaw_link.dae.meta │ ├── ground.dae │ ├── ground.dae.meta │ ├── rune.dae │ └── rune.dae.meta ├── Prefabs.meta ├── Prefabs │ ├── Robot.prefab │ ├── Robot.prefab.meta │ ├── RobotWithCam.prefab │ ├── RobotWithCam.prefab.meta │ ├── r1.prefab │ └── r1.prefab.meta ├── Ros2ForUnity.meta ├── Scenes.meta ├── Scenes │ ├── EmptyPlane.unity │ ├── EmptyPlane.unity.meta │ ├── RMUC2023.unity │ └── RMUC2023.unity.meta ├── Scripts.meta ├── Scripts │ ├── BladeLightControl.cs │ ├── BladeLightControl.cs.meta │ ├── ChassisControl.cs │ ├── ChassisControl.cs.meta │ ├── GimbalControl.cs │ ├── GimbalControl.cs.meta │ ├── RobotSpin.cs │ ├── RobotSpin.cs.meta │ ├── RuneControl.cs │ ├── RuneControl.cs.meta │ ├── UnityCamPub.cs │ └── UnityCamPub.cs.meta ├── Settings.meta └── Settings │ ├── HDRP Balanced.asset │ ├── HDRP Balanced.asset.meta │ ├── HDRP High Fidelity.asset │ ├── HDRP High Fidelity.asset.meta │ ├── HDRP Performant.asset │ ├── HDRP Performant.asset.meta │ ├── HDRPDefaultResources.meta │ ├── HDRPDefaultResources │ ├── DefaultLookDevProfile.asset │ ├── DefaultLookDevProfile.asset.meta │ ├── DefaultSettingsVolumeProfile.asset │ ├── DefaultSettingsVolumeProfile.asset.meta │ ├── FoliageDiffusionProfile.asset │ ├── FoliageDiffusionProfile.asset.meta │ ├── HDRenderPipelineAsset.asset │ ├── HDRenderPipelineAsset.asset.meta │ ├── HDRenderPipelineGlobalSettings.asset │ ├── HDRenderPipelineGlobalSettings.asset.meta │ ├── SkinDiffusionProfile.asset │ └── SkinDiffusionProfile.asset.meta │ ├── SkyandFogSettingsProfile.asset │ └── SkyandFogSettingsProfile.asset.meta ├── LICENSE ├── Packages ├── manifest.json └── packages-lock.json ├── ProjectSettings ├── AudioManager.asset ├── AutoStreamingSettings.asset ├── ClusterInputManager.asset ├── DynamicsManager.asset ├── EditorBuildSettings.asset ├── EditorSettings.asset ├── GraphicsSettings.asset ├── HDRPProjectSettings.asset ├── InputManager.asset ├── MemorySettings.asset ├── NavMeshAreas.asset ├── PackageManagerSettings.asset ├── Packages │ └── com.unity.testtools.codecoverage │ │ └── Settings.json ├── Physics2DSettings.asset ├── PresetManager.asset ├── ProjectSettings.asset ├── ProjectVersion.txt ├── QualitySettings.asset ├── SceneTemplateSettings.json ├── ShaderGraphSettings.asset ├── TagManager.asset ├── TimeManager.asset ├── UnityConnectSettings.asset ├── VFXManager.asset ├── VersionControlSettings.asset ├── XRSettings.asset └── boot.config ├── README.md └── UserSettings ├── EditorUserSettings.asset ├── HDRPUserSettings.asset └── Layouts ├── CurrentMaximizeLayout.dwlt └── default-2021.dwlt /.gitattributes: -------------------------------------------------------------------------------- 1 | *.png filter=lfs diff=lfs merge=lfs -text 2 | *.jpg filter=lfs diff=lfs merge=lfs -text 3 | *.dae filter=lfs diff=lfs merge=lfs -text 4 | -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | # This .gitignore file should be placed at the root of your Unity project directory 2 | # 3 | # Get latest from https://github.com/github/gitignore/blob/master/Unity.gitignore 4 | # 5 | /[Ll]ibrary/ 6 | /[Tt]emp/ 7 | /[Oo]bj/ 8 | /[Bb]uild/ 9 | /[Bb]uilds/ 10 | /[Ll]ogs/ 11 | /[Mm]emoryCaptures/ 12 | 13 | # Asset meta data should only be ignored when the corresponding asset is also ignored 14 | !