├── .github ├── scripts │ └── sync_scripts.sh └── workflows │ └── check_tutorial_files.yaml ├── .gitmodules ├── LICENSE-2.0.txt ├── MobileRobotUITutorialProject ├── .gitignore ├── Assets │ ├── JoyStick │ │ ├── Scripts │ │ │ └── OnScreenStickCmdVelPublisher.cs │ │ └── Textures │ │ │ └── white_circle.png │ ├── Models.meta │ ├── Models │ │ ├── maze.dae │ │ └── maze.dae.meta │ ├── OdometryViewer.meta │ ├── OdometryViewer │ │ ├── Materials.meta │ │ ├── Materials │ │ │ ├── ArrowMaterial.mat │ │ │ ├── ArrowMaterial.mat.meta │ │ │ ├── ArrowMaterial2.mat │ │ │ ├── ArrowMaterial2.mat.meta │ │ │ ├── Arrows.fbx │ │ │ └── Arrows.fbx.meta │ │ ├── Prefabs.meta │ │ ├── Prefabs │ │ │ ├── Arrows-bule.prefab │ │ │ ├── Arrows-bule.prefab.meta │ │ │ ├── Arrows-red.prefab │ │ │ └── Arrows-red.prefab.meta │ │ ├── Scripts.meta │ │ └── Scripts │ │ │ ├── OdometryViewer.cs │ │ │ └── OdometryViewer.cs.meta │ ├── PointCloud.meta │ ├── PointCloud │ │ ├── Materials.meta │ │ ├── Materials │ │ │ ├── Sphere.mat │ │ │ └── Sphere.mat.meta │ │ ├── Prefabs.meta │ │ ├── Prefabs │ │ │ ├── Sphere.prefab │ │ │ └── Sphere.prefab.meta │ │ ├── Scenes.meta │ │ ├── Scenes │ │ │ ├── PointCloudSample.unity │ │ │ └── PointCloudSample.unity.meta │ │ ├── Scripts.meta │ │ └── Scripts │ │ │ ├── PointCloudLocator.cs │ │ │ └── PointCloudLocator.cs.meta │ ├── Prefabs.meta │ ├── Prefabs │ │ ├── Canvas.prefab │ │ └── Canvas.prefab.meta │ ├── Resources.meta │ ├── Resources │ │ ├── GeometryCompassSettings.asset │ │ ├── GeometryCompassSettings.asset.meta │ │ ├── ROSConnectionPrefab.prefab │ │ └── ROSConnectionPrefab.prefab.meta │ ├── Scenes.meta │ ├── Scenes │ │ ├── Step1.unity │ │ ├── Step1.unity.meta │ │ ├── Step2.unity │ │ ├── Step2.unity.meta │ │ ├── Step3.unity │ │ ├── Step3.unity.meta │ │ ├── Step4.unity │ │ ├── Step4.unity.meta │ │ ├── Step5.unity │ │ ├── Step5.unity.meta │ │ ├── Step6.unity │ │ ├── Step6.unity.meta │ │ ├── Step7.unity │ │ └── Step7.unity.meta │ ├── Scripts.meta │ ├── Scripts │ │ ├── CmdVelPublisher.cs │ │ ├── CmdVelPublisher.cs.meta │ │ ├── CmdVelSubscriber.cs │ │ ├── CmdVelSubscriber.cs.meta │ │ ├── ImageSubscriber.cs │ │ ├── ImageSubscriber.cs.meta │ │ ├── LaserScanSubscriber.cs │ │ ├── LaserScanSubscriber.cs.meta │ │ ├── OdomSubscriber.cs │ │ ├── OdomSubscriber.cs.meta │ │ ├── TfSubscriber.cs │ │ └── TfSubscriber.cs.meta │ ├── URDF.meta │ ├── URDF │ │ ├── Materials.meta │ │ ├── Materials │ │ │ ├── Default.mat │ │ │ └── Default.mat.meta │ │ ├── raspimouse_description.meta │ │ ├── raspimouse_description │ │ │ ├── .gitignore │ │ │ ├── CMakeLists.txt │ │ │ ├── CMakeLists.txt.meta │ │ │ ├── LICENSE │ │ │ ├── LICENSE.meta │ │ │ ├── README.md │ │ │ ├── README.md.meta │ │ │ ├── launch.meta │ │ │ ├── launch │ │ │ │ ├── config.meta │ │ │ │ ├── config │ │ │ │ │ ├── urdf.rviz │ │ │ │ │ └── urdf.rviz.meta │ │ │ │ ├── display_urdf.launch │ │ │ │ ├── display_urdf.launch.meta │ │ │ │ ├── display_xacro.launch │ │ │ │ └── display_xacro.launch.meta │ │ │ ├── meshes.meta │ │ │ ├── meshes │ │ │ │ ├── dae.meta │ │ │ │ ├── dae │ │ │ │ │ ├── body.meta │ │ │ │ │ ├── body │ │ │ │ │ │ ├── RasPiMouse_body.dae │ │ │ │ │ │ ├── RasPiMouse_body.dae.meta │ │ │ │ │ │ ├── raspimouse_camera_mount.dae │ │ │ │ │ │ ├── raspimouse_camera_mount.dae.meta │ │ │ │ │ │ ├── raspimouse_top_plate.dae │ │ │ │ │ │ ├── raspimouse_top_plate.dae.meta │ │ │ │ │ │ ├── rt-logo.png │ │ │ │ │ │ └── rt-logo.png.meta │ │ │ │ │ ├── sensor.meta │ │ │ │ │ ├── sensor │ │ │ │ │ │ ├── urg_bottom_origin.dae │ │ │ │ │ │ ├── urg_bottom_origin.dae.meta │ │ │ │ │ │ ├── urg_optical_axis_center_origin.dae │ │ │ │ │ │ └── urg_optical_axis_center_origin.dae.meta │ │ │ │ │ ├── wheel.meta │ │ │ │ │ └── wheel │ │ │ │ │ │ ├── RasPiMouse_wheel.dae │ │ │ │ │ │ └── RasPiMouse_wheel.dae.meta │ │ │ │ ├── stl.meta │ │ │ │ └── stl │ │ │ │ │ ├── RasPiMouse_TopPlate.stl │ │ │ │ │ ├── RasPiMouse_TopPlate.stl.meta │ │ │ │ │ ├── RasPiMouse_base-metric.stl │ │ │ │ │ ├── RasPiMouse_base-metric.stl.meta │ │ │ │ │ ├── RasPiMouse_sensor-metric.stl │ │ │ │ │ ├── RasPiMouse_sensor-metric.stl.meta │ │ │ │ │ ├── RasPiMouse_wheel-metric.stl │ │ │ │ │ ├── RasPiMouse_wheel-metric.stl.meta │ │ │ │ │ ├── RasPiMouse_wheel-mm.stl │ │ │ │ │ ├── RasPiMouse_wheel-mm.stl.meta │ │ │ │ │ ├── URG-04LX-UG01.stl │ │ │ │ │ ├── URG-04LX-UG01.stl.meta │ │ │ │ │ ├── color.meta │ │ │ │ │ └── color │ │ │ │ │ ├── RasPiMouse_body_black.stl │ │ │ │ │ ├── RasPiMouse_body_black.stl.meta │ │ │ │ │ ├── RasPiMouse_body_gray.stl │ │ │ │ │ ├── RasPiMouse_body_gray.stl.meta │ │ │ │ │ ├── RasPiMouse_body_green.stl │ │ │ │ │ ├── RasPiMouse_body_green.stl.meta │ │ │ │ │ ├── RasPiMouse_body_red.stl │ │ │ │ │ ├── RasPiMouse_body_red.stl.meta │ │ │ │ │ ├── RasPiMouse_wheel_black.stl │ │ │ │ │ ├── RasPiMouse_wheel_black.stl.meta │ │ │ │ │ ├── RasPiMouse_wheel_gray.stl │ │ │ │ │ └── RasPiMouse_wheel_gray.stl.meta │ │ │ ├── model.config │ │ │ ├── model.config.meta │ │ │ ├── package.xml │ │ │ ├── package.xml.meta │ │ │ ├── urdf.meta │ │ │ └── urdf │ │ │ │ ├── body.meta │ │ │ │ ├── body │ │ │ │ ├── body.gazebo.xacro │ │ │ │ ├── body.gazebo.xacro.meta │ │ │ │ ├── body.urdf.xacro │ │ │ │ ├── body.urdf.xacro.meta │ │ │ │ ├── option.urdf.xacro │ │ │ │ └── option.urdf.xacro.meta │ │ │ │ ├── camera.meta │ │ │ │ ├── camera │ │ │ │ ├── camera.gazebo.xacro │ │ │ │ ├── camera.gazebo.xacro.meta │ │ │ │ ├── camera.urdf.xacro │ │ │ │ └── camera.urdf.xacro.meta │ │ │ │ ├── common.xacro │ │ │ │ ├── common.xacro.meta │ │ │ │ ├── raspimouse.urdf │ │ │ │ ├── raspimouse.urdf.meta │ │ │ │ ├── raspimouse.urdf.xacro │ │ │ │ ├── raspimouse.urdf.xacro.meta │ │ │ │ ├── raspimouse_with_urg.urdf │ │ │ │ ├── raspimouse_with_urg.urdf.meta │ │ │ │ ├── sensors.meta │ │ │ │ ├── sensors │ │ │ │ ├── lidar.gazebo.xacro │ │ │ │ ├── lidar.gazebo.xacro.meta │ │ │ │ ├── lidar.urdf.xacro │ │ │ │ ├── lidar.urdf.xacro.meta │ │ │ │ ├── lightsens.gazebo.xacro │ │ │ │ ├── lightsens.gazebo.xacro.meta │ │ │ │ ├── lightsens.urdf.xacro │ │ │ │ └── lightsens.urdf.xacro.meta │ │ │ │ ├── wheel.meta │ │ │ │ └── wheel │ │ │ │ ├── diffdrive.gazebo.xacro │ │ │ │ ├── diffdrive.gazebo.xacro.meta │ │ │ │ ├── wheel.urdf.xacro │ │ │ │ └── wheel.urdf.xacro.meta │ │ ├── raspimouse_with_urg.urdf │ │ └── raspimouse_with_urg.urdf.meta │ ├── msgbrowser_settings.asset │ └── msgbrowser_settings.asset.meta ├── Packages │ ├── manifest.json │ └── packages-lock.json └── ProjectSettings │ ├── AudioManager.asset │ ├── ClusterInputManager.asset │ ├── DynamicsManager.asset │ ├── EditorBuildSettings.asset │ ├── EditorSettings.asset │ ├── GraphicsSettings.asset │ ├── InputManager.asset │ ├── MemorySettings.asset │ ├── NavMeshAreas.asset │ ├── PackageManagerSettings.asset │ ├── Physics2DSettings.asset │ ├── PresetManager.asset │ ├── ProjectSettings.asset │ ├── ProjectVersion.txt │ ├── QualitySettings.asset │ ├── SceneTemplateSettings.json │ ├── TagManager.asset │ ├── TimeManager.asset │ ├── TimelineSettings.asset │ ├── UnityConnectSettings.asset │ ├── VFXManager.asset │ ├── VersionControlSettings.asset │ ├── XRSettings.asset │ └── boot.config ├── README.md ├── ROS ├── .gitignore ├── Dockerfile ├── configure.sh └── src │ ├── raspimouse_description │ ├── .gitignore │ ├── CMakeLists.txt │ ├── LICENSE │ ├── README.md │ ├── launch │ │ ├── config │ │ │ └── urdf.rviz │ │ ├── display_urdf.launch │ │ └── display_xacro.launch │ ├── meshes │ │ ├── dae │ │ │ ├── body │ │ │ │ ├── raspimouse_body.dae │ │ │ │ ├── raspimouse_camera_mount.dae │ │ │ │ ├── raspimouse_top_plate.dae │ │ │ │ └── rt-logo.png │ │ │ ├── sensor │ │ │ │ ├── urg_bottom_origin.dae │ │ │ │ └── urg_optical_axis_center_origin.dae │ │ │ └── wheel │ │ │ │ └── raspimouse_wheel.dae │ │ └── stl │ │ │ ├── RasPiMouse_TopPlate.stl │ │ │ ├── RasPiMouse_base-metric.stl │ │ │ ├── RasPiMouse_sensor-metric.stl │ │ │ ├── RasPiMouse_wheel-metric.stl │ │ │ ├── RasPiMouse_wheel-mm.stl │ │ │ ├── URG-04LX-UG01.stl │ │ │ └── color │ │ │ ├── RasPiMouse_body_black.stl │ │ │ ├── RasPiMouse_body_gray.stl │ │ │ ├── RasPiMouse_body_green.stl │ │ │ ├── RasPiMouse_body_red.stl │ │ │ ├── RasPiMouse_wheel_black.stl │ │ │ └── RasPiMouse_wheel_gray.stl │ ├── model.config │ ├── package.xml │ └── urdf │ │ ├── body │ │ ├── body.gazebo.xacro │ │ ├── body.urdf.xacro │ │ └── option.urdf.xacro │ │ ├── camera │ │ ├── camera.gazebo.xacro │ │ └── camera.urdf.xacro │ │ ├── common.xacro │ │ ├── raspimouse.urdf │ │ ├── raspimouse.urdf.xacro │ │ ├── raspimouse_with_urg.urdf │ │ ├── sensors │ │ ├── lidar.gazebo.xacro │ │ ├── lidar.urdf.xacro │ │ ├── lightsens.gazebo.xacro │ │ └── lightsens.urdf.xacro │ │ └── wheel │ │ ├── diffdrive.gazebo.xacro │ │ └── wheel.urdf.xacro │ └── raspimouse_sim │ ├── .ci.rosinstall │ ├── .github │ └── workflows │ │ └── industrial_ci.yml │ ├── .gitignore │ ├── LICENSE │ ├── README.en.md │ ├── README.md │ ├── raspimouse_fake │ ├── CMakeLists.txt │ ├── launch │ │ └── virtual_device_file.launch │ ├── misc │ │ └── ms_sound.wav │ ├── package.xml │ └── scripts │ │ ├── clean_dev_file.sh │ │ ├── gen_dev_file.sh │ │ ├── virtual_led_sensors.py │ │ └── virtual_motors.py │ ├── raspimouse_gazebo │ ├── CMakeLists.txt │ ├── launch │ │ ├── config │ │ │ └── odom.rviz │ │ ├── keyboard_teleop.launch │ │ ├── open_emptyworld.launch │ │ ├── raspimouse_with_cheeze_maze.launch │ │ ├── raspimouse_with_emptyworld.launch │ │ ├── raspimouse_with_gasstand.launch │ │ ├── raspimouse_with_samplemaze.launch │ │ └── raspimouse_with_willowgarage.launch │ ├── materials │ │ ├── gen_maze.sh │ │ ├── sample_maze.wall.xacro │ │ └── sample_maze.world.xacro │ ├── models │ │ └── cheeze_maze_a │ │ │ ├── meshes │ │ │ └── maze.dae │ │ │ ├── model.config │ │ │ └── model.sdf │ ├── package.xml │ ├── scripts │ │ ├── distance_sensor_simulator.py │ │ └── download_gazebo_models.sh │ └── worlds │ │ ├── cheeze_maze_a.world │ │ ├── empty.world │ │ ├── gas_station.world │ │ ├── sample_maze.world │ │ └── willowgarage.world │ ├── raspimouse_msgs │ ├── CMakeLists.txt │ ├── action │ │ └── Music.action │ ├── msg │ │ ├── ButtonValues.msg │ │ ├── LedValues.msg │ │ ├── LightSensorValues.msg │ │ └── MotorFreqs.msg │ ├── package.xml │ └── srv │ │ └── TimedMotion.srv │ └── raspimouse_sim │ ├── CMakeLists.txt │ └── package.xml ├── THIRD-PARTY-LICENSE.md ├── UnityScripts ├── JoyStick │ ├── Scripts │ │ └── OnScreenStickCmdVelPublisher.cs │ └── Textures │ │ └── white_circle.png ├── OdometryViewer │ ├── Materials.meta │ ├── Materials │ │ ├── ArrowMaterial.mat │ │ ├── ArrowMaterial.mat.meta │ │ ├── ArrowMaterial2.mat │ │ ├── ArrowMaterial2.mat.meta │ │ ├── Arrows.fbx │ │ └── Arrows.fbx.meta │ ├── Prefabs.meta │ ├── Prefabs │ │ ├── Arrows-bule.prefab │ │ ├── Arrows-bule.prefab.meta │ │ ├── Arrows-red.prefab │ │ └── Arrows-red.prefab.meta │ ├── Scripts.meta │ └── Scripts │ │ ├── OdometryViewer.cs │ │ └── OdometryViewer.cs.meta ├── PointCloud │ ├── Materials.meta │ ├── Materials │ │ ├── Sphere.mat │ │ └── Sphere.mat.meta │ ├── Prefabs.meta │ ├── Prefabs │ │ ├── Sphere.prefab │ │ └── Sphere.prefab.meta │ ├── Scenes.meta │ ├── Scenes │ │ ├── PointCloudSample.unity │ │ └── PointCloudSample.unity.meta │ ├── Scripts.meta │ └── Scripts │ │ ├── PointCloudLocator.cs │ │ └── PointCloudLocator.cs.meta └── Scripts │ ├── CmdVelPublisher.cs │ ├── CmdVelPublisher.cs.meta │ ├── CmdVelSubscriber.cs │ ├── CmdVelSubscriber.cs.meta │ ├── ImageSubscriber.cs │ ├── ImageSubscriber.cs.meta │ ├── LaserScanSubscriber.cs │ ├── LaserScanSubscriber.cs.meta │ ├── OdomSubscriber.cs │ ├── OdomSubscriber.cs.meta │ ├── TfSubscriber.cs │ └── TfSubscriber.cs.meta └── docs ├── appendix.md ├── images ├── appendix-1.png ├── appendix-13.png ├── appendix-14.png ├── appendix-15.png ├── appendix-16.png ├── appendix-17.png ├── appendix-18.png ├── appendix-19.png ├── appendix-2.gif ├── appendix-2.png ├── appendix-20.png ├── appendix-21.png ├── appendix-22.png ├── appendix-23.png ├── appendix-24.png ├── appendix-25.png ├── appendix-26.png ├── appendix-27.png ├── appendix-28.png ├── appendix-3.png ├── appendix-4.png ├── intro0-1.png ├── intro1-1.png ├── intro1-2.jpg ├── intro1-3.png ├── intro1-4.png ├── intro2-1-1.gif ├── intro2-1.png ├── intro2-2.png ├── intro3-1.png ├── intro3-2.png ├── intro3-3.png ├── intro3-4.png ├── intro3-5.png ├── intro3-6.png ├── intro3-7.png ├── raspimouse_urg_axis_ros.png ├── raspimouse_urg_axis_unity.png ├── step0-1.png ├── step0-2.png ├── step0-3.png ├── step0-4.gif ├── step0-5.png ├── step0-6.png ├── step1-1.png ├── step1-10.gif ├── step1-11.png ├── step1-2.png ├── step1-3.png ├── step1-4.png ├── step1-5.gif ├── step1-6.png ├── step1-7.png ├── step1-8.png ├── step1-9.png ├── step2-1.png ├── step2-2.png ├── step2-3.gif ├── step2-4.gif ├── step2-5-1.png ├── step2-5.png ├── step2-6-1.png ├── step2-6-2.png ├── step2-6.png ├── step2-7.png ├── step3-1.png ├── step3-10.png ├── step3-11.png ├── step3-12.gif ├── step3-13.png ├── step3-14.gif ├── step3-15.png ├── step3-16.gif ├── step3-17.gif ├── step3-18.gif ├── step3-19.png ├── step3-2.png ├── step3-20.png ├── step3-21.png ├── step3-22.png ├── step3-23.png ├── step3-24.png ├── step3-25.png ├── step3-26-1.png ├── step3-26.gif ├── step3-27.png ├── step3-28-1.gif ├── step3-28.png ├── step3-29.png ├── step3-3.png ├── step3-30.gif ├── step3-31.png ├── step3-4.png ├── step3-5.png ├── step3-6.png ├── step3-7.png ├── step3-8.png ├── step3-9.png ├── step4-100.png ├── step4-101.png ├── step4-5.png ├── step4-6.gif ├── step4-7.gif ├── step4-8.gif ├── step4-9.gif ├── step4-99.png ├── step5-1.png ├── step5-2.png ├── step5-3.gif ├── step5-4.gif ├── step5-5.gif ├── step5-6.png ├── step5-7.png ├── step6-1.png ├── step6-2.png ├── step6-3.gif ├── step6-4.gif ├── step6-5.gif ├── step7-1.png ├── step7-2.png ├── step7-3.png ├── step7-4.png ├── step7-5.gif ├── step7-6.png └── step7-7.gif ├── intro0.md ├── intro1.md ├── intro2.md ├── intro3.md ├── step0.md ├── step1.md ├── step2.md ├── step3.md ├── step4.md ├── step5.md ├── step6.md └── step7.md /.github/scripts/sync_scripts.sh: -------------------------------------------------------------------------------- 1 | #/bin/bash -eu 2 | 3 | SRC_DIR=$(cd $(dirname ${BASH_SOURCE:-$0})/../../; pwd) 4 | echo "Run sync script in $SRC_DIR" 5 | rsync -av --delete $SRC_DIR/MobileRobotUITutorialProject/Assets/Scripts/ $SRC_DIR/UnityScripts/Scripts 6 | rsync -av --delete $SRC_DIR/MobileRobotUITutorialProject/Assets/OdometryViewer/ $SRC_DIR/UnityScripts/OdometryViewer 7 | rsync -av --delete $SRC_DIR/MobileRobotUITutorialProject/Assets/PointCloud/ $SRC_DIR/UnityScripts/PointCloud 8 | -------------------------------------------------------------------------------- /.github/workflows/check_tutorial_files.yaml: -------------------------------------------------------------------------------- 1 | name: Check for the tutorial update 2 | 3 | on: 4 | pull_request: 5 | paths: 6 | - "MobileRobotUITutorialProject/**" 7 | - "UnityScripts/**" 8 | 9 | jobs: 10 | check-tutorial-files: 11 | runs-on: ubuntu-latest 12 | steps: 13 | - uses: actions/checkout@v3 14 | 15 | - name: File sync 16 | run: | 17 | ./.github/scripts/sync_scripts.sh 18 | git status | grep "working tree clean" && exit 0 || git status; exit 1; 19 | -------------------------------------------------------------------------------- /.gitmodules: -------------------------------------------------------------------------------- 1 | [submodule "ROS/src/ros_tcp_endpoint"] 2 | path = ROS/src/ros_tcp_endpoint 3 | url = https://github.com/Unity-Technologies/ROS-TCP-Endpoint.git 4 | -------------------------------------------------------------------------------- /MobileRobotUITutorialProject/.gitignore: -------------------------------------------------------------------------------- 1 | ### https://raw.github.com/github/gitignore/218a941be92679ce67d0484547e3e142b2f5f6f0/Unity.gitignore 2 | 3 | # This .gitignore file should be placed at the root of your Unity project directory 4 | # 5 | # Get latest from https://github.com/github/gitignore/blob/master/Unity.gitignore 6 | # 7 | /[Ll]ibrary/ 8 | /[Tt]emp/ 9 | /[Oo]bj/ 10 | /[Bb]uild/ 11 | /[Bb]uilds/ 12 | /[Ll]ogs/ 13 | /[Uu]ser[Ss]ettings/ 14 | 15 | # MemoryCaptures can get excessive in size. 16 | # They also could contain extremely sensitive data 17 | /[Mm]emoryCaptures/ 18 | 19 | # Asset meta data should only be ignored when the corresponding asset is also ignored 20 | !/[Aa]ssets/**/*.meta 21 | 22 | # Uncomment this line if you wish to ignore the asset store tools plugin 23 | # /[Aa]ssets/AssetStoreTools* 24 | 25 | # Autogenerated Jetbrains Rider plugin 26 | /[Aa]ssets/Plugins/Editor/JetBrains* 27 | 28 | # Visual Studio cache directory 29 | .vs/ 30 | 31 | # Visual Studio Code cache directory 32 | .vscode/ 33 | 34 | .vsconfig 35 | 36 | # Gradle cache directory 37 | .gradle/ 38 | 39 | # Autogenerated VS/MD/Consulo solution and project files 40 | ExportedObj/ 41 | .consulo/ 42 | *.csproj 43 | *.unityproj 44 | *.sln 45 | *.suo 46 | *.tmp 47 | *.user 48 | *.userprefs 49 | *.pidb 50 | *.booproj 51 | *.svd 52 | *.pdb 53 | *.mdb 54 | *.opendb 55 | *.VC.db 56 | 57 | # Unity3D generated meta files 58 | *.pidb.meta 59 | *.pdb.meta 60 | *.mdb.meta 61 | 62 | # Unity3D generated file on crash reports 63 | sysinfo.txt 64 | 65 | # Builds 66 | *.apk 67 | *.aab 68 | *.unitypackage 69 | 70 | # Crashlytics generated file 71 | crashlytics-build.properties 72 | 73 | # Packed Addressables 74 | /[Aa]ssets/[Aa]ddressable[Aa]ssets[Dd]ata/*/*.bin* 75 | 76 | # Temporary auto-generated Android Assets 77 | /[Aa]ssets/[Ss]treamingAssets/aa.meta 78 | /[Aa]ssets/[Ss]treamingAssets/aa/* 79 | 80 | 81 | -------------------------------------------------------------------------------- /MobileRobotUITutorialProject/Assets/JoyStick/Scripts/OnScreenStickCmdVelPublisher.cs: -------------------------------------------------------------------------------- 1 | using UnityEngine; 2 | using UnityEngine.InputSystem; 3 | using Unity.Robotics.ROSTCPConnector; 4 | using TwistMsg = RosMessageTypes.Geometry.TwistMsg; 5 | 6 | public class OnScreenStickCmdVelPublisher : MonoBehaviour 7 | { 8 | [SerializeField] private InputAction _moveAction; 9 | 10 | [SerializeField] string topicName = "cmd_vel"; 11 | private ROSConnection ros; 12 | private TwistMsg cmdVelMessage = new TwistMsg(); 13 | 14 | private void Start() 15 | { 16 | ros = ROSConnection.GetOrCreateInstance(); 17 | ros.RegisterPublisher(topicName); 18 | StopPublish(); 19 | 20 | _moveAction.performed += _ => 21 | { 22 | var value = _moveAction.ReadValue(); 23 | Debug.Log($"Move: ({value.x}, {value.y})"); 24 | cmdVelMessage.linear.x = value.y * 0.2f; 25 | cmdVelMessage.angular.z = value.x * -1.0f; 26 | Publish(); 27 | }; 28 | 29 | _moveAction.canceled += _ => 30 | { 31 | StopPublish(); 32 | }; 33 | } 34 | 35 | private void OnEnable() 36 | { 37 | _moveAction.Enable(); 38 | } 39 | 40 | private void OnDisable() 41 | { 42 | _moveAction.Disable(); 43 | } 44 | 45 | private void OnDestroy() 46 | { 47 | _moveAction.Dispose(); 48 | } 49 | 50 | private void StopPublish() 51 | { 52 | cmdVelMessage.linear.x = 0.0f; 53 | cmdVelMessage.angular.z = 0.0f; 54 | Publish(); 55 | } 56 | 57 | private void Publish() 58 | { 59 | ros.Publish(topicName, cmdVelMessage); 60 | } 61 | } 62 | -------------------------------------------------------------------------------- /MobileRobotUITutorialProject/Assets/JoyStick/Textures/white_circle.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/unity3d-jp/Unity-ROS-MobileRobot-UI-Tutorial/2468f6ff51f225be3d2ab48353cc565906d1b51a/MobileRobotUITutorialProject/Assets/JoyStick/Textures/white_circle.png -------------------------------------------------------------------------------- /MobileRobotUITutorialProject/Assets/Models.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 0c1f52737c2fac4478394ad32d5de37d 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | 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4d3060455223dd1468ac84c152e09231 3 | DefaultImporter: 4 | externalObjects: {} 5 | userData: 6 | assetBundleName: 7 | assetBundleVariant: 8 | -------------------------------------------------------------------------------- /MobileRobotUITutorialProject/Assets/Scripts.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 313c8d2b73f233ab0a12edd5508630e2 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /MobileRobotUITutorialProject/Assets/Scripts/CmdVelPublisher.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 3ce3c96156e9cae259dfd03a04c8616c 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /MobileRobotUITutorialProject/Assets/Scripts/CmdVelSubscriber.cs: -------------------------------------------------------------------------------- 1 | using UnityEngine; 2 | using Unity.Robotics.ROSTCPConnector; 3 | // 各種ROSトピック形式 4 | using TwistMsg = RosMessageTypes.Geometry.TwistMsg; 5 | 6 | /// 7 | /// CmdVel（TwistMsg）を受信するためのクラス 8 | /// 主にデバッグ用に使うことを想定 9 | /// 10 | public class CmdVelSubscriber : MonoBehaviour 11 | { 12 | // 受信するROSのトピック名 13 | [SerializeField] string rosTopicName = "cmd_vel"; 14 | // デバッグモードとするかどうか（デバッグモードではコンソールにログを出力） 15 | [SerializeField] bool isDebugMode = true; 16 | 17 | /// 18 | /// 初期化用のイベント関数 19 | /// https://docs.unity3d.com/ja/2020.3/Manual/ExecutionOrder.html 20 | /// 21 | void Start() 22 | { 23 | ROSConnection.GetOrCreateInstance().Subscribe(rosTopicName, CmdVelUpdate); 24 | } 25 | 26 | /// 27 | /// ROSトピックを受け取った際に呼ばれるコールバック関数 28 | /// 29 | void CmdVelUpdate(TwistMsg twistMessage) 30 | { 31 | if (isDebugMode) 32 | { 33 | Debug.Log(twistMessage); 34 | } 35 | } 36 | } -------------------------------------------------------------------------------- /MobileRobotUITutorialProject/Assets/Scripts/CmdVelSubscriber.