├── .gitignore ├── .gitmodules ├── LICENSE ├── README.md ├── README_ja.md ├── colcon_ws └── src │ ├── diffbot_description │ ├── CMakeLists.txt │ ├── config │ │ ├── diffbot_config.rviz │ │ └── diffbot_sim.yaml │ ├── launch │ │ └── diffbot_description.launch.py │ ├── package.xml │ ├── robots │ │ ├── diffbot.urdf.xacro │ │ └── diffbot_description.urdf.xacro │ ├── ros2_control │ │ └── diffbot.ros2_control.xacro │ └── unity │ │ └── diffbot.unity.xacro │ ├── unity_diffbot_sim │ ├── CMakeLists.txt │ ├── config │ │ └── unity_diffbot.yaml │ ├── launch │ │ └── diffbot_spawn.launch.py │ └── package.xml │ ├── unity_ros2_utils │ ├── LICENSE │ ├── README.md │ └── unity_ros2_scripts │ │ ├── package.xml │ │ ├── resource │ │ └── unity_ros2_scripts │ │ ├── setup.cfg │ │ ├── setup.py │ │ ├── test │ │ ├── test_copyright.py │ │ ├── test_flake8.py │ │ └── test_pep257.py │ │ └── unity_ros2_scripts │ │ ├── __init__.py │ │ ├── add_usd.py │ │ ├── launcher.py │ │ └── spawn_robot.py │ └── velocity_pub │ ├── CMakeLists.txt │ ├── README.txt │ ├── package.xml │ └── src │ └── velocity_pub.cpp ├── docker ├── .config │ ├── google-chrome │ │ └── .gitkeeper │ ├── unity3d │ │ └── .gitkeeper │ └── unityhub │ │ └── .gitkeeper ├── .local │ └── share │ │ └── unity3d │ │ └── prefs ├── Unity │ └── .gitkeeper ├── build-dokcer-image.bash ├── config │ └── terminator │ │ └── config ├── dockerfile ├── entrypoint.bash └── run-docker-container.bash ├── figs ├── ros2_unity_demo.gif └── unity_camera_demo.gif └── work └── Robot_Unity_App ├── Assets ├── InputSystem_Actions.inputactions ├── InputSystem_Actions.inputactions.meta ├── Resources.meta ├── Resources │ ├── GeometryCompassSettings.asset │ ├── GeometryCompassSettings.asset.meta │ ├── ROSConnectionPrefab.prefab │ └── ROSConnectionPrefab.prefab.meta ├── Scenes.meta ├── Scenes │ ├── SampleScene.unity │ └── SampleScene.unity.meta ├── Scripts.meta ├── Scripts │ ├── CameraMover.cs │ ├── CameraMover.cs.meta │ ├── Clock.cs │ ├── Clock.cs.meta │ ├── JointStatePub.cs │ ├── JointStatePub.cs.meta │ ├── JointStateSub.cs │ ├── JointStateSub.cs.meta │ ├── RemoteCommandListener.cs │ ├── RemoteCommandListener.cs.meta │ ├── TimeStamp.cs │ └── TimeStamp.cs.meta ├── Urdf.meta └── Urdf │ └── .gitkeeper ├── Logs └── .gitkeeper ├── Packages ├── manifest.json └── packages-lock.json ├── ProjectSettings ├── AudioManager.asset ├── ClusterInputManager.asset ├── DynamicsManager.asset ├── EditorBuildSettings.asset ├── EditorSettings.asset ├── GraphicsSettings.asset ├── InputManager.asset ├── MemorySettings.asset ├── MultiplayerManager.asset ├── NavMeshAreas.asset ├── PackageManagerSettings.asset ├── Packages │ └── com.unity.testtools.codecoverage │ │ └── Settings.json ├── Physics2DSettings.asset ├── PresetManager.asset ├── ProjectSettings.asset ├── ProjectVersion.txt ├── QualitySettings.asset ├── TagManager.asset ├── TimeManager.asset ├── UnityConnectSettings.asset ├── VFXManager.asset ├── VersionControlSettings.asset └── XRSettings.asset └── UserSettings ├── EditorUserSettings.asset ├── Layouts └── default-6000.dwlt ├── Search.index └── Search.settings /.gitignore: -------------------------------------------------------------------------------- 1 | colcon_ws/build/ 2 | colcon_ws/install/ 3 | colcon_ws/log/ 4 | docker/Unity/* 5 | !docker/Unity/.gitkeeper 6 | docker/.config/unityhub/* 7 | !docker/.config/unityhub/.gitkeeper 8 | docker/.config/unity3d/* 9 | !docker/.config/unity3d/.gitkeeper 10 | docker/.config/google-chrome/* 11 | !docker/.config/google-chrome/.gitkeeper 12 | work/Robot_Unity_App/Logs/* 13 | !work/Robot_Unity_App/Logs/.gitkeeper 14 | work/Robot_Unity_App/Assets/Urdf/* 15 | !work/Robot_Unity_App/Assets/Urdf/.gitkeeper 16 | devel/ 17 | logs/ 18 | build/ 19 | bin/ 20 | lib/ 21 | msg_gen/ 22 | srv_gen/ 23 | msg/*Action.msg 24 | msg/*ActionFeedback.msg 25 | msg/*ActionGoal.msg 26 | msg/*ActionResult.msg 27 | msg/*Feedback.msg 28 | msg/*Goal.msg 29 | msg/*Result.msg 30 | msg/_*.py 31 | build_isolated/ 32 | devel_isolated/ 33 | 34 | # Generated by dynamic reconfigure 35 | *.cfgc 36 | /cfg/cpp/ 37 | /cfg/*.py 38 | 39 | # Ignore generated docs 40 | *.dox 41 | *.wikidoc 42 | 43 | # eclipse stuff 44 | .project 45 | .cproject 46 | 47 | # qcreator stuff 48 | CMakeLists.txt.user 49 | 50 | srv/_*.py 51 | *.pcd 52 | *.pyc 53 | qtcreator-* 54 | *.user 55 | 56 | /planning/cfg 57 | /planning/docs 58 | /planning/src 59 | 60 | *~ 61 | 62 | # Emacs 63 | .#* 64 | 65 | # Catkin custom files 66 | CATKIN_IGNORE 67 | 68 | # This .gitignore file should be placed at the root of your Unity project directory 69 | # 70 | # Get latest from https://github.com/github/gitignore/blob/main/Unity.gitignore 71 | # 72 | /[Ll]ibrary/ 73 | /[Tt]emp/ 74 | /[Oo]bj/ 75 | /[Bb]uild/ 76 | /[Bb]uilds/ 77 | /[Ll]ogs/ 78 | /[Uu]ser[Ss]ettings/ 79 | 80 | # MemoryCaptures can get excessive in size. 81 | # They also could contain extremely sensitive data 82 | /[Mm]emoryCaptures/ 83 | 84 | # Recordings can get excessive in size 85 | /[Rr]ecordings/ 86 | 87 | # Uncomment this line if you wish to ignore the asset store tools plugin 88 | # /[Aa]ssets/AssetStoreTools* 89 | 90 | # Autogenerated Jetbrains Rider plugin 91 | /[Aa]ssets/Plugins/Editor/JetBrains* 92 | 93 | # Visual Studio cache directory 94 | .vs/ 95 | 96 | # Gradle cache directory 97 | .gradle/ 98 | 99 | # Autogenerated VS/MD/Consulo solution and project files 100 | ExportedObj/ 101 | .consulo/ 102 | *.csproj 103 | *.unityproj 104 | *.sln 105 | *.suo 106 | *.tmp 107 | *.user 108 | *.userprefs 109 | *.pidb 110 | *.booproj 111 | *.svd 112 | *.pdb 113 | *.mdb 114 | *.opendb 115 | *.VC.db 116 | 117 | # Unity3D generated meta files 118 | *.pidb.meta 119 | *.pdb.meta 120 | *.mdb.meta 121 | 122 | # Unity3D generated file on crash reports 123 | sysinfo.txt 124 | 125 | # Builds 126 | *.apk 127 | *.aab 128 | *.unitypackage 129 | *.app 130 | 131 | # Crashlytics generated file 132 | crashlytics-build.properties 133 | 134 | # Packed Addressables 135 | /[Aa]ssets/[Aa]ddressable[Aa]ssets[Dd]ata/*/*.bin* 136 | 137 | # Temporary auto-generated Android Assets 138 | /[Aa]ssets/[Ss]treamingAssets/aa.meta 139 | /[Aa]ssets/[Ss]treamingAssets/aa/* 140 | 141 | work/Robot_Unity_App/Library/ 142 | work/Robot_Unity_App/Temp/ 143 | work/Robot_Unity_App/Build/ 144 | work/Robot_Unity_App/Obj/ 145 | *.pidb 146 | *.unityproj 147 | *.sln 148 | *.userprefs 149 | *.swp 150 | *.csproj 151 | -------------------------------------------------------------------------------- /.gitmodules: -------------------------------------------------------------------------------- 1 | [submodule "colcon_ws/src/ROS-TCP-Endpoint"] 2 | path = colcon_ws/src/ROS-TCP-Endpoint 3 | url = https://github.com/Unity-Technologies/ROS-TCP-Endpoint.git 4 | [submodule "colcon_ws/src/unity_ros2_utils/topic_based_ros2_control"] 5 | path = colcon_ws/src/unity_ros2_utils/topic_based_ros2_control 6 | url = https://github.com/hijimasa/topic_based_ros2_control.git 7 | [submodule "work/UnitySensors"] 8 | path = work/UnitySensors 9 | url = https://github.com/hijimasa/UnitySensors.git 10 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | Apache License 2 | Version 2.0, January 2004 3 | http://www.apache.org/licenses/ 4 | 5 | TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION 6 | 7 | 1. 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Docker 20 | 1. Unity account 21 | 22 | ## Prepare Docker container 23 | 1. Clone this repository 24 | ``` 25 | git clone https://github.com/hijimasa/ros2-tools-to-use-unity-like-gazebo.git 26 | ``` 27 | 2. Initialize Git submodule 28 | ``` 29 | cd ros2-tools-to-use-unity-like-gazebo/ 30 | git submodule update --init --recursive 31 | ``` 32 | 3. Move to docker directory 33 | ``` 34 | cd docker 35 | ``` 36 | 4. Build docker image 37 | ``` 38 | ./build-dokcer-image.bash 39 | ``` 40 | 5. Run docker container 41 | ``` 42 | ./run-docker-container.bash 43 | ``` 44 | 6. Run UnityHub 45 | ``` 46 | unityhub 47 | ``` 48 | 7. Sign in Unity 49 | 50 | ## How to Use 51 | 52 | Tips: Use below command to launch another docker terminal 53 | ``` 54 | docker exec -it ros-humble-unity /bin/bash 55 | ``` 56 | 57 | 1. launch Unity. 58 | ```bash 59 | ros2 run unity_ros2_scripts launcher 60 | ``` 61 | 62 | 2. Import URDF. 63 | ``` 64 | ros2 launch unity_diffbot_sim diffbot_spawn.launch.py 65 | ``` 66 | 67 | 3. launch ros_tcp_endpoint 68 | ``` 69 | ros2 run ros_tcp_endpoint default_server_endpoint --ros-args -p ROS_IP:=0.0.0.0 70 | ``` 71 | 72 | 4. Add "3D Object Plane" to use ground plane. 73 | 74 | 5. Run Simulation 75 | 76 | 6. launch teleop_twist_keyboard 77 | ``` 78 | ros2 run teleop_twist_keyboard teleop_twist_keyboard 79 | ``` 80 | -------------------------------------------------------------------------------- /README_ja.md: -------------------------------------------------------------------------------- 1 | # ros2-tools-to-use-unity-like-gazebo 2 | [English](README.md) | 日本語 3 | ![demo](./figs/ros2_unity_demo.gif) 4 | 5 | ![camera_demo](./figs/unity_camera_demo.gif) 6 | 7 | このリポジトリは、`ros2_control`からロボットを制御してUnityを簡単に使用できるようにする方法を示しています。 8 | "unity_ros2_scripts"には、Unityを起動して制御するためのPythonスクリプトが含まれています。 9 | 10 | このリポジトリの特徴は以下の通りです： 11 | - Unity上で`ros2_control`を使用してロボットを制御する方法を示します。 12 | - UnityとROS2 Humbleが共存できるDockerfileを提供します。 13 | - 位置と速度制御を使用する直動および回転ジョイントをサポートしています。 14 | - Unityから`ros2_control`にジョイント状態（位置、速度、力）を送信します。 15 | - 希望するタイミングで希望する位置にURDFモデルを生成できます。 16 | - URDF記述から剛性、減衰、および摩擦を設定できます。 17 | 18 | ## 前提条件 19 | 1. Docker 20 | 1. Unityアカウント 21 | 22 | ## Dockerコンテナの準備 23 | 1. このリポジトリをクローン 24 | ``` 25 | git clone https://github.com/hijimasa/ros2-tools-to-use-unity-like-gazebo.git 26 | ``` 27 | 2. Gitサブモジュールの初期化 28 | ``` 29 | cd ros2-tools-to-use-unity-like-gazebo/ 30 | git submodule update --init --recursive 31 | ``` 32 | 3. dockerディレクトリに移動 33 | ``` 34 | cd docker 35 | ``` 36 | 4. Dockerイメージをビルド 37 | ``` 38 | ./build-dokcer-image.bash 39 | ``` 40 | 5. Dockerコンテナを実行 41 | ``` 42 | ./run-docker-container.bash 43 | ``` 44 | 6. UnityHubを起動 45 | ``` 46 | unityhub 47 | ``` 48 | 7. Unityにサインイン 49 | 50 | ## 使用方法 51 | 52 | ヒント: 別のDockerターミナルを開くには、以下のコマンドを使用します 53 | ``` 54 | docker exec -it ros-humble-unity /bin/bash 55 | ``` 56 | 57 | 1. Unityを起動 58 | ```bash 59 | ros2 run unity_ros2_scripts launcher 60 | ``` 61 | 62 | 2. URDFをインポート 63 | ``` 64 | ros2 launch unity_diffbot_sim diffbot_spawn.launch.py 65 | ``` 66 | 67 | 3. `ros_tcp_endpoint`を起動 68 | ``` 69 | ros2 run ros_tcp_endpoint default_server_endpoint --ros-args -p ROS_IP:=0.0.0.0 70 | ``` 71 | 72 | 4. 