/[Aa]ssets/**/*.meta 15 | 16 | # Uncomment this line if you wish to ignore the asset store tools plugin 17 | # /[Aa]ssets/AssetStoreTools* 18 | 19 | # Autogenerated Jetbrains Rider plugin 20 | [Aa]ssets/Plugins/Editor/JetBrains* 21 | 22 | # Visual Studio cache directory 23 | .vs/ 24 | 25 | # Gradle cache directory 26 | .gradle/ 27 | 28 | # Autogenerated VS/MD/Consulo solution and project files 29 | ExportedObj/ 30 | .consulo/ 31 | *.csproj 32 | *.unityproj 33 | *.sln 34 | *.suo 35 | *.tmp 36 | *.user 37 | *.userprefs 38 | *.pidb 39 | *.booproj 40 | *.svd 41 | *.pdb 42 | *.mdb 43 | *.opendb 44 | *.VC.db 45 | 46 | # Unity3D generated meta files 47 | *.pidb.meta 48 | 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2 | guid: e50661fbf82bc6e4cb534dc7b5a03210 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/Prefabs/Robot.prefab.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: abb6e7fdf99310144896d75e1ae20afb 3 | PrefabImporter: 4 | externalObjects: {} 5 | userData: 6 | assetBundleName: 7 | assetBundleVariant: 8 | -------------------------------------------------------------------------------- /Assets/Prefabs/RobotWithCam.prefab.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 88cc3369f6963e947a035e4d1b1f205d 3 | PrefabImporter: 4 | externalObjects: {} 5 | userData: 6 | assetBundleName: 7 | assetBundleVariant: 8 | -------------------------------------------------------------------------------- /Assets/Prefabs/r1.prefab.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 307424b833debd74fa77f9b2717148ed 3 | PrefabImporter: 4 | externalObjects: {} 5 | userData: 6 | assetBundleName: 7 | assetBundleVariant: 8 | -------------------------------------------------------------------------------- /Assets/Ros2ForUnity.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 8f85ec58a18fee44d898860100247f24 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/Scenes.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 23dba20626087994897d60516d8aa767 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/Scenes/EmptyPlane.unity.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: c993af6c1e5988a4ca713cf19e6618de 3 | DefaultImporter: 4 | externalObjects: {} 5 | userData: 6 | assetBundleName: 7 | assetBundleVariant: 8 | -------------------------------------------------------------------------------- /Assets/Scenes/RMUC2023.unity.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 8124e5870f4fd4c779e7a5f994e84ad1 3 | DefaultImporter: 4 | externalObjects: {} 5 | userData: 6 | assetBundleName: 7 | assetBundleVariant: 8 | -------------------------------------------------------------------------------- /Assets/Scripts.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: cf6e0cfc6a614724c8273678c4ca6482 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/Scripts/BladeLightControl.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | 5 | public class BladeLightControl : MonoBehaviour 6 | { 7 | private Material[] materials; 8 | private Color glow; 9 | private Color fade; 10 | 11 | // Start is called before the first frame update 12 | void Start() 13 | { 14 | materials = new Material[5]; 15 | materials[0] = GameObject.Find(name + "/l1").GetComponent().material; 16 | materials[1] = GameObject.Find(name + "/l2").GetComponent().material; 17 | materials[2] = GameObject.Find(name + "/l3").GetComponent().material; 18 | materials[3] = GameObject.Find(name + "/l4").GetComponent().material; 19 | materials[4] = GameObject.Find(name + "/l5").GetComponent().material; 20 | 21 | glow = materials[0].GetColor("_EmissiveColor"); 22 | fade = Color.black; 23 | } 24 | 25 | public void LightOff() 26 | { 27 | foreach (var material in materials) 28 | { 29 | material.SetColor("_EmissiveColor", fade); 30 | } 31 | } 32 | 33 | public void LightOn() 34 | { 35 | materials[0].SetColor("_EmissiveColor", glow); 36 | materials[1].SetColor("_EmissiveColor", glow); 37 | materials[2].SetColor("_EmissiveColor", glow); 38 | materials[3].SetColor("_EmissiveColor", fade); 39 | materials[4].SetColor("_EmissiveColor", fade); 40 | } 41 | 42 | public void BeenHit() 43 | { 44 | foreach (var material in materials) 45 | { 46 | material.SetColor("_EmissiveColor", glow); 47 | } 48 | } 49 | } 50 | -------------------------------------------------------------------------------- /Assets/Scripts/BladeLightControl.