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 3745db3e9359cd2fdad7685ade18554c 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /MobileRobotUITutorialProject/Assets/Scripts/ImageSubscriber.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 8e9069025f49c0582a6d94301f283d14 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /MobileRobotUITutorialProject/Assets/Scripts/LaserScanSubscriber.cs: -------------------------------------------------------------------------------- 1 | using UnityEngine; 2 | using Unity.Robotics.ROSTCPConnector; 3 | // 座標変換用 4 | using Unity.Robotics.ROSTCPConnector.ROSGeometry; 5 | // 各種ROSトピック形式 6 | using LaserScanMsg = RosMessageTypes.Sensor.LaserScanMsg; 7 | 8 | /// 9 | /// LiDARスキャンデータ（LaserScanMsg）を受信するためのクラス 10 | /// 主にスキャンデータの取得および座標変換に使い、描画は別のスクリプトを用意することを想定 11 | /// 12 | public class LaserScanSubscriber : MonoBehaviour 13 | { 14 | 15 | // 受信するROSのトピック名 16 | [SerializeField] string rosTopicName = "scan"; 17 | // デバッグモードとするかどうか（デバッグモードではコンソールにログを出力） 18 | [SerializeField] bool isDebugMode = true; 19 | 20 | private float[] scanRangesArray; 21 | private float scanAngleMin = 0; 22 | private float scanAngleMax = 0; 23 | 24 | /// 25 | /// 初期化用のイベント関数 26 | /// https://docs.unity3d.com/ja/2020.3/Manual/ExecutionOrder.html 27 | /// 28 | void Start() 29 | { 30 | ROSConnection.GetOrCreateInstance().Subscribe(rosTopicName, ScanUpdate); 31 | } 32 | 33 | 34 | /// 35 | /// ROSトピックを受け取った際に呼ばれるコールバック関数 36 | /// 37 | void ScanUpdate(LaserScanMsg scanMessage) 38 | { 39 | if (isDebugMode) 40 | { 41 | Debug.Log(scanMessage); 42 | } 43 | 44 | scanRangesArray = scanMessage.ranges; 45 | scanAngleMax = scanMessage.angle_max; 46 | scanAngleMin = scanMessage.angle_min; 47 | } 48 | 49 | /// 50 | /// 外部からスキャン結果の配列にアクセスするための関数 51 | /// 52 | public float[] GetScanRanges() 53 | { 54 | return scanRangesArray; 55 | 56 | } 57 | 58 | /// 59 | /// 外部からスキャン結果にアクセスするための関数 60 | /// 61 | public float GetScanAngleMin() 62 | { 63 | return scanAngleMin; 64 | } 65 | 66 | /// 67 | /// 外部からスキャン結果にアクセスするための関数 68 | /// 69 | public float GetScanAngleMax() 70 | { 71 | return scanAngleMax; 72 | } 73 | } -------------------------------------------------------------------------------- /MobileRobotUITutorialProject/Assets/Scripts/LaserScanSubscriber.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: d8957dd394486cc24a646e1e9267143f 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /MobileRobotUITutorialProject/Assets/Scripts/OdomSubscriber.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 5fb804f34d8251f6789633dacd64023f 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /MobileRobotUITutorialProject/Assets/Scripts/TfSubscriber.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 200b7a8ec8bff2c3ca78a911fd664c80 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /MobileRobotUITutorialProject/Assets/URDF.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: d86f7ba5b702ed97189d5a5d0b0c3d0e 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /MobileRobotUITutorialProject/Assets/URDF/Materials.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 4fef21925f8091c4aa0f18d0c6864ebd 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /MobileRobotUITutorialProject/Assets/URDF/Materials/Default.mat.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 8255a5caa1c1c6b499547e33cdd48193 3 | NativeFormatImporter: 4 | externalObjects: {} 5 | mainObjectFileID: 2100000 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /MobileRobotUITutorialProject/Assets/URDF/raspimouse_description.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 6e11d4d591a7f084786eca71857a70cd 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /MobileRobotUITutorialProject/Assets/URDF/raspimouse_description/.gitignore: -------------------------------------------------------------------------------- 1 | build/ 2 | bin/ 3 | lib/ 4 | msg_gen/ 5 | srv_gen/ 6 | msg/*Action.msg 7 | msg/*ActionFeedback.msg 8 | msg/*ActionGoal.msg 9 | msg/*ActionResult.msg 10 | msg/*Feedback.msg 11 | msg/*Goal.msg 12 | msg/*Result.msg 13 | msg/_*.py 14 | 15 | # Generated by dynamic reconfigure 16 | *.cfgc 17 | /cfg/cpp/ 18 | /cfg/*.py 19 | 20 | # Ignore generated docs 21 | *.dox 22 | *.wikidoc 23 | 24 | # eclipse stuff 25 | .project 26 | .cproject 27 | 28 | # qcreator stuff 29 | CMakeLists.txt.user 30 | 31 | srv/_*.py 32 | *.pcd 33 | *.pyc 34 | qtcreator-* 35 | *.user 36 | 37 | /planning/cfg 38 | /planning/docs 39 | /planning/src 40 | 41 | *~ 42 | 43 | # Emacs 44 | .