地面として使用する「3D Object Plane」を追加 73 | 74 | 5. シミュレーションを実行 75 | 76 | 6. `teleop_twist_keyboard`を起動 77 | ``` 78 | ros2 run teleop_twist_keyboard teleop_twist_keyboard 79 | ``` 80 | -------------------------------------------------------------------------------- /colcon_ws/src/diffbot_description/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.5) 2 | project(diffbot_description) 3 | 4 | # Default to C99 5 | if(NOT CMAKE_C_STANDARD) 6 | set(CMAKE_C_STANDARD 99) 7 | endif() 8 | 9 | # Default to C++14 10 | if(NOT CMAKE_CXX_STANDARD) 11 | set(CMAKE_CXX_STANDARD 14) 12 | endif() 13 | 14 | if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") 15 | add_compile_options(-Wall -Wextra -Wpedantic) 16 | endif() 17 | 18 | # find dependencies 19 | find_package(ament_cmake REQUIRED) 20 | find_package(xacro REQUIRED) 21 | find_package(robot_state_publisher REQUIRED) 22 | # uncomment the following section in order to fill in 23 | # further dependencies manually. 24 | # find_package( REQUIRED) 25 | 26 | #xacro_add_files( 27 | # robots/head_in.urdf.xacro 28 | # INSTALL DESTINATION robots 29 | #) 30 | 31 | # add_custom_target(urdf ALL COMMAND "ros2" "launch" ${PROJECT_NAME} "wamv_description.launch.py") 32 | 33 | install(DIRECTORY robots/ 34 | DESTINATION share/${PROJECT_NAME}/robots) 35 | 36 | install(DIRECTORY unity/ 37 | DESTINATION share/${PROJECT_NAME}/unity) 38 | 39 | install(DIRECTORY ros2_control/ 40 | DESTINATION share/${PROJECT_NAME}/ros2_control) 41 | 42 | install(DIRECTORY config/ 43 | DESTINATION share/${PROJECT_NAME}/config) 44 | 45 | install(DIRECTORY launch 46 | DESTINATION share/${PROJECT_NAME} 47 | ) 48 | 49 | if(BUILD_TESTING) 50 | find_package(ament_lint_auto REQUIRED) 51 | # the following line skips the linter which checks for copyrights 52 | # uncomment the line when a copyright and license is not present in all source files 53 | #set(ament_cmake_copyright_FOUND TRUE) 54 | # the following line skips cpplint (only works in a git repo) 55 | # uncomment the line when this package is not in a git repo 56 | #set(ament_cmake_cpplint_FOUND TRUE) 57 | ament_lint_auto_find_test_dependencies() 58 | endif() 59 | 60 | ament_package() 61 | -------------------------------------------------------------------------------- /colcon_ws/src/diffbot_description/config/diffbot_config.rviz: -------------------------------------------------------------------------------- 1 | Panels: 2 | - Class: rviz_common/Displays 3 | Help Height: 78 4 | Name: Displays 5 | Property Tree Widget: 6 | Expanded: 7 | - /Global Options1 8 | - /Status1 9 | - /RobotModel1 10 | - /Image2 11 | Splitter Ratio: 0.5 12 | Tree Height: 276 13 | - Class: rviz_common/Selection 14 | Name: Selection 15 | - Class: rviz_common/Tool Properties 16 | Expanded: 17 | - /2D Goal Pose1 18 | - /Publish Point1 19 | Name: Tool Properties 20 | Splitter Ratio: 0.5886790156364441 21 | - Class: rviz_common/Views 22 | Expanded: 23 | - /Current View1 24 | Name: Views 25 | Splitter Ratio: 0.5 26 | Visualization Manager: 27 | Class: "" 28 | Displays: 29 | - Alpha: 0.5 30 | Cell Size: 1 31 | Class: rviz_default_plugins/Grid 32 | Color: 160; 160; 164 33 | Enabled: true 34 | Line Style: 35 | Line Width: 0.029999999329447746 36 | Value: Lines 37 | Name: Grid 38 | Normal Cell Count: 0 39 | Offset: 40 | X: 0 41 | Y: 0 42 | Z: 0 43 | Plane: XY 44 | Plane Cell Count: 10 45 | Reference Frame: 46 | Value: true 47 | - Alpha: 1 48 | Class: rviz_default_plugins/RobotModel 49 | Collision Enabled: false 50 | Description File: "" 51 | Description Source: Topic 52 | Description Topic: 53 | Depth: 5 54 | Durability Policy: Volatile 55 | History Policy: Keep Last 56 | Reliability Policy: Reliable 57 | Value: /robot_description 58 | Enabled: true 59 | Links: 60 | All Links Enabled: true 61 | Expand Joint Details: false 62 | Expand Link Details: false 63 | Expand Tree: false 64 | Link Tree Style: Links in Alphabetic Order 65 | ball_link: 66 | Alpha: 1 67 | Show Axes: false 68 | Show Trail: false 69 | Value: true 70 | base_link: 71 | Alpha: 1 72 | Show Axes: false 73 | Show Trail: false 74 | body_link: 75 | Alpha: 1 76 | Show Axes: false 77 | Show Trail: false 78 | Value: true 79 | camera_link: 80 | Alpha: 1 81 | Show Axes: false 82 | Show Trail: false 83 | Value: true 84 | depth_camera_link: 85 | Alpha: 1 86 | Show Axes: false 87 | Show Trail: false 88 | Value: true 89 | left_wheel_link: 90 | Alpha: 1 91 | Show Axes: false 92 | Show Trail: false 93 | Value: true 94 | lidar_link: 95 | Alpha: 1 96 | Show Axes: false 97 | Show Trail: false 98 | Value: true 99 | right_wheel_link: 100 | Alpha: 1 101 | Show Axes: false 102 | Show Trail: false 103 | Value: true 104 | Mass Properties: 105 | Inertia: false 106 | Mass: false 107 | Name: RobotModel 108 | TF Prefix: "" 109 | Update Interval: 0 110 | Value: true 111 | Visual Enabled: true 112 | - Alpha: 1 113 | Autocompute Intensity Bounds: true 114 | Autocompute Value Bounds: 115 | Max Value: 10 116 | Min Value: -10 117 | Value: true 118 | Axis: Z 119 | Channel Name: intensity 120 | Class: rviz_default_plugins/LaserScan 121 | Color: 255; 255; 255 122 | Color Transformer: Intensity 123 | Decay Time: 0 124 | Enabled: true 125 | Invert Rainbow: false 126 | Max Color: 255; 255; 255 127 | Max Intensity: -999999 128 | Min Color: 0; 0; 0 129 | Min Intensity: 999999 130 | Name: LaserScan 131 | Position Transformer: XYZ 132 | Selectable: true 133 | Size (Pixels): 3 134 | Size (m): 0.009999999776482582 135 | Style: Flat Squares 136 | Topic: 137 | Depth: 5 138 | Durability Policy: Volatile 139 | Filter size: 10 140 | History Policy: Keep Last 141 | Reliability Policy: Reliable 142 | Value: /scan 143 | Use Fixed Frame: true 144 | Use rainbow: true 145 | Value: true 146 | - Class: rviz_default_plugins/Image 147 | Enabled: true 148 | Max Value: 1 149 | Median window: 5 150 | Min Value: 0 151 | Name: Image 152 | Normalize Range: true 153 | Topic: 154 | Depth: 5 155 | Durability Policy: Volatile 156 | History Policy: Keep Last 157 | Reliability Policy: Reliable 158 | Value: /image_raw 159 | Value: true 160 | - Class: rviz_default_plugins/Image 161 | Enabled: true 162 | Max Value: 1 163 | Median window: 5 164 | Min Value: 0 165 | Name: Image 166 | Normalize Range: false 167 | Topic: 168 | Depth: 5 169 | Durability Policy: Volatile 170 | History Policy: Keep Last 171 | Reliability Policy: Reliable 172 | Value: /depth_camera/image_raw 173 | Value: true 174 | Enabled: true 175 | Global Options: 176 | Background Color: 48; 48; 48 177 | Fixed Frame: base_link 178 | Frame Rate: 30 179 | Name: root 180 | Tools: 181 | - Class: rviz_default_plugins/Interact 182 | Hide Inactive Objects: true 183 | - Class: rviz_default_plugins/MoveCamera 184 | - Class: rviz_default_plugins/Select 185 | - Class: rviz_default_plugins/FocusCamera 186 | - Class: rviz_default_plugins/Measure 187 | Line color: 128; 128; 0 188 | - Class: rviz_default_plugins/SetInitialPose 189 | Covariance x: 0.25 190 | Covariance y: 0.25 191 | Covariance yaw: 0.06853891909122467 192 | Topic: 193 | Depth: 5 194 | Durability Policy: Volatile 195 | History Policy: Keep Last 196 | Reliability Policy: Reliable 197 | Value: /initialpose 198 | - Class: rviz_default_plugins/SetGoal 199 | Topic: 200 | Depth: 5 201 | Durability Policy: Volatile 202 | History Policy: Keep Last 203 | Reliability Policy: Reliable 204 | Value: /goal_pose 205 | - Class: rviz_default_plugins/PublishPoint 206 | Single click: true 207 | Topic: 208 | Depth: 5 209 | Durability Policy: Volatile 210 | History Policy: Keep Last 211 | Reliability Policy: Reliable 212 | Value: /clicked_point 213 | Transformation: 214 | Current: 215 | Class: rviz_default_plugins/TF 216 | Value: true 217 | Views: 218 | Current: 219 | Class: rviz_default_plugins/Orbit 220 | Distance: 1.8420875072479248 221 | Enable Stereo Rendering: 222 | Stereo Eye Separation: 0.05999999865889549 223 | Stereo Focal Distance: 1 224 | Swap Stereo Eyes: false 225 | Value: false 226 | Focal Point: 227 | X: 0 228 | Y: 0 229 | Z: 0 230 | Focal Shape Fixed Size: true 231 | Focal Shape Size: 0.05000000074505806 232 | Invert Z Axis: false 233 | Name: Current View 234 | Near Clip Distance: 0.009999999776482582 235 | Pitch: 0.5203982591629028 236 | Target Frame: 237 | Value: Orbit (rviz) 238 | Yaw: 0.6903942823410034 239 | Saved: ~ 240 | Window Geometry: 241 | Displays: 242 | collapsed: false 243 | Height: 846 244 | Hide Left Dock: false 245 | Hide Right Dock: false 246 | Image: 247 | collapsed: false 248 | QMainWindow State: 000000ff00000000fd000000040000000000000156000002f8fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b0000019d000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000001de0000008e0000002800fffffffb0000000a0049006d0061006700650100000272000000c10000002800ffffff000000010000010f000002f8fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000002f8000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000023f000002f800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 249 | Selection: 250 | collapsed: false 251 | Tool Properties: 252 | collapsed: false 253 | Views: 254 | collapsed: false 255 | Width: 1200 256 | X: 615 257 | Y: 132 258 | -------------------------------------------------------------------------------- /colcon_ws/src/diffbot_description/config/diffbot_sim.yaml: -------------------------------------------------------------------------------- 1 | controller_manager: 2 | ros__parameters: 3 | update_rate: 1000 # Hz 4 | 5 | diff_drive_controller: 6 | type: diff_drive_controller/DiffDriveController 7 | 8 | joint_state_broadcaster: 9 | type: joint_state_broadcaster/JointStateBroadcaster 10 | 11 | diff_drive_controller: 12 | ros__parameters: 13 | left_wheel_names : ['left_wheel_joint'] 14 | right_wheel_names : ['right_wheel_joint'] 15 | 16 | wheel_separation : 0.46 17 | wheel_radius : 0.19 18 | wheel_separation_multiplier : 1.0 19 | left_wheel_radius_multiplier : 1.0 20 | right_wheel_radius_multiplier : 1.0 21 | 22 | odom_frame_id: odom 23 | base_frame_id: base_link 24 | 25 | pose_covariance_diagonal : [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0] 26 | twist_covariance_diagonal: [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0] 27 | 28 | enable_odom_tf: true 29 | 30 | cmd_vel_timeout: 3.0 31 | publish_limited_velocity: true 32 | velocity_rolling_window_size: 10 33 | 34 | # limits 35 | linear.x.has_velocity_limits: true 36 | linear.x.has_acceleration_limits: false 37 | linear.x.has_jerk_limits: false 38 | linear.x.max_velocity: 1.0 39 | linear.x.min_velocity: -1.0 40 | linear.x.max_acceleration: 0.4 41 | linear.x.min_acceleration: -0.4 42 | linear.x.max_jerk: 0.5 43 | linear.x.min_jerk: -0.5 44 | 45 | angular.z.has_velocity_limits: true 46 | angular.z.has_acceleration_limits: false 47 | angular.z.has_jerk_limits: false 48 | angular.z.max_velocity: 1.5 49 | angular.z.min_velocity: -1.5 50 | angular.z.max_acceleration: 0.8 51 | angular.z.min_acceleration: -0.8 52 | angular.z.max_jerk: 0.5 53 | angular.z.min_jerk: -0.5 54 | 55 | -------------------------------------------------------------------------------- /colcon_ws/src/diffbot_description/launch/diffbot_description.launch.py: -------------------------------------------------------------------------------- 1 | import os 2 | from ament_index_python.packages import get_package_share_directory 3 | from launch import LaunchDescription 4 | from launch.actions import IncludeLaunchDescription 5 | import launch 6 | import launch_ros.actions 7 | import xacro 8 | from launch_ros.substitutions import FindPackageShare 9 | 10 | share_dir_path = os.path.join(get_package_share_directory('diffbot_description')) 11 | xacro_path = os.path.join(share_dir_path, 'robots', 'diffbot.urdf.xacro') 12 | urdf_path = os.path.join(share_dir_path, 'robots', 'diffbot.urdf') 13 | rviz_config_file = os.path.join(share_dir_path, 'config', 'diffbot_config.rviz') 14 | 15 | def generate_launch_description(): 16 | # xacroをロード 17 | doc = xacro.process_file(xacro_path) 18 | # xacroを展開してURDFを生成 19 | robot_desc = doc.toprettyxml(indent=' ') 20 | # urdf_pathに対してurdfを書き出し 21 | f = open(urdf_path, 'w') 22 | f.write(robot_desc) 23 | f.close() 24 | rsp = launch_ros.actions.Node(package='robot_state_publisher', 25 | executable='robot_state_publisher', 26 | output='both', 27 | remappings=[('robot_description', 'robot_description')], 28 | # argumentsでURDFを出力したパスを指定 29 | arguments=[urdf_path]) 30 | jsp = launch_ros.actions.Node(package='joint_state_publisher_gui', 31 | executable='joint_state_publisher_gui', 32 | output='both', 33 | remappings=[('robot_description', 'robot_description')], 34 | # argumentsでURDFを出力したパスを指定 35 | arguments=[urdf_path]) 36 | 37 | rviz = launch_ros.actions.Node( 38 | package="rviz2", 39 | executable="rviz2", 40 | name="rviz2", 41 | output="log", 42 | arguments=["-d", rviz_config_file], 43 | ) 44 | 45 | return launch.LaunchDescription([rsp, jsp, rviz]) 46 | -------------------------------------------------------------------------------- /colcon_ws/src/diffbot_description/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | diffbot_description 5 | 0.0.0 6 | TODO: Package description 7 | 8 | Masaaki Hijikata 9 | 10 | MIT 11 | 12 | ament_cmake 13 | 14 | xacro 15 | robot_state_publisher 16 | joint_state_publisher_gui 17 | 18 | ament_lint_auto 19 | ament_lint_common 20 | 21 | 22 | ament_cmake 23 | 24 | 25 | -------------------------------------------------------------------------------- /colcon_ws/src/diffbot_description/robots/diffbot.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 19 | 20 | 21 | 22 | -------------------------------------------------------------------------------- /colcon_ws/src/diffbot_description/robots/diffbot_description.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 105 | 106 | 107 | 108 | 109 | 110 | 111 | 112 | 113 | 114 | 115 | 116 | 117 | 118 | 119 | 120 | 121 | 122 | 123 | 124 | 125 | 126 | 127 | 128 | 137 | 138 | 139 | 140 | 141 | 142 | 143 | 144 | 145 | 146 | 147 | 148 | 149 | 150 | 151 | 160 | 161 | 162 | 163 | 164 | 165 | 166 | 167 | 168 | 169 | 170 | 171 | 172 | 173 | 174 | 183 | 184 | 185 | 186 | 187 | -------------------------------------------------------------------------------- /colcon_ws/src/diffbot_description/ros2_control/diffbot.ros2_control.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | fake_components/GenericSystem 10 | ${fake_sensor_commands} 11 | 0.0 12 | 13 | 14 | topic_based_ros2_control/TopicBasedSystem 15 | /${name}/joint_command 16 | /${name}/joint_states 17 | true 18 | 19 | 20 | 21 | 22 | -1 23 | 1 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | -1 32 | 1 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | -------------------------------------------------------------------------------- /colcon_ws/src/diffbot_description/unity/diffbot.unity.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 10 | 11 | 12 | 13 | 400 14 | 1 15 | -3.1415 16 | 3.1415 17 | 18 | 19 | 20 | 0.05 21 | 20.0 22 | 0.01 23 | 24 | 25 | gaussian 26 | 0.0 27 | 0.01 28 | 29 | 30 | /lidar/scan 31 | lidar_link 32 | 33 | 34 | 35 | 30.0 36 | 1.3962634 37 | 38 | 800 39 | 600 40 | 41 | 42 | 0.02 43 | 300 44 | 45 | /camera 46 | image_raw 47 | camera_info 48 | camera_link 49 | 50 | 51 | 52 | 10.0 53 | 1.3962634 54 | 55 | 320 56 | 240 57 | 58 | 59 | 0.02 60 | 300 61 | 62 | /depth_camera 63 | depth_image_raw 64 | depth_camera_info 65 | depth_camera_link 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | -------------------------------------------------------------------------------- /colcon_ws/src/unity_diffbot_sim/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.5) 2 | project(unity_diffbot_sim) 3 | 4 | # Default to C99 5 | if(NOT CMAKE_C_STANDARD) 6 | set(CMAKE_C_STANDARD 99) 7 | endif() 8 | 9 | # Default to C++14 10 | if(NOT CMAKE_CXX_STANDARD) 11 | set(CMAKE_CXX_STANDARD 14) 12 | endif() 13 | 14 | if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") 15 | add_compile_options(-Wall -Wextra -Wpedantic) 16 | endif() 17 | 18 | # find dependencies 19 | find_package(ament_cmake REQUIRED) 20 | find_package(xacro REQUIRED) 21 | find_package(rclpy REQUIRED) 22 | # uncomment the following section in order to fill in 23 | # further dependencies manually. 24 | # find_package( REQUIRED) 25 | 26 | install(DIRECTORY launch 27 | DESTINATION share/${PROJECT_NAME} 28 | ) 29 | 30 | install(DIRECTORY config 31 | DESTINATION share/${PROJECT_NAME} 32 | ) 33 | 34 | if(BUILD_TESTING) 35 | find_package(ament_lint_auto REQUIRED) 36 | # the following line skips the linter which checks for copyrights 37 | # uncomment the line when a copyright and license is not present in all source files 38 | #set(ament_cmake_copyright_FOUND TRUE) 39 | # the following line skips cpplint (only works in a git repo) 40 | # uncomment the line when this package is not in a git repo 41 | #set(ament_cmake_cpplint_FOUND TRUE) 42 | ament_lint_auto_find_test_dependencies() 43 | endif() 44 | 45 | ament_package() 46 | -------------------------------------------------------------------------------- /colcon_ws/src/unity_diffbot_sim/config/unity_diffbot.yaml: -------------------------------------------------------------------------------- 1 | controller_manager: 2 | ros__parameters: 3 | update_rate: 100 # Hz 4 | 5 | diff_drive_controller: 6 | type: diff_drive_controller/DiffDriveController 7 | 8 | joint_state_broadcaster: 9 | type: joint_state_broadcaster/JointStateBroadcaster 10 | 11 | diff_drive_controller: 12 | ros__parameters: 13 | left_wheel_names : ['left_wheel_joint'] 14 | right_wheel_names : ['right_wheel_joint'] 15 | 16 | wheel_separation : 0.46 17 | wheel_radius : 0.19 18 | wheel_separation_multiplier : 1.0 19 | left_wheel_radius_multiplier : 1.0 20 | right_wheel_radius_multiplier : 1.0 21 | 22 | odom_frame_id: odom 23 | base_frame_id: base_link 24 | 25 | pose_covariance_diagonal : [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0] 26 | twist_covariance_diagonal: [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0] 27 | 28 | enable_odom_tf: true 29 | 30 | cmd_vel_timeout: 3.0 31 | publish_limited_velocity: true 32 | velocity_rolling_window_size: 10 33 | 34 | # limits 35 | linear.x.has_velocity_limits: true 36 | linear.x.has_acceleration_limits: true 37 | linear.x.has_jerk_limits: false 38 | linear.x.max_velocity: 1.0 39 | linear.x.min_velocity: -1.0 40 | linear.x.max_acceleration: 0.4 41 | linear.x.min_acceleration: -0.4 42 | linear.x.max_jerk: 0.5 43 | linear.x.min_jerk: -0.5 44 | 45 | angular.z.has_velocity_limits: true 46 | angular.z.has_acceleration_limits: true 47 | angular.z.has_jerk_limits: false 48 | angular.z.max_velocity: 1.5 49 | angular.z.min_velocity: -1.5 50 | angular.z.max_acceleration: 0.8 51 | angular.z.min_acceleration: -0.8 52 | angular.z.max_jerk: 0.5 53 | angular.z.min_jerk: -0.5 54 | 55 | -------------------------------------------------------------------------------- /colcon_ws/src/unity_diffbot_sim/launch/diffbot_spawn.launch.py: -------------------------------------------------------------------------------- 1 | import os 2 | import pathlib 3 | 4 | from ament_index_python.packages import get_package_share_directory 5 | 6 | 7 | from launch import LaunchDescription 8 | from launch.substitutions import Command, FindExecutable, PathJoinSubstitution 9 | from launch.actions import ExecuteProcess, IncludeLaunchDescription, RegisterEventHandler 10 | from launch.event_handlers import OnProcessExit 11 | from launch.launch_description_sources import PythonLaunchDescriptionSource 12 | 13 | from launch_ros.actions import Node 14 | from launch_ros.substitutions import FindPackageShare 15 | from launch_ros.actions import ComposableNodeContainer 16 | from launch_ros.descriptions import ComposableNode 17 | 18 | import xacro 19 | 20 | def generate_launch_description(): 21 | isaac_diffbot_description_path = os.path.join( 22 | get_package_share_directory('diffbot_description')) 23 | 24 | xacro_file = os.path.join(isaac_diffbot_description_path, 25 | 'robots', 26 | 'diffbot.urdf.xacro') 27 | urdf_path = os.path.join(isaac_diffbot_description_path, 'robots', 'diffbot.urdf') 28 | # xacroをロード 29 | doc = xacro.process_file(xacro_file, mappings={'use_sim' : 'true'}) 30 | # xacroを展開してURDFを生成 31 | robot_desc = doc.toprettyxml(indent=' ') 32 | f = open(urdf_path, 'w') 33 | f.write(robot_desc) 34 | f.close() 35 | relative_urdf_path = pathlib.Path(urdf_path).relative_to(os.getcwd()) 36 | 37 | params = {'robot_description': robot_desc} 38 | 39 | robot_controllers = PathJoinSubstitution( 40 | [ 41 | FindPackageShare("unity_diffbot_sim"), 42 | "config", 43 | "unity_diffbot.yaml", 44 | ] 45 | ) 46 | 47 | control_node = Node( 48 | package="controller_manager", 49 | executable="ros2_control_node", 50 | parameters=[params, robot_controllers], 51 | output={ 52 | "stdout": "screen", 53 | "stderr": "screen", 54 | }, 55 | ) 56 | 57 | node_robot_state_publisher = Node( 58 | package='robot_state_publisher', 59 | executable='robot_state_publisher', 60 | output='screen', 61 | parameters=[params] 62 | ) 63 | 64 | joint_state_broadcaster_spawner = Node( 65 | package="controller_manager", 66 | executable="spawner", 67 | arguments=["joint_state_broadcaster", "--controller-manager", "/controller_manager"], 68 | ) 69 | 70 | diff_drive_controller_spawner = Node( 71 | package="controller_manager", 72 | executable="spawner", 73 | arguments=["diff_drive_controller", "--controller-manager", "/controller_manager"], 74 | ) 75 | 76 | velocity_converter = Node( 77 | package='velocity_pub', 78 | name='velocity_pub', 79 | executable='velocity_pub', 80 | remappings=[ 81 | ('cmd_vel_stamped', '/diff_drive_controller/cmd_vel'), 82 | ], 83 | ) 84 | 85 | isaac_spawn_robot = Node( 86 | package="unity_ros2_scripts", 87 | executable="spawn_robot", 88 | parameters=[{'urdf_path': urdf_path, 89 | 'package_name' : "diffbot_description", 90 | 'unity_project_path' : "~/work/Robot_Unity_App", 91 | 'x' : 0.0, 92 | 'y' : 0.0, 93 | 'z' : 0.0, 94 | 'R' : 0.0, 95 | 'P' : 0.0, 96 | 'Y' : 1.57, 97 | }], 98 | ) 99 | 100 | image_republish = Node( 101 | package='image_transport', 102 | executable='republish', 103 | name='image_republisher', 104 | arguments=['compressed', 'raw'], 105 | remappings=[ 106 | ('in/compressed', '/diffbot/camera_link/image_raw'), 107 | ('out', '/camera_link/image_raw'), 108 | ], 109 | output='screen', 110 | ) 111 | 112 | depth_image_republish = Node( 113 | package='image_transport', 114 | executable='republish', 115 | name='depth_image_republisher', 116 | arguments=['compressed', 'raw'], 117 | remappings=[ 118 | ('in/compressed', '/diffbot/depth_camera_link/depth_image_raw'), 119 | ('out', '/depth_camera_link/depth_image_raw'), 120 | ], 121 | output='screen', 122 | ) 123 | 124 | return LaunchDescription([ 125 | control_node, 126 | node_robot_state_publisher, 127 | joint_state_broadcaster_spawner, 128 | diff_drive_controller_spawner, 129 | velocity_converter, 130 | isaac_spawn_robot, 131 | image_republish, 132 | depth_image_republish, 133 | ]) 134 | -------------------------------------------------------------------------------- /colcon_ws/src/unity_diffbot_sim/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | unity_diffbot_sim 5 | 0.0.0 6 | TODO: Package description 7 | 8 | Masaaki Hijikata 9 | 10 | MIT 11 | 12 | ament_cmake 13 | ament_cmake_python 14 | 15 | ament_index_python 16 | control_msgs 17 | effort_controllers 18 | hardware_interface 19 | joint_trajectory_controller 20 | joint_state_broadcaster 21 | launch 22 | launch_ros 23 | robot_state_publisher 24 | ros2_control 25 | ros2_controllers 26 | rclcpp 27 | std_msgs 28 | velocity_controllers 29 | xacro 30 | 31 | ament_lint_auto 32 | ament_lint_common 33 | 34 | 35 | ament_cmake 36 | 37 | 38 | -------------------------------------------------------------------------------- /colcon_ws/src/unity_ros2_utils/LICENSE: -------------------------------------------------------------------------------- 1 | MIT License 2 | 3 | Copyright (c) 2024 Masaaki Hijikata 4 | 5 | Permission is hereby granted, free of charge, to any person obtaining a copy 6 | of this software and associated documentation files (the "Software"), to deal 7 | in the Software without restriction, including without limitation the rights 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 9 | copies of the Software, and to permit persons to whom the Software is 10 | furnished to do so, subject to the following conditions: 11 | 12 | The above copyright notice and this permission notice shall be included in all 13 | copies or substantial portions of the Software. 14 | 15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 21 | SOFTWARE. 22 | -------------------------------------------------------------------------------- /colcon_ws/src/unity_ros2_utils/README.md: -------------------------------------------------------------------------------- 1 | # ROS 2 utilities for Unity 2 | 3 | This repository provides utilities to use [Unity](https://unity.com/) like [Gazebo classic](https://classic.gazebosim.org/). 4 | 5 | ## Features 6 | 7 | - This spawns URDF model at the desired timing and position. 8 | - This provide ros2_control plugin to use ros2_controller, for example diff_drive_controller. 9 | - This supports rotational and prismatic joints using position and velocity control. 10 | - This sends joint status (position, velocity and effort) to ros2_control from Isaac Sim. 11 | - This launches sensors from URDF description. 12 | - This launchs sensors and controller at the desired timing. 13 | - This sets stiffness, damping and friction from URDF description. 14 | 15 | ## System Requirements 16 | 17 | | Element | Minimum Spec | 18 | |----|--------------------| 19 | | OS | Ubuntu 22.04 | 20 | | CPU | Intel Core i7 (7th Generation)
AMD Ryzen 5 | 21 | | Cores | 4 | 22 | | RAM | 32GB | 23 | | Storage | 50GB SSD | 24 | | GPU | GeForce RTX 2070 | 25 | | VRAM | 8GB | 26 | | ROS 2 | Humble | 27 | 28 | ## How to Use 29 | 30 | Please check [this document](https://hijimasa.github.io/unity_ros2_utils/). 31 | 32 | -------------------------------------------------------------------------------- /colcon_ws/src/unity_ros2_utils/unity_ros2_scripts/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | unity_ros2_scripts 5 | 0.0.0 6 | TODO: Package description 7 | Masaaki Hijikata 8 | TODO: License declaration 9 | 10 | rclpy 11 | std_msgs 12 | 13 | ament_copyright 14 | ament_flake8 15 | ament_pep257 16 | python3-pytest 17 | 18 | 19 | ament_python 20 | 21 | 22 | -------------------------------------------------------------------------------- /colcon_ws/src/unity_ros2_utils/unity_ros2_scripts/resource/unity_ros2_scripts: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/hijimasa/ros2-tools-to-use-unity-like-gazebo/e741e250fbe92d732ba220696c9ea22ebb207404/colcon_ws/src/unity_ros2_utils/unity_ros2_scripts/resource/unity_ros2_scripts -------------------------------------------------------------------------------- /colcon_ws/src/unity_ros2_utils/unity_ros2_scripts/setup.cfg: -------------------------------------------------------------------------------- 1 | [develop] 2 | script_dir=$base/lib/unity_ros2_scripts 3 | [install] 4 | install_scripts=$base/lib/unity_ros2_scripts 5 | -------------------------------------------------------------------------------- /colcon_ws/src/unity_ros2_utils/unity_ros2_scripts/setup.py: -------------------------------------------------------------------------------- 1 | import os 2 | from glob import glob 3 | from setuptools import find_packages, setup 4 | 5 | package_name = 'unity_ros2_scripts' 6 | 7 | setup( 8 | name=package_name, 9 | version='0.0.0', 10 | packages=find_packages(exclude=['test']), 11 | data_files=[ 12 | ('share/ament_index/resource_index/packages', 13 | ['resource/' + package_name]), 14 | ('share/' + package_name, ['package.xml']), 15 | ], 16 | install_requires=['setuptools'], 17 | zip_safe=True, 18 | maintainer='root', 19 | maintainer_email='root@todo.todo', 20 | description='TODO: Package description', 21 | license='TODO: License declaration', 22 | tests_require=['pytest'], 23 | entry_points={ 24 | 'console_scripts': [ 25 | 'launcher = unity_ros2_scripts.launcher:main', 26 | 'spawn_robot = unity_ros2_scripts.spawn_robot:main', 27 | 'add_usd = unity_ros2_scripts.add_usd:main', 28 | ], 29 | }, 30 | ) 31 | -------------------------------------------------------------------------------- /colcon_ws/src/unity_ros2_utils/unity_ros2_scripts/test/test_copyright.py: -------------------------------------------------------------------------------- 1 | # Copyright 2015 Open Source Robotics Foundation, Inc. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | 15 | from ament_copyright.main import main 16 | import pytest 17 | 18 | 19 | # Remove the `skip` decorator once the source file(s) have a copyright header 20 | @pytest.mark.skip(reason='No copyright header has been placed in the generated source file.') 21 | @pytest.mark.copyright 22 | @pytest.mark.linter 23 | def test_copyright(): 24 | rc = main(argv=['.', 'test']) 25 | assert rc == 0, 'Found errors' 26 | -------------------------------------------------------------------------------- /colcon_ws/src/unity_ros2_utils/unity_ros2_scripts/test/test_flake8.py: -------------------------------------------------------------------------------- 1 | # Copyright 2017 Open Source Robotics Foundation, Inc. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | 15 | from ament_flake8.main import main_with_errors 16 | import pytest 17 | 18 | 19 | @pytest.mark.flake8 20 | @pytest.mark.linter 21 | def test_flake8(): 22 | rc, errors = main_with_errors(argv=[]) 23 | assert rc == 0, \ 24 | 'Found %d code style errors / warnings:\n' % len(errors) + \ 25 | '\n'.join(errors) 26 | -------------------------------------------------------------------------------- /colcon_ws/src/unity_ros2_utils/unity_ros2_scripts/test/test_pep257.py: -------------------------------------------------------------------------------- 1 | # Copyright 2015 Open Source Robotics Foundation, Inc. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | 15 | from ament_pep257.main import main 16 | import pytest 17 | 18 | 19 | @pytest.mark.linter 20 | @pytest.mark.pep257 21 | def test_pep257(): 22 | rc = main(argv=['.', 'test']) 23 | assert rc == 0, 'Found code style errors / warnings' 24 | -------------------------------------------------------------------------------- /colcon_ws/src/unity_ros2_utils/unity_ros2_scripts/unity_ros2_scripts/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/hijimasa/ros2-tools-to-use-unity-like-gazebo/e741e250fbe92d732ba220696c9ea22ebb207404/colcon_ws/src/unity_ros2_utils/unity_ros2_scripts/unity_ros2_scripts/__init__.py -------------------------------------------------------------------------------- /colcon_ws/src/unity_ros2_utils/unity_ros2_scripts/unity_ros2_scripts/add_usd.py: -------------------------------------------------------------------------------- 1 | import os 2 | import rclpy 3 | from rclpy.node import Node 4 | import subprocess 5 | from ament_index_python.packages import get_package_share_directory 6 | 7 | class SimLancher(Node): 8 | def __init__(self): 9 | super().__init__('sim_launcher') 10 | 11 | self.declare_parameter('usd_path', '') 12 | usd_path = self.get_parameter('usd_path').get_parameter_value().string_value 13 | if usd_path == '': 14 | return 15 | self.declare_parameter('usd_name', '') 16 | usd_name = self.get_parameter('usd_name').get_parameter_value().string_value 17 | if usd_name == '': 18 | usd_name = os.path.splitext(os.path.basename(usd_path))[0] 19 | self.declare_parameter('x', 0.0) 20 | robot_x = self.get_parameter('x').get_parameter_value().double_value 21 | self.declare_parameter('y', 0.0) 22 | robot_y = self.get_parameter('y').get_parameter_value().double_value 23 | self.declare_parameter('z', 0.0) 24 | robot_z = self.get_parameter('z').get_parameter_value().double_value 25 | self.declare_parameter('R', 0.0) 26 | robot_roll = self.get_parameter('R').get_parameter_value().double_value 27 | self.declare_parameter('P', 0.0) 28 | robot_pitch = self.get_parameter('P').get_parameter_value().double_value 29 | self.declare_parameter('Y', 0.0) 30 | robot_yaw = self.get_parameter('Y').get_parameter_value().double_value 31 | 32 | self.sensor_proc = None 33 | 34 | spawn_command_path = os.path.join( 35 | get_package_share_directory('isaac_ros2_scripts'), 'add_usd_command.sh') 36 | temp_spawn_command_path = os.path.join("/tmp", 'add_usd_command.sh') 37 | 38 | with open(spawn_command_path, encoding="utf-8") as f: 39 | data_lines = f.read() 40 | 41 | data_lines = data_lines.replace("USD_PATH", usd_path) 42 | data_lines = data_lines.replace("USD_NAME", usd_name) 43 | data_lines = data_lines.replace("USD_ROLL", str(robot_roll)) 44 | data_lines = data_lines.replace("USD_PITCH", str(robot_pitch)) 45 | data_lines = data_lines.replace("USD_YAW", str(robot_yaw)) 46 | data_lines = data_lines.replace("USD_X", str(robot_x)) 47 | data_lines = data_lines.replace("USD_Y", str(robot_y)) 48 | data_lines = data_lines.replace("USD_Z", str(robot_z)) 49 | 50 | with open(temp_spawn_command_path, mode="w", encoding="utf-8") as f: 51 | f.write(data_lines) 52 | 53 | command = ["bash", temp_spawn_command_path] 54 | print(command) 55 | self.get_logger().info("command start") 56 | self.sensor_proc = subprocess.Popen(command) 57 | self.sensor_proc.wait() 58 | if not self.sensor_proc.stdout == None: 59 | lines = self.sensor_proc.stdout.read() 60 | for line in lines: 61 | print(line) 62 | self.get_logger().info("command end") 63 | 64 | def __del__(self): 65 | if not self.sensor_proc == None: 66 | if self.sensor_proc.poll() is None: 67 | killcmd = "kill {pid}".format(pid=self.sensor_proc.pid) 68 | subprocess.run(killcmd,shell=True) 69 | 70 | def main(args=None): 71 | rclpy.init(args=args) 72 | 73 | minimal_publisher = SimLancher() 74 | minimal_publisher.get_logger().info("node start") 75 | 76 | minimal_publisher.destroy_node() 77 | 78 | rclpy.shutdown() 79 | 80 | 81 | if __name__ == '__main__': 82 | main() 83 | 84 | -------------------------------------------------------------------------------- /colcon_ws/src/unity_ros2_utils/unity_ros2_scripts/unity_ros2_scripts/launcher.py: -------------------------------------------------------------------------------- 1 | import os 2 | import glob 3 | import signal 4 | import rclpy 5 | from rclpy.node import Node 6 | import subprocess 7 | from ament_index_python.packages import get_package_share_directory 8 | from os.path import expanduser 9 | 10 | def find_unity_executable(base_dir="~/Unity/Hub/Editor"): 11 | # Expand user directory in the base path 12 | base_dir = os.path.expanduser(base_dir) 13 | 14 | # Search for the Unity executable within any version folder 15 | unity_executable_pattern = os.path.join(base_dir, "*/Editor/Unity") 16 | unity_executables = glob.glob(unity_executable_pattern) 17 | 18 | if unity_executables: 19 | print("Unity executable(s) found:") 20 | for executable in unity_executables: 21 | print(executable) 22 | return str(unity_executables[0]) 23 | else: 24 | print("No Unity executable found.") 25 | return None 26 | 27 | class SimLancher(Node): 28 | def __init__(self): 29 | super().__init__('sim_launcher') 30 | self.proc = None 31 | 32 | self.declare_parameter('unity_path', '') 33 | unity_path = self.get_parameter('unity_path').get_parameter_value().string_value 34 | found_unity_path = find_unity_executable() 35 | if (unity_path == '') and (not found_unity_path == None): 36 | unity_path = found_unity_path 37 | if not os.path.isfile(unity_path): 38 | self.get_logger().fatal('Unity not found!!') 39 | return 40 | 41 | self.declare_parameter('project_path', str(os.path.expanduser("~")) + '/work/Robot_Unity_App/') 42 | project_path = self.get_parameter('project_path').get_parameter_value().string_value 43 | 44 | self.declare_parameter('open_file_path', '') 45 | open_file_path = self.get_parameter('open_file_path').get_parameter_value().string_value 46 | 47 | command = [unity_path, "-projectPath", project_path] 48 | if not open_file_path == '': 49 | command.append('-openfile') 50 | command.append(open_file_path) 51 | print(command) 52 | self.proc = subprocess.Popen(command, preexec_fn=os.setsid) 53 | 54 | def __del__(self): 55 | if not self.proc == None: 56 | if self.proc.poll() is None: 57 | os.killpg(os.getpgid(self.proc.pid), signal.SIGKILL) 58 | 59 | def main(args=None): 60 | rclpy.init(args=args) 61 | 62 | minimal_publisher = SimLancher() 63 | 64 | rclpy.spin(minimal_publisher) 65 | 66 | # Destroy the node explicitly 67 | # (optional - otherwise it will be done automatically 68 | # when the garbage collector destroys the node object) 69 | minimal_publisher.destroy_node() 70 | 71 | rclpy.shutdown() 72 | 73 | 74 | if __name__ == '__main__': 75 | main() 76 | 77 | -------------------------------------------------------------------------------- /colcon_ws/src/unity_ros2_utils/unity_ros2_scripts/unity_ros2_scripts/spawn_robot.py: -------------------------------------------------------------------------------- 1 | import os 2 | import socket 3 | import rclpy 4 | from rclpy.node import Node 5 | import subprocess 6 | from ament_index_python.packages import get_package_share_directory 7 | import shutil 8 | import xml.etree.ElementTree as ET 9 | 10 | class SimLancher(Node): 11 | def __init__(self): 12 | super().__init__('sim_launcher') 13 | 14 | self.declare_parameter('urdf_path', '') 15 | urdf_path = self.get_parameter('urdf_path').get_parameter_value().string_value 16 | if urdf_path == '': 17 | return 18 | urdf_file_name = os.path.basename(urdf_path) 19 | self.declare_parameter('package_name', '') 20 | package_name = self.get_parameter('package_name').get_parameter_value().string_value 21 | if package_name == '': 22 | return 23 | self.declare_parameter('unity_project_path', '') 24 | unity_project_path = self.get_parameter('unity_project_path').get_parameter_value().string_value 25 | if unity_project_path == '': 26 | return 27 | unity_project_path = os.path.expanduser(unity_project_path.rstrip('/')) 28 | self.get_logger().info(unity_project_path) 29 | self.declare_parameter('x', 0.0) 30 | robot_x = self.get_parameter('x').get_parameter_value().double_value 31 | self.declare_parameter('y', 0.0) 32 | robot_y = self.get_parameter('y').get_parameter_value().double_value 33 | self.declare_parameter('z', 0.0) 34 | robot_z = self.get_parameter('z').get_parameter_value().double_value 35 | self.declare_parameter('R', 0.0) 36 | robot_roll = self.get_parameter('R').get_parameter_value().double_value 37 | self.declare_parameter('P', 0.0) 38 | robot_pitch = self.get_parameter('P').get_parameter_value().double_value 39 | self.declare_parameter('Y', 0.0) 40 | robot_yaw = self.get_parameter('Y').get_parameter_value().double_value 41 | self.declare_parameter('fixed', False) 42 | robot_fixed = self.get_parameter('fixed').get_parameter_value().bool_value 43 | if robot_fixed: 44 | robot_fixed_string = "true" 45 | else: 46 | robot_fixed_string = "false" 47 | 48 | self.get_logger().info("command start") 49 | 50 | # Copy URDF file 51 | os.makedirs(unity_project_path + "/Assets/Urdf/" + package_name, exist_ok=True) 52 | shutil.copy(urdf_path, unity_project_path + "/Assets/Urdf/" + package_name + "/" + urdf_file_name) 53 | 54 | # XMLファイルの読み込み 55 | tree = ET.parse(urdf_path) 56 | root = tree.getroot() 57 | 58 | # 全ての タグの中の filename 属性の値をもとにstlファイルを転送 59 | filenames = [mesh.get('filename').replace('package://', '') for mesh in root.findall('.