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 7ccb4ab8cb1adb341989904fe46efbda 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/ChassisControl.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | 5 | public class ChassisControl : MonoBehaviour 6 | { 7 | private Rigidbody rb; 8 | private Transform yaw_transform; 9 | public int max_speed; 10 | 11 | // Start is called before the first frame update 12 | void Start() 13 | { 14 | rb = GetComponent(); 15 | var yaw_link = this.name + "/base_link/yaw_link"; 16 | yaw_transform = GameObject.Find(yaw_link).transform; 17 | } 18 | 19 | void FixedUpdate() 20 | { 21 | // Keyboard controls 22 | var x = Input.GetAxis("Horizontal"); 23 | var z = Input.GetAxis("Vertical"); 24 | 25 | if (x != 0 || z != 0) 26 | { 27 | // Move towards yaw_link's -z-axis and x-axis 28 | var direction = yaw_transform.TransformDirection(new Vector3(0, 0, -1)); 29 | var forword_speed = direction * z * max_speed; 30 | 31 | direction = yaw_transform.TransformDirection(new Vector3(-1, 0, 0)); 32 | var side_speed = direction * x * max_speed; 33 | 34 | rb.velocity = forword_speed + side_speed; 35 | } 36 | else 37 | { 38 | rb.velocity = Vector3.zero; 39 | } 40 | } 41 | } 42 | -------------------------------------------------------------------------------- /Assets/Scripts/ChassisControl.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: c3d6bc9c349ee33408c8ed810dedd343 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/GimbalControl.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | using ROS2; 5 | 6 | public class GimbalControl : MonoBehaviour 7 | { 8 | public float max_pitch_angle = 35; 9 | public float min_pitch_angle = -25; 10 | public bool enable_mouse_control = true; 11 | 12 | private Transform pitch_transform; 13 | private Transform yaw_transform; 14 | private ROS2UnityComponent ros2Unity; 15 | private ROS2Node ros2Node; 16 | private IPublisher jointStatePub; 17 | 18 | // Start is called before the first frame update 19 | void Start() 20 | { 21 | var yaw_link = this.name + "/base_link/yaw_link"; 22 | var pitch_link = yaw_link + "/pitch_link"; 23 | pitch_transform = GameObject.Find(pitch_link).transform; 24 | yaw_transform = GameObject.Find(yaw_link).transform; 25 | 26 | Cursor.lockState = CursorLockMode.Locked; 27 | 28 | ros2Unity = GetComponent(); 29 | } 30 | 31 | // Update is called once per frame 32 | void FixedUpdate() 33 | { 34 | // Press ALT to change mouse control 35 | if (Input.GetKeyDown(KeyCode.LeftAlt) || Input.GetKeyDown(KeyCode.RightAlt)) 36 | { 37 | enable_mouse_control = !enable_mouse_control; 38 | Cursor.lockState = enable_mouse_control ? CursorLockMode.Locked : CursorLockMode.None; 39 | } 40 | 41 | if (enable_mouse_control) 42 | { 43 | 44 | // Mouse controls 45 | var mouse_x = Input.GetAxis("Mouse X"); 46 | var mouse_y = Input.GetAxis("Mouse Y"); 47 | yaw_transform.Rotate(0, mouse_x, 0); 48 | pitch_transform.Rotate(-mouse_y, 0, 0); 49 | 50 | var pitch_angle = pitch_transform.localEulerAngles.x; 51 | if (pitch_angle > 180) 52 | { 53 | pitch_angle -= 360; 54 | } 55 | pitch_angle = Mathf.Clamp(pitch_angle, min_pitch_angle, max_pitch_angle); 56 | pitch_transform.localEulerAngles = new Vector3(pitch_angle, 180, 0); 57 | } 58 | 59 | if (ros2Unity.Ok()) 60 | { 61 | if (ros2Node == null) 62 | { 63 | ros2Node = ros2Unity.CreateNode("ROS2UnityJointNode"); 64 | var qos = new QualityOfServiceProfile(); 65 | qos.SetHistory(HistoryPolicy.QOS_POLICY_HISTORY_KEEP_LAST, 1); 66 | jointStatePub = ros2Node.CreatePublisher( 67 | "/joint_states", qos); 68 | } 69 | } 70 | 71 | if (jointStatePub != null) 72 | { 73 | // Get timestamp 74 | var timestamp = new builtin_interfaces.msg.Time(); 75 | ros2Node.clock.UpdateROSClockTime(timestamp); 76 | 77 | var msg = new sensor_msgs.msg.JointState(); 78 | msg.Header.Stamp = timestamp; 79 | msg.Name = new string[] { "yaw_joint", "pitch_joint" }; 80 | msg.Position = new double[] { 81 | // radians 82 | -yaw_transform.localEulerAngles.y / 180 * Mathf.PI, 83 | pitch_transform.localEulerAngles.x / 180 * Mathf.PI 84 | }; 85 | jointStatePub.Publish(msg); 86 | } 87 | } 88 | } 89 | -------------------------------------------------------------------------------- /Assets/Scripts/GimbalControl.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: df1471db5f7f24e45b04fd515da6718e 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/RobotSpin.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | 5 | public class RobotSpin : MonoBehaviour 6 | { 7 | // Start is called before the first frame update 8 | void Start() 9 | { 10 | 11 | } 12 | 13 | // Update is called once per frame 14 | void Update() 15 | { 16 | transform.Rotate(0, 5, 0); 17 | } 18 | } 19 | -------------------------------------------------------------------------------- /Assets/Scripts/RobotSpin.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 44b6bdecce46996499f607a281406c6a 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/RuneControl.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | 5 | public class RuneControl : MonoBehaviour 6 | { 7 | private BladeLightControl[] blcs; 8 | private bool isRunning; 9 | private float rotationSpeed = 60f; 10 | 11 | // Start is called before the first frame update 12 | void Start() 13 | { 14 | blcs = new BladeLightControl[5]; 15 | 16 | blcs[0] = GameObject.Find("r1").GetComponent(); 17 | blcs[1] = GameObject.Find("r2").GetComponent(); 18 | blcs[2] = GameObject.Find("r3").GetComponent(); 19 | blcs[3] = GameObject.Find("r4").GetComponent(); 20 | blcs[4] = GameObject.Find("r5").GetComponent(); 21 | } 22 | 23 | void Update() 24 | { 25 | if (!isRunning) 26 | { 27 | foreach (var blc in blcs) 28 | { 29 | blc.LightOff(); 30 | } 31 | StartCoroutine(RuneLoopCoroutine()); 32 | isRunning = true; 33 | } 34 | 35 | transform.Rotate(Vector3.up * rotationSpeed * Time.deltaTime); 36 | } 37 | 38 | IEnumerator RuneLoopCoroutine() 39 | { 40 | yield return new WaitForSeconds(0.5f); 41 | 42 | foreach (var blc in blcs) 43 | { 44 | blc.LightOn(); 45 | yield return new WaitForSeconds(1.5f); 46 | blc.BeenHit(); 47 | yield return new WaitForSeconds(0.01f); 48 | } 49 | 50 | // loop 3 times 51 | for (int i = 0; i < 3; i++) 52 | { 53 | foreach (var blc in blcs) 54 | { 55 | blc.LightOff(); 56 | } 57 | yield return new WaitForSeconds(0.2f); 58 | 59 | foreach (var blc in blcs) 60 | { 61 | blc.BeenHit(); 62 | } 63 | yield return new WaitForSeconds(0.2f); 64 | } 65 | 66 | isRunning = false; 67 | } 68 | } 69 | -------------------------------------------------------------------------------- /Assets/Scripts/RuneControl.