#* 45 | 46 | # Catkin custom files 47 | CATKIN_IGNORE 48 | 49 | # SketchUp backup files 50 | *~.skp 51 | 52 | # Swap files 53 | *.swp 54 | 55 | # MacOS metadata files 56 | .DS_store 57 | -------------------------------------------------------------------------------- /MobileRobotUITutorialProject/Assets/URDF/raspimouse_description/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(raspimouse_description) 3 | 4 | find_package(catkin REQUIRED COMPONENTS 5 | urdf 6 | ) 7 | 8 | catkin_package() 9 | 10 | include_directories( 11 | ${catkin_INCLUDE_DIRS} 12 | ) 13 | 14 | foreach(dir launch meshes urdf) 15 | install(DIRECTORY ${dir}/ 16 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir} 17 | ) 18 | endforeach(dir) 19 | -------------------------------------------------------------------------------- /MobileRobotUITutorialProject/Assets/URDF/raspimouse_description/CMakeLists.txt.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 2721822c751f7ad48897676b930f632c 3 | TextScriptImporter: 4 | externalObjects: {} 5 | userData: 6 | assetBundleName: 7 | assetBundleVariant: 8 | -------------------------------------------------------------------------------- /MobileRobotUITutorialProject/Assets/URDF/raspimouse_description/LICENSE: -------------------------------------------------------------------------------- 1 | The MIT License (MIT) 2 | 3 | Copyright (c) 2016-2020 RT Corporation 4 | 5 | Permission is hereby granted, free of charge, to any person obtaining a copy of 6 | this software and associated documentation files (the "Software"), to deal in 7 | the Software without restriction, including without limitation the rights to 8 | use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of 9 | the Software, and to permit persons to whom the Software is furnished to do so, 10 | 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, FITNESS 17 | FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR 18 | COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER 19 | IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN 20 | CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. 21 | -------------------------------------------------------------------------------- /MobileRobotUITutorialProject/Assets/URDF/raspimouse_description/LICENSE.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: f60c13b847d85be4092b5e9fb3323f29 3 | DefaultImporter: 4 | externalObjects: {} 5 | userData: 6 | assetBundleName: 7 | assetBundleVariant: 8 | -------------------------------------------------------------------------------- /MobileRobotUITutorialProject/Assets/URDF/raspimouse_description/README.md: -------------------------------------------------------------------------------- 1 | # raspimouse_description 2 | 3 | ROS package with URDF description macro for [Raspberry Pi Mouse](https://rt-net.jp/products/raspberrypimousev3/) 4 | 5 | ![display_launch](https://rt-net.github.io/images/raspberry-pi-mouse/display_launch.png) 6 | 7 | This ROS package was separated from [rt-net/raspimouse_sim](https://github.com/rt-net/raspimouse_sim). 8 | See details from [rt-net/raspimouse_sim#42](https://github.com/rt-net/raspimouse_sim/pull/42). 9 | 10 | ## Requirements 11 | 12 | - ROS 13 | - [Kinetic Kame](http://wiki.ros.org/kinetic/Installation/Ubuntu) 14 | - [Melodic Morenia](http://wiki.ros.org/melodic/Installation/Ubuntu) 15 | 16 | ## Installation 17 | 18 | ```sh 19 | # Clone raspimouse_description and install dependencies 20 | cd ~/catkin_ws/src 21 | git clone https://github.com/rt-net/raspimouse_description 22 | rosdep install -r -y -i --from-paths . 23 | 24 | # Build the package 25 | cd ~/catkin_ws 26 | catkin_make 27 | source devel/setup.bash 28 | ``` 29 | 30 | ## How to Use 31 | 32 | Display a Raspberry Pi Mouse robot model on RViz with the following comand: 33 | 34 | ```sh 35 | roslaunch raspimouse_description display_xacro.launch 36 | ``` 37 | 38 | ## LICENSE 39 | 40 | (C) 2016-2020 RT Corporation \ 41 | 42 | This repository is licensed under the MIT license, see [LICENSE](./LICENSE). 