//mesh')] 60 | for filename in filenames: 61 | stl_package_name, stl_file_path = filename.split('/', 1) 62 | stl_directory_path, stl_file_name = os.path.split(filename) 63 | os.makedirs(unity_project_path + "/Assets/Urdf/" + package_name + "/" + stl_directory_path, exist_ok=True) 64 | package_path = os.path.join(get_package_share_directory(stl_package_name)) 65 | shutil.copy(package_path.rstrip('/') + "/" + stl_file_path , unity_project_path + "/Assets/Urdf/" + package_name + "/" + filename) 66 | 67 | self.send_urdf_import_settings("URDF_IMPORT " + unity_project_path + "/Assets/Urdf/" + package_name + "/" + urdf_file_name + " " + str(robot_x) + " " + str(robot_y) + " " + str(robot_z) + " " + str(robot_roll) + " " + str(robot_pitch) + " " + str(robot_yaw) + " " + robot_fixed_string) 68 | self.get_logger().info("command end") 69 | 70 | def __del__(self): 71 | pass 72 | 73 | def send_urdf_import_settings(self, urdf_import_settings): 74 | host = 'localhost' # Unity Editorを実行しているPCのIPアドレス 75 | port = 5000 76 | 77 | with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s: 78 | s.connect((host, port)) 79 | s.sendall(urdf_import_settings.encode('utf-8')) 80 | 81 | def main(args=None): 82 | rclpy.init(args=args) 83 | 84 | minimal_publisher = SimLancher() 85 | minimal_publisher.get_logger().info("node start") 86 | 87 | minimal_publisher.destroy_node() 88 | 89 | rclpy.shutdown() 90 | 91 | 92 | if __name__ == '__main__': 93 | main() 94 | 95 | -------------------------------------------------------------------------------- /colcon_ws/src/velocity_pub/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.5) 2 | project(velocity_pub) 3 | 4 | # Default to C99 5 | if(NOT CMAKE_C_STANDARD) 6 | set(CMAKE_C_STANDARD 99) 7 | endif() 8 | 9 | # Default to C++14 10 | if(NOT CMAKE_CXX_STANDARD) 11 | set(CMAKE_CXX_STANDARD 14) 12 | endif() 13 | 14 | if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") 15 | add_compile_options(-Wall -Wextra -Wpedantic) 16 | endif() 17 | 18 | # find dependencies 19 | find_package(ament_cmake REQUIRED) 20 | find_package(rclcpp REQUIRED) 21 | find_package(geometry_msgs REQUIRED) 22 | # uncomment the following section in order to fill in 23 | # further dependencies manually. 24 | # find_package( REQUIRED) 25 | 26 | add_executable(velocity_pub src/velocity_pub.cpp) 27 | ament_target_dependencies(velocity_pub rclcpp geometry_msgs) 28 | 29 | install(TARGETS 30 | velocity_pub 31 | DESTINATION lib/${PROJECT_NAME}) 32 | 33 | if(BUILD_TESTING) 34 | find_package(ament_lint_auto REQUIRED) 35 | # the following line skips the linter which checks for copyrights 36 | # uncomment the line when a copyright and license is not present in all source files 37 | #set(ament_cmake_copyright_FOUND TRUE) 38 | # the following line skips cpplint (only works in a git repo) 39 | # uncomment the line when this package is not in a git repo 40 | #set(ament_cmake_cpplint_FOUND TRUE) 41 | ament_lint_auto_find_test_dependencies() 42 | endif() 43 | 44 | ament_package() 45 | -------------------------------------------------------------------------------- /colcon_ws/src/velocity_pub/README.txt: -------------------------------------------------------------------------------- 1 | run command is below 2 | ros2 run velocity_pub velocity_pub --ros-args -r cmd_vel:=/my_robot_diff_drive_controller/cmd_vel 3 | -------------------------------------------------------------------------------- /colcon_ws/src/velocity_pub/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | velocity_pub 5 | 0.0.0 6 | TODO: Package description 7 | root 8 | TODO: License declaration 9 | 10 | ament_cmake 11 | 12 | rclcpp 13 | geometry_msgs 14 | 15 | ament_lint_auto 16 | ament_lint_common 17 | 18 | 19 | ament_cmake 20 | 21 | 22 | -------------------------------------------------------------------------------- /colcon_ws/src/velocity_pub/src/velocity_pub.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | #include 5 | 6 | #include "rclcpp/rclcpp.hpp" 7 | #include "geometry_msgs/msg/twist.hpp" 8 | #include "geometry_msgs/msg/twist_stamped.hpp" 9 | 10 | using namespace std::chrono_literals; 11 | using std::placeholders::_1; 12 | 13 | /* This example creates a subclass of Node and uses std::bind() to register a 14 | * member function as a callback from the timer. */ 15 | 16 | class MinimalPublisher : public rclcpp::Node 17 | { 18 | public: 19 | MinimalPublisher() 20 | : Node("minimal_publisher"), count_(0) 21 | { 22 | publisher_ = this->create_publisher("cmd_vel_stamped", 10); 23 | subscription_ = this->create_subscription( 24 | "cmd_vel", 10, std::bind(&MinimalPublisher::cmd_vel_callback, this, _1)); 25 | timer_ = this->create_wall_timer( 26 | 500ms, std::bind(&MinimalPublisher::timer_callback, this)); 27 | } 28 | 29 | private: 30 | void timer_callback() 31 | { 32 | auto message = geometry_msgs::msg::TwistStamped(); 33 | message.header.stamp = this->get_clock()->now(); 34 | message.twist.linear.x = input_cmd_vel_.linear.x; 35 | message.twist.linear.y = input_cmd_vel_.linear.y; 36 | message.twist.angular.z = input_cmd_vel_.angular.z; 37 | // RCLCPP_INFO(this->get_logger(), "Publishing: '%f'", message.twist.linear.x); 38 | publisher_->publish(message); 39 | } 40 | 41 | void cmd_vel_callback(const geometry_msgs::msg::Twist::SharedPtr msg) 42 | { 43 | input_cmd_vel_.linear.x = msg->linear.x; 44 | input_cmd_vel_.linear.y = msg->linear.y; 45 | input_cmd_vel_.angular.z = msg->angular.z; 46 | // RCLCPP_INFO(this->get_logger(), "I heard: %f", msg->linear.x); 47 | } 48 | rclcpp::TimerBase::SharedPtr timer_; 49 | rclcpp::Publisher::SharedPtr publisher_; 50 | rclcpp::Subscription::SharedPtr subscription_; 51 | geometry_msgs::msg::Twist input_cmd_vel_; 52 | size_t count_; 53 | }; 54 | 55 | int main(int argc, char * argv[]) 56 | { 57 | rclcpp::init(argc, argv); 58 | rclcpp::spin(std::make_shared()); 59 | rclcpp::shutdown(); 60 | return 0; 61 | } 62 | 63 | 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/docker/build-dokcer-image.bash: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | file_dir=`dirname $0` 4 | 5 | # get parameter from system 6 | user=`id -un` 7 | group=`id -gn` 8 | uid=`id -u` 9 | gid=`id -g` 10 | 11 | # build docker images 12 | docker build -t ${user}/ros-humble-jammy-unity \ 13 | --build-arg USER=unity \ 14 | --build-arg UID=${uid} \ 15 | --build-arg GROUP=${group} \ 16 | --build-arg GID=${gid} \ 17 | ${file_dir} 18 | -------------------------------------------------------------------------------- /docker/config/terminator/config: -------------------------------------------------------------------------------- 1 | [global_config] 2 | title_receive_bg_color = "#64d8ff" 3 | enabled_plugins = TerminalShot, LaunchpadCodeURLHandler, APTURLHandler, Logger, LaunchpadBugURLHandler 4 | title_transmit_bg_color = "#15b0dc" 5 | [keybindings] 6 | switch_to_tab_1=1 7 | switch_to_tab_2=2 8 | switch_to_tab_3=3 9 | switch_to_tab_4=4 10 | switch_to_tab_5=5 11 | switch_to_tab_6=6 12 | switch_to_tab_7=7 13 | [profiles] 14 | [[default]] 15 | use_system_font = False 16 | background_darkness = 0.75 17 | background_type = image 18 | scroll_background = False 19 | font = Monospace 12 20 | scrollback_infinite = True 21 | use_custom_command = False 22 | [layouts] 23 | [[default]] 24 | [[[child1]]] 25 | type = Terminal 26 | parent = window0 27 | [[[window0]]] 28 | type = Window 29 | parent = "" 30 | [plugins] 31 | -------------------------------------------------------------------------------- /docker/dockerfile: -------------------------------------------------------------------------------- 1 | FROM ros:humble-ros-base-jammy 2 | 3 | # Arguments 4 | ARG USER=initial 5 | ARG GROUP=initial 6 | ARG UID=1000 7 | ARG GID=${UID} 8 | ARG SHELL=/bin/bash 9 | 10 | # Replace apt urls 11 | RUN sed -i 's@archive.ubuntu.com@ftp.jaist.ac.jp/pub/Linux@g' /etc/apt/sources.list 12 | 13 | # Install packages 14 | RUN apt-get update && apt-get install -y --no-install-recommends \ 15 | wget curl ssh \ 16 | zsh terminator gnome-terminal git vim tig \ 17 | dbus-x11 libglvnd0 libgl1 libglx0 libegl1 libxext6 libx11-6 \ 18 | ros-humble-desktop \ 19 | ros-humble-ament-cmake ros-humble-angles ros-humble-controller-manager \ 20 | ros-humble-pluginlib ros-humble-urdf ros-humble-yaml-cpp-vendor ros-humble-joint-state-pub* \ 21 | ros-humble-cv-bridge ros-humble-diagnostic-updater \ 22 | ros-humble-moveit ros-humble-rosbridge-server ros-humble-urdf-launch ros-humble-urdf-tutorial \ 23 | ros-humble-xacro ros-humble-realtime-tools ros-humble-control-toolbox ros-humble-ros2-control* ros-humble-ros-testing \ 24 | ros-humble-teleop-twist-keyboard ros-humble-vision-msgs ros-humble-image-transport* \ 25 | && apt-get clean \ 26 | && rm -rf /var/lib/apt/lists/* 27 | 28 | # Env vars for the nvidia-container-runtime. 29 | ENV NVIDIA_VISIBLE_DEVICES=all 30 | ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute 31 | 32 | # Setup users and groups 33 | RUN groupadd --gid ${GID} ${GROUP} \ 34 | && useradd --gid ${GID} --uid ${UID} -ms ${SHELL} ${USER} \ 35 | && mkdir -p /etc/sudoers.d \ 36 | && echo "${USER}:x:${UID}:${UID}:${USER},,,:$HOME:${shell}" >> /etc/passwd \ 37 | && echo "${USER}:x:${UID}:" >> /etc/group \ 38 | && echo "${USER} ALL=(ALL) NOPASSWD: ALL" > "/etc/sudoers.d/${USER}" \ 39 | && chmod 0440 "/etc/sudoers.d/${USER}" 40 | 41 | # copy entrypoint 42 | COPY entrypoint.bash /entrypoint.bash 43 | RUN chmod 777 /entrypoint.bash 44 | 45 | # setup terminator config 46 | RUN mkdir -p /home/${USER}/.config/terminator 47 | COPY config/terminator/config /home/${USER}/.config/terminator 48 | RUN sudo chown -R ${USER}:${GROUP} /home/${USER}/.config 49 | 50 | # Install unityhub 51 | RUN wget -qO - https://hub.unity3d.com/linux/keys/public | gpg --dearmor | sudo tee /usr/share/keyrings/Unity_Technologies_ApS.gpg > /dev/null \ 52 | && sh -c 'echo "deb [signed-by=/usr/share/keyrings/Unity_Technologies_ApS.gpg] https://hub.unity3d.com/linux/repos/deb stable main" > /etc/apt/sources.list.d/unityhub.list' \ 53 | && apt update \ 54 | && apt-get install -y --no-install-recommends unityhub 55 | 56 | RUN wget -q https://dl.google.com/linux/direct/google-chrome-stable_current_amd64.deb 57 | RUN apt-get install -y ./google-chrome-stable_current_amd64.deb 58 | 59 | RUN ln -s /usr/lib/x86_64-linux-gnu/libdl.so.2 /usr/lib/x86_64-linux-gnu/libdl.so 60 | 61 | # Switch user to ${USER} 62 | USER ${USER} 63 | 64 | # Make SSH available 65 | EXPOSE 22 66 | 67 | # Switch to user's HOME folder 68 | WORKDIR /home/${USER}/colcon_ws 69 | 70 | RUN echo 'source /opt/ros/humble/setup.bash' >> ~/.bashrc 71 | RUN echo "source /home/${USER}/colcon_ws/install/setup.sh" >> ~/.bashrc 72 | 73 | # CMD ["terminator"] 74 | #ENTRYPOINT ["/entrypoint.bash", "terminator"] 75 | ENTRYPOINT ["/bin/bash"] 76 | -------------------------------------------------------------------------------- /docker/entrypoint.bash: -------------------------------------------------------------------------------- 1 | #! /bin/bash 2 | 3 | source /opt/ros/foxy/setup.bash 4 | exec $@ 5 | -------------------------------------------------------------------------------- /docker/run-docker-container.bash: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | file_dir=`dirname $0` 4 | 5 | # start sharing xhost 6 | xhost +local:root 7 | user=`id -un` 8 | 9 | if type nvidia-container-runtime >/dev/null 2>&1; then 10 | GPU_OPT="--gpus all" 11 | fi 12 | 13 | # run docker 14 | docker run -it --rm \ 15 | --net=host \ 16 | --ipc=host \ 17 | ${GPU_OPT} \ 18 | --privileged \ 19 | -v /tmp/.X11-unix:/tmp/.X11-unix:rw \ 20 | -v $HOME/.Xauthority:$docker/.Xauthority \ 21 | -v ${file_dir}/../work:/home/unity/work \ 22 | -v ${file_dir}/../colcon_ws:/home/unity/colcon_ws \ 23 | -e XAUTHORITY=$home_folder/.Xauthority \ 24 | -e DISPLAY=$DISPLAY \ 25 | -e QT_X11_NO_MITSHM=1 \ 26 | -v 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80466b41a15df7f1eb8be59da0ce1b67 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /work/Robot_Unity_App/Assets/Scripts/CameraMover.cs: -------------------------------------------------------------------------------- 1 | using System; 2 | using System.Collections; 3 | using System.Collections.Generic; 4 | using UnityEngine; 5 | using UnityEngine.SocialPlatforms; 6 | using System.Text; 7 | using System.Threading; 8 | using System.Threading.Tasks; 9 | using UnityEditor; 10 | 11 | [System.Serializable] 12 | public class PreviousScenePosition 13 | { 14 | public Vector3 editorCamPosition; 15 | public Quaternion editorCamRotation; 16 | } 17 | 18 | public class CameraMover : MonoBehaviour 19 | { 20 | [SerializeField, Range(0.1f, 10.0f)] 21 | private float _positionStep = 2.0f; 22 | [SerializeField, Range(30.0f, 150.0f)] 23 | private float _mouseSensitive = 90.0f; 24 | 25 | private bool _cameraMoveActive = true; 26 | private Transform _camTransform; 27 | private Vector3 _startMousePos; 28 | private Vector3 _presentCamRotation; 29 | private Vector3 _presentCamPos; 30 | private Quaternion _initialCamRotation; 31 | private bool _uiMessageActiv; 32 | private GameObject mainCamera = null; 33 | 34 | private void OnEnable() 35 | { 36 | EditorApplication.playModeStateChanged += OnPlayModeChanged; 37 | } 38 | 39 | private void OnPlayModeChanged(PlayModeStateChange state) 40 | { 41 | if (state == PlayModeStateChange.ExitingPlayMode) 42 | { 43 | if (mainCamera == null) 44 | { 45 | mainCamera = GameObject.Find("Main Camera"); 46 | } 47 | Selection.activeGameObject = mainCamera; 48 | EditorApplication.ExecuteMenuItem( 49 | "GameObject/Align View to Selected"); 50 | } 51 | else if (state == PlayModeStateChange.EnteredPlayMode) 52 | { 53 | if (mainCamera == null) 54 | { 55 | mainCamera = GameObject.Find("Main Camera"); 56 | } 57 | Selection.activeGameObject = mainCamera; 58 | EditorApplication.ExecuteMenuItem( 59 | "GameObject/Align With View"); 60 | } 61 | } 62 | 63 | void Start() 64 | { 65 | _camTransform = this.gameObject.transform; 66 | if (mainCamera == null) 67 | { 68 | mainCamera = GameObject.Find("Main Camera"); 69 | } 70 | if (mainCamera != null) 71 | { 72 | mainCamera.transform.SetParent(this.transform); 73 | Debug.Log("Main Camera is set under CameraMover"); 74 | } 75 | else 76 | { 77 | Debug.LogWarning("Main Camera not found"); 78 | } 79 | 80 | _initialCamRotation = this.gameObject.transform.rotation; 81 | } 82 | 83 | void Update() 84 | { 85 | CamControlIsActive(); 86 | if (_cameraMoveActive) 87 | { 88 | ResetCameraRotation(); 89 | CameraRotationMouseControl(); 90 | CameraSlideMouseControl(); 91 | CameraPositionKeyControl(); 92 | CameraZoomMouseScroll(); 93 | } 94 | } 95 | 96 | public void CamControlIsActive() 97 | { 98 | if (Input.GetKeyDown(KeyCode.Space)) 99 | { 100 | _cameraMoveActive = !_cameraMoveActive; 101 | 102 | if (_uiMessageActiv == false) 103 | { 104 | StartCoroutine(DisplayUiMessage()); 105 | } 106 | Debug.Log("CamControl : " + _cameraMoveActive); 107 | } 108 | } 109 | 110 | private void ResetCameraRotation() 111 | { 112 | if(Input.GetKeyDown(KeyCode.P)) 113 | { 114 | this.gameObject.transform.rotation = _initialCamRotation; 115 | Debug.Log("Cam Rotate : " + _initialCamRotation.ToString()); 116 | } 117 | } 118 | 119 | private void CameraRotationMouseControl() 120 | { 121 | if (Input.GetMouseButtonDown(1)) 122 | { 123 | _startMousePos = Input.mousePosition; 124 | _presentCamRotation.x = _camTransform.transform.eulerAngles.x; 125 | _presentCamRotation.y = _camTransform.transform.eulerAngles.y; 126 | } 127 | 128 | if (Input.GetMouseButton(1)) 129 | { 130 | float x = (_startMousePos.x - Input.mousePosition.x) / Screen.width; 131 | float y = (_startMousePos.y - Input.mousePosition.y) / Screen.height; 132 | float eulerX = _presentCamRotation.x + y * _mouseSensitive; 133 | float eulerY = _presentCamRotation.y + x * _mouseSensitive; 134 | _camTransform.rotation = Quaternion.Euler(eulerX, eulerY, 0); 135 | } 136 | } 137 | 138 | private void CameraSlideMouseControl() 139 | { 140 | if (Input.GetMouseButtonDown(2)) 141 | { 142 | _startMousePos = Input.mousePosition; 143 | _presentCamPos = _camTransform.position; 144 | } 145 | 146 | if (Input.GetMouseButton(2)) 147 | { 148 | float x = (_startMousePos.x - Input.mousePosition.x) / Screen.width; 149 | float y = (_startMousePos.y - Input.mousePosition.y) / Screen.height; 150 | x = x * _positionStep; 151 | y = y * _positionStep; 152 | Vector3 velocity = _camTransform.rotation * new Vector3(x, y, 0); 153 | velocity = velocity + _presentCamPos; 154 | _camTransform.position = velocity; 155 | } 156 | } 157 | 158 | private void CameraZoomMouseScroll() 159 | { 160 | float scrollInput = Input.GetAxis("Mouse ScrollWheel"); 161 | _camTransform.position += _camTransform.forward * scrollInput * _positionStep; 162 | } 163 | 164 | private void CameraPositionKeyControl() 165 | { 166 | Vector3 campos = _camTransform.position; 167 | 168 | if (Input.GetKey(KeyCode.D)) { campos += _camTransform.right * Time.deltaTime * _positionStep; } 169 | if (Input.GetKey(KeyCode.A)) { campos -= _camTransform.right * Time.deltaTime * _positionStep; } 170 | if (Input.GetKey(KeyCode.E)) { campos += _camTransform.up * Time.deltaTime * _positionStep; } 171 | if (Input.GetKey(KeyCode.Q)) { campos -= _camTransform.up * Time.deltaTime * _positionStep; } 172 | if (Input.GetKey(KeyCode.W)) { campos += _camTransform.forward * Time.deltaTime * _positionStep; } 173 | if (Input.GetKey(KeyCode.S)) { campos -= _camTransform.forward * Time.deltaTime * _positionStep; } 174 | 175 | _camTransform.position = campos; 176 | } 177 | 178 | private IEnumerator DisplayUiMessage() 179 | { 180 | _uiMessageActiv = true; 181 | float time = 0; 182 | while (time < 2) 183 | { 184 | time = time + Time.deltaTime; 185 | yield return null; 186 | } 187 | _uiMessageActiv = false; 188 | } 189 | 190 | void OnGUI() 191 | { 192 | if (_uiMessageActiv == false) { return; } 193 | GUI.color = Color.black; 194 | if (_cameraMoveActive == true) 195 | { 196 | GUI.Label(new Rect(Screen.width / 2 - 50, Screen.height - 30, 100, 20), "カメラ操作 有効"); 197 | } 198 | 199 | if (_cameraMoveActive == false) 200 | { 201 | GUI.Label(new Rect(Screen.width / 2 - 50, Screen.height - 30, 100, 20), "カメラ操作 無効"); 202 | } 203 | } 204 | } 205 | 206 | [InitializeOnLoad] 207 | public class CameraMoverPlacer 208 | { 209 | private static CameraMover instance = null; 210 | 211 | private class StartUpData : ScriptableSingleton 212 | { 213 | [SerializeField] 214 | private int _callCount; 215 | public bool IsStartUp() 216 | { 217 | return _callCount++ == 0; 218 | } 219 | } 220 | 221 | static CameraMoverPlacer() 222 | { 223 | EditorApplication.update += CameraMoverPlacer.Initialize; 224 | } 225 | 226 | private static void Initialize() 227 | { 228 | if (!StartUpData.instance.IsStartUp()) 229 | return; 230 | 231 | if (instance != null) return; 232 | 233 | GameObject obj = new GameObject("CameraMover"); 234 | instance = obj.AddComponent(); 235 | 236 | EditorApplication.update -= CameraMoverPlacer.Initialize; 237 | } 238 | 239 | } 240 | -------------------------------------------------------------------------------- /work/Robot_Unity_App/Assets/Scripts/CameraMover.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 695ce8e4aa4f5c260b4982563a6715f1 -------------------------------------------------------------------------------- /work/Robot_Unity_App/Assets/Scripts/Clock.cs: -------------------------------------------------------------------------------- 1 | using System; 2 | using UnityEngine; 3 | 4 | namespace Unity.Robotics.Core 5 | { 6 | public static class Clock 7 | { 8 | // Since UnityScaled is the default Unity Time mode, we'll use that for this project 9 | // None of the other time modes are fully validated and guaranteed to be without issues 10 | public enum ClockMode 11 | { 12 | // Time delta scaled by simulation speed to the start of the current frame, since the beginning of the game 13 | UnityScaled, 14 | // Real time delta to the exact moment this function is called, since beginning of the game 15 | // UnityUnscaled, 16 | // Real time delta since the Unix Epoch (1/1/1970 @ midnight) 17 | // UnixEpoch, 18 | // Examples of other potentially useful clock modes... 19 | // UnixEpochUtc, 20 | // DateTimeNow, 21 | // DateTimeNowUtc, 22 | // ExternalClock 23 | } 24 | 25 | public const double k_NanoSecondsInSeconds = 1e9; 26 | 27 | static readonly DateTime k_UnixEpoch = new DateTime(1970, 1, 1, 0, 0, 0, 0); 28 | // Time the application started, relative to Unix Epoch 29 | static readonly double k_StartTimeEpochSeconds = SecondsSinceUnixEpoch - Time.realtimeSinceStartupAsDouble; 30 | 31 | static double SecondsSinceUnixEpoch => (DateTime.Now - k_UnixEpoch).TotalSeconds; 32 | static double UnityUnscaledTimeSinceFrameStart => 33 | Time.realtimeSinceStartupAsDouble - Time.unscaledTimeAsDouble; 34 | 35 | public static double TimeSinceFrameStart => Now - FrameStartTimeInSeconds; 36 | 37 | public static double FrameStartTimeInSeconds 38 | { 39 | get 40 | { 41 | return Mode switch 42 | { 43 | // This might be an approximation... needs testing. 