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 60578e7fac4107e4792ebb13e824cc21 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/UnityCamPub.cs: -------------------------------------------------------------------------------- 1 | using UnityEngine; 2 | using ROS2; 3 | using UnityEngine.Rendering; 4 | 5 | public class UnityCamPub : MonoBehaviour 6 | { 7 | private ROS2UnityComponent ros2Unity; 8 | private ROS2Node ros2Node; 9 | private IPublisher camImagePub; 10 | private IPublisher camInfoPub; 11 | private Camera cam; 12 | private sensor_msgs.msg.CameraInfo camInfoMsg; 13 | 14 | // Start is called before the first frame update 15 | void Start() 16 | { 17 | ros2Unity = GetComponent(); 18 | cam = GameObject.Find(name + "/base_link/yaw_link/pitch_link/camera").GetComponent(); 19 | 20 | // Calculate camera info 21 | var fx = cam.fieldOfView * Mathf.Deg2Rad * cam.pixelWidth / (2 * Mathf.Tan(cam.fieldOfView * Mathf.Deg2Rad / 2)); 22 | var fy = fx; 23 | var cx = cam.pixelWidth / 2; 24 | var cy = cam.pixelHeight / 2; 25 | 26 | camInfoMsg = new sensor_msgs.msg.CameraInfo(); 27 | camInfoMsg.K[0] = fx; 28 | camInfoMsg.K[2] = cx; 29 | camInfoMsg.K[4] = fy; 30 | camInfoMsg.K[5] = cy; 31 | camInfoMsg.K[8] = 1; 32 | camInfoMsg.D = new double[5]; 33 | } 34 | 35 | void OnEnable() 36 | { 37 | RenderPipelineManager.endCameraRendering += endCamRedenringCB; 38 | } 39 | 40 | // Update is called once per frame 41 | void Update() 42 | { 43 | if (ros2Unity.Ok()) 44 | { 45 | if (ros2Node == null) 46 | { 47 | ros2Node = ros2Unity.CreateNode("ROS2UnityCamNode"); 48 | camImagePub = ros2Node.CreateSensorPublisher("/image_raw"); 49 | camInfoPub = ros2Node.CreateSensorPublisher("/camera_info"); 50 | } 51 | } 52 | } 53 | 54 | private void endCamRedenringCB(ScriptableRenderContext context, Camera camera) 55 | { 56 | // Get timestamp 57 | var timestamp = new builtin_interfaces.msg.Time(); 58 | ros2Node.clock.UpdateROSClockTime(timestamp); 59 | 60 | // Inverse Y axis 61 | var tmpRT = RenderTexture.GetTemporary(cam.targetTexture.descriptor); 62 | Graphics.Blit(cam.targetTexture, tmpRT, new Vector2(1, -1), new Vector2(0, 1)); 63 | 64 | // Read the camera image from render texture 65 | var req = UnityEngine.Rendering.AsyncGPUReadback.Request(tmpRT); 66 | req.WaitForCompletion(); 67 | 68 | // Convert to ROS2 message 69 | var msg = new sensor_msgs.msg.Image(); 70 | msg.Header.Frame_id = "camera_optical_frame"; 71 | msg.Header.Stamp = timestamp; 72 | msg.Height = (uint)tmpRT.height; 73 | msg.Width = (uint)tmpRT.width; 74 | msg.Encoding = "rgb8"; 75 | msg.Step = (uint)(tmpRT.width * 3); 76 | ApplyData(ref msg, req.GetData().ToArray()); 77 | 78 | // Update camera info timestamp 79 | camInfoMsg.Header = msg.Header; 80 | 81 | // Publish the message 82 | camImagePub.Publish(msg); 83 | 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-------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # rm_vision_simulator 2 | 基于 Unity 实现的 [rm_vision](https://github.com/chenjunnn/rm_vision) 项目视觉仿真环境 3 | 4 | ## 部署指南 5 | 1. clone 该项目至本地硬盘 6 | 7 | ``` 8 | git clone https://github.com/chenjunnn/rm_vision_simulator 9 | ``` 10 | 11 | 2. 下载 [Unity 2021.3.11f1c1](https://unity.com/cn/download) 12 | 3. 下载 [ros2-for-unity 1.2.0 release](https://github.com/RobotecAI/ros2-for-unity/releases/download/1.2.0/Ros2ForUnity_humble_windows10.zip) 并将其解压至 `rm_vision_simulator/Assets/` 13 | 4. 根据 [ROS文档](https://docs.ros.org/en/humble/Installation/Windows-Install-Binary.html) 安装 ROS2 Humble 14 | 5. 引入ROS环境变量后打开 Unity Hub，在项目中打开 rm_vision_simulator 15 | 16 | ``` 17 | C:\dev\ros2_humble\setup.ps1 18 | & 'C:\Program Files\Unity Hub\Unity Hub.exe' 19 | ``` 20 | 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