43 | Unless attributed otherwise, everything in this repository is under the MIT license. 44 | 45 | ### Acknowledgements 46 | 47 | Special thanks to https://gbiggs.github.io/rosjp_urdf_tutorial_text/index.html 48 | -------------------------------------------------------------------------------- /MobileRobotUITutorialProject/Assets/URDF/raspimouse_description/README.md.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: d2a38161090de504296485c4c76ccda0 3 | TextScriptImporter: 4 | externalObjects: {} 5 | userData: 6 | assetBundleName: 7 | assetBundleVariant: 8 | -------------------------------------------------------------------------------- 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https://raw.githubusercontent.com/unity3d-jp/Unity-ROS-MobileRobot-UI-Tutorial/2468f6ff51f225be3d2ab48353cc565906d1b51a/MobileRobotUITutorialProject/ProjectSettings/boot.config -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # UnityとROSで学ぶ移動ロボット入門 UI作成編 2 | 3 | ![](./docs/images/intro0-1.png) 4 | 本教材は Unity と ROS を組み合わせたロボット開発のための入門用教材です。 5 | 6 | ## 1. はじめるための準備 7 | 8 | 本教材は、[Git](https://git-scm.com/) を使用してお手元の環境に複製してお使い下さい。 9 | 10 | * Gitを使うのが初めての方は、「Git Windows 使い方」 などのキーワードでネット検索すると多くの情報が得られますので参考にしてみて下さい。 11 | 12 | Gitがインストールできたら、Git Bash、コマンドプロンプト または Power Shell などから以下のコマンド順番に実行して行きます。 13 | 14 | ### 1-1. GitHub からファイルを一式を取得する 15 | 16 | GitHub からファイルを一式を複製(clone)します。 17 | ``` 18 | git clone https://github.com/unity3d-jp/Unity-ROS-MobileRobot-UI-Tutorial.git 19 | ``` 20 | 21 | ### 1-2. 作業フォルダに移動する 22 | ``` 23 | cd Unity-ROS-MobileRobot-UI-Tutorial 24 | ``` 25 | 26 | ### 1-3. ROS-TCP-Endpoint を取り込む 27 | 28 | 以下のコマンドを使って、`ROS-TCP-Endpoint` を取り込みます。 29 | ``` 30 | git submodule update --init --recursive 31 | ``` 32 | * `ROS-TCP-Endpoint` の説明は後ほど出てきます。 33 | 34 | 以上で、必要なファイル一式が `Unity-ROS-MobileRobot-UI-Tutorial` フォルダの中に格納されました。 35 | 36 | ## 2. 次のステップへ 37 | 38 | 次は [docs/intro0.md](docs/intro0.md) にお進み下さい。 39 | 40 | ## 3. ライセンスについて 41 | 42 | Copyright 2021 Unity Technologies Japan K.K. 43 | 44 | 本教材は [Apache License 2.0](./LICENSE-2.0.txt) です。(以下の3rdパーティ製ソフトウェアを除く) 45 | 46 | 3rdパーティ製ソフトウェアについては [OSSライセンスに基づく表記](./THIRD-PARTY-LICENSE.md) を参照して下さい。 -------------------------------------------------------------------------------- /ROS/.gitignore: -------------------------------------------------------------------------------- 1 | ### https://raw.github.com/github/gitignore/218a941be92679ce67d0484547e3e142b2f5f6f0/ROS.gitignore 2 | 3 | devel/ 4 | logs/ 5 | build/ 6 | bin/ 7 | lib/ 8 | msg_gen/ 9 | srv_gen/ 10 | msg/*Action.msg 11 | msg/*ActionFeedback.msg 12 | msg/*ActionGoal.msg 13 | msg/*ActionResult.msg 14 | msg/*Feedback.msg 15 | msg/*Goal.msg 16 | msg/*Result.msg 17 | msg/_*.py 18 | build_isolated/ 19 | devel_isolated/ 20 | 21 | # Generated by dynamic reconfigure 22 | *.cfgc 23 | cfg/cpp/ 24 | cfg/*.py 25 | 26 | # Ignore generated docs 27 | *.dox 28 | *.wikidoc 29 | 30 | # eclipse stuff 31 | .project 32 | .cproject 33 | 34 | # qcreator stuff 35 | CMakeLists.txt.user 36 | 37 | srv/_*.py 38 | *.pcd 39 | *.pyc 40 | qtcreator-* 41 | *.user 42 | 43 | planning/cfg 44 | planning/docs 45 | planning/src 46 | 47 | *~ 48 | 49 | # Emacs 50 | .#* 51 | 52 | # Catkin custom files 53 | CATKIN_IGNORE 54 | 55 | -------------------------------------------------------------------------------- /ROS/Dockerfile: -------------------------------------------------------------------------------- 1 | FROM tiryoh/ros-desktop-vnc:melodic 2 | 3 | ENV ROS_WORKSPACE=/home/ubuntu/catkin_ws 4 | 5 | RUN apt-get update -q && \ 6 | apt-get install -y dos2unix ros-melodic-joint-state-publisher-gui && \ 7 | rm -rf /var/lib/apt/lists/* 8 | 9 | COPY ./src/ros_tcp_endpoint $ROS_WORKSPACE/src/ros_tcp_endpoint 10 | COPY ./src/raspimouse_sim $ROS_WORKSPACE/src/raspimouse_sim 11 | COPY ./src/raspimouse_description $ROS_WORKSPACE/src/raspimouse_description 12 | COPY ./configure.sh /home/ubuntu/configure.sh 13 | 14 | RUN cd ${ROS_WORKSPACE} && \ 15 | /bin/bash -c "find $ROS_WORKSPACE -type f -print0 | xargs -0 dos2unix" && \ 16 | dos2unix $HOME/configure.sh && \ 17 | chown -R ubuntu:ubuntu /home/ubuntu 18 | 19 | USER ubuntu 20 | RUN cd $ROS_WORKSPACE && \ 21 | . /opt/ros/melodic/setup.sh && \ 22 | catkin init && \ 23 | catkin build && \ 24 | echo ". \$HOME/catkin_ws/devel/setup.bash" >> /home/ubuntu/