44 | ClockMode.UnityScaled => Time.timeAsDouble, 45 | // ClockMode.UnityUnscaled => Time.unscaledTimeAsDouble, 46 | // ClockMode.UnixEpoch => k_StartTimeEpochSeconds + UnityUnscaledTimeSinceFrameStart, 47 | _ => throw new NotImplementedException() 48 | }; 49 | } 50 | } 51 | 52 | public static double NowTimeInSeconds 53 | { 54 | get 55 | { 56 | return Mode switch 57 | { 58 | ClockMode.UnityScaled => Time.timeAsDouble + UnityUnscaledTimeSinceFrameStart * Time.timeScale, 59 | // ClockMode.UnityUnscaled => Time.realtimeSinceStartupAsDouble, 60 | // ClockMode.UnixEpoch => SecondsSinceUnixEpoch, 61 | _ => throw new NotImplementedException() 62 | }; 63 | } 64 | } 65 | 66 | // NOTE: Precision loss vs. other time measurements due to no deltaTimeAsDouble interface 67 | public static float DeltaTimeInSeconds 68 | { 69 | get 70 | { 71 | return Mode switch 72 | { 73 | ClockMode.UnityScaled => Time.deltaTime, 74 | _ => Time.unscaledDeltaTime, 75 | }; 76 | } 77 | } 78 | 79 | public static ClockMode Mode = ClockMode.UnityScaled; 80 | 81 | // Simple interfaces for supporting commonly used vocabulary 82 | public static double Now => NowTimeInSeconds; 83 | public static double time => FrameStartTimeInSeconds; 84 | public static float deltaTime => DeltaTimeInSeconds; 85 | 86 | // WARNING: These functions could potentially mess up threaded access to this clock class. 87 | // Would need to include some mutex locking to keep these calls thread-safe 88 | public static double GetFrameTime(ClockMode temporaryMode) 89 | { 90 | var originalMode = Mode; 91 | Mode = temporaryMode; 92 | var t = FrameStartTimeInSeconds; 93 | Mode = originalMode; 94 | return t; 95 | } 96 | 97 | public static double GetNowTime(ClockMode temporaryMode) 98 | { 99 | var originalMode = Mode; 100 | Mode = temporaryMode; 101 | var t = NowTimeInSeconds; 102 | Mode = originalMode; 103 | return t; 104 | } 105 | } 106 | } 107 | -------------------------------------------------------------------------------- /work/Robot_Unity_App/Assets/Scripts/Clock.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 3d81ee60e65bf09559d904f3b92ceac7 -------------------------------------------------------------------------------- /work/Robot_Unity_App/Assets/Scripts/JointStatePub.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | using Unity.Robotics.ROSTCPConnector; 5 | using RosMessageTypes.Sensor; 6 | using RosMessageTypes.Std; 7 | using RosMessageTypes.BuiltinInterfaces; 8 | 9 | using Unity.Robotics.Core; 10 | 11 | public class JointStatePub : MonoBehaviour 12 | { 13 | public ArticulationBody[] articulationBodies; 14 | public string topicName = "/joint_states"; 15 | public int jointLength = 19; 16 | private ROSConnection ros; 17 | 18 | float time; 19 | 20 | public string frameId = ""; 21 | public string[] jointName = new string[] {}; 22 | public double[] position = new double[] {}; 23 | public double[] velocity = new double[] {}; 24 | public double[] effort = new double[] {}; 25 | 26 | void Start() 27 | { 28 | ros = ROSConnection.GetOrCreateInstance(); 29 | ros.RegisterPublisher(topicName, 15); 30 | 31 | position = new double[jointName.Length]; 32 | velocity = new double[jointName.Length]; 33 | effort = new double[jointName.Length]; 34 | } 35 | 36 | void FixedUpdate() 37 | { 38 | time += Time.deltaTime; 39 | if (time<0.05f) return; 40 | time = 0.0f; 41 | var timestamp = new TimeStamp(Clock.Now); 42 | 43 | for (int i = 0; i < articulationBodies.Length; i++) 44 | { 45 | ArticulationDrive xDrive = this.articulationBodies[i].xDrive; 46 | position[i] = articulationBodies[i].jointPosition[0]/Mathf.Rad2Deg; 47 | velocity[i] = articulationBodies[i].jointVelocity[0]/Mathf.Rad2Deg; 48 | effort[i] = articulationBodies[i].driveForce[0]/Mathf.Rad2Deg; 49 | } 50 | 51 | JointStateMsg joint_msg = new JointStateMsg{ 52 | header = new HeaderMsg 53 | { 54 | frame_id = frameId, 55 | stamp = new TimeMsg{ 56 | sec = timestamp.Seconds, 57 | nanosec = timestamp.NanoSeconds, 58 | }, 59 | }, 60 | name = jointName, 61 | position = position, 62 | velocity = velocity, 63 | effort = effort, 64 | }; 65 | 66 | ros.Publish(topicName, joint_msg); 67 | } 68 | } 69 | -------------------------------------------------------------------------------- /work/Robot_Unity_App/Assets/Scripts/JointStatePub.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 623eceee14198ef6a91ebe39247aa5c2 -------------------------------------------------------------------------------- /work/Robot_Unity_App/Assets/Scripts/JointStateSub.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | using Unity.Robotics.ROSTCPConnector; 5 | using RosMessageTypes.Sensor; 6 | 7 | public class JointStateSub : MonoBehaviour 8 | { 9 | public ArticulationBody[] articulationBodies; 10 | public string[] jointName; 11 | public string topicName = "/joint_states"; 12 | public int jointLength = 19; 13 | private List jointNameList; 14 | private ROSConnection ros; 15 | 16 | // Set Parameters 17 | public float stiffness = 0F; 18 | public float damping = 10000000F; 19 | public float forceLimit = float.MaxValue; 20 | 21 | void Start() 22 | { 23 | ros = ROSConnection.GetOrCreateInstance(); 24 | ros.Subscribe(topicName, Callback); 25 | 26 | jointNameList = new List(jointName); 27 | } 28 | 29 | void Callback(JointStateMsg msg) 30 | { 31 | int index; 32 | for (int i = 0; i < msg.name.Length; i++) 33 | { 34 | index = jointNameList.IndexOf(msg.name[i]); 35 | if (index != -1) 36 | { 37 | ArticulationDrive aDrive = articulationBodies[index].xDrive; 38 | if (i < msg.position.Length) 39 | aDrive.target = Mathf.Rad2Deg * (float)msg.position[i]; 40 | if (i < msg.velocity.Length) 41 | aDrive.targetVelocity = Mathf.Rad2Deg * (float)msg.velocity[i]; 42 | float effort = float.NaN; 43 | if (i < msg.effort.Length) 44 | effort = (float) msg.effort[i]; 45 | articulationBodies[index].xDrive = aDrive; 46 | } 47 | } 48 | } 49 | } 50 | -------------------------------------------------------------------------------- /work/Robot_Unity_App/Assets/Scripts/JointStateSub.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: c348625a04b6f6e86aca4424b937ddbb -------------------------------------------------------------------------------- /work/Robot_Unity_App/Assets/Scripts/RemoteCommandListener.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 0f1e87bcaf0d78e8ebbe4489dd302513 -------------------------------------------------------------------------------- /work/Robot_Unity_App/Assets/Scripts/TimeStamp.cs: -------------------------------------------------------------------------------- 1 | using System; 2 | using UnityEngine; 3 | using RosMessageTypes.BuiltinInterfaces; 4 | 5 | namespace Unity.Robotics.Core 6 | { 7 | public readonly struct TimeStamp 8 | { 9 | public const double k_NanosecondsInSecond = 1e9f; 10 | 11 | // TODO: specify base time this stamp is measured against (Sim 0, time since application start, etc.) 12 | public readonly int Seconds; 13 | public readonly uint NanoSeconds; 14 | 15 | // (From Unity Time.time) 16 | public TimeStamp(double timeInSeconds) 17 | { 18 | var sec = Math.Floor(timeInSeconds); 19 | var nsec = (timeInSeconds - sec) * k_NanosecondsInSecond; 20 | // TODO: Check for negatives to ensure safe cast 21 | Seconds = (int)sec; 22 | NanoSeconds = (uint)nsec; 23 | } 24 | 25 | // (From a ROS2 Time message) 26 | TimeStamp(int sec, uint nsec) 27 | { 28 | Seconds = sec; 29 | NanoSeconds = nsec; 30 | } 31 | 32 | // NOTE: We could define these operators in a transport-specific extension package 33 | public static implicit operator TimeMsg(TimeStamp stamp) 34 | { 35 | return new TimeMsg(stamp.Seconds, stamp.NanoSeconds); 36 | } 37 | 38 | public static implicit operator TimeStamp(TimeMsg stamp) 39 | { 40 | return new TimeStamp(stamp.sec, stamp.nanosec); 41 | } 42 | } 43 | } 44 | -------------------------------------------------------------------------------- /work/Robot_Unity_App/Assets/Scripts/TimeStamp.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 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| flags: 0 11 | vcSharedLogLevel: 12 | value: 0d5e400f0650 13 | flags: 0 14 | m_VCAutomaticAdd: 1 15 | m_VCDebugCom: 0 16 | m_VCDebugCmd: 0 17 | m_VCDebugOut: 0 18 | m_SemanticMergeMode: 2 19 | m_DesiredImportWorkerCount: 8 20 | m_StandbyImportWorkerCount: 2 21 | m_IdleImportWorkerShutdownDelay: 60000 22 | m_VCShowFailedCheckout: 1 23 | m_VCOverwriteFailedCheckoutAssets: 1 24 | m_VCProjectOverlayIcons: 1 25 | m_VCHierarchyOverlayIcons: 1 26 | m_VCOtherOverlayIcons: 1 27 | m_VCAllowAsyncUpdate: 1 28 | m_VCScanLocalPackagesOnConnect: 1 29 | m_ArtifactGarbageCollection: 1 30 | m_CompressAssetsOnImport: 1 31 | -------------------------------------------------------------------------------- /work/Robot_Unity_App/UserSettings/Search.index: -------------------------------------------------------------------------------- 1 | { 2 | "name": "Assets", 3 | "roots": ["Assets"], 4 | "includes": [], 5 | "excludes": ["Assets/Temp/", "Assets/External/"], 6 | "options": { 7 | "types": true, 8 | "properties": true, 9 | "extended": false, 10 | "dependencies": true 11 | }, 12 | "baseScore": 999 13 | } -------------------------------------------------------------------------------- /work/Robot_Unity_App/UserSettings/Search.settings: -------------------------------------------------------------------------------- 1 | trackSelection = true 2 | refreshSearchWindowsInPlayMode = false 3 | pickerAdvancedUI = false 4 | fetchPreview = true 5 | defaultFlags = 0 6 | keepOpen = true 7 | queryFolder = "Assets" 8 | onBoardingDoNotAskAgain = true 9 | showPackageIndexes = false 10 | showStatusBar = false 11 | scopes = { 12 | "picker_window_position_offset.075BCD15" = "343;35;320;550" 13 | "picker_visibility_flags.075BCD15" = "264" 14 | "picker_item_size.075BCD15" = "96" 15 | "picker_inspector.075BCD15" = "0" 16 | } 17 | providers = { 18 | asset = { 19 | active = true 20 | priority = 25 21 | defaultAction = null 22 | } 23 | scene = { 24 | active = true 25 | priority = 50 26 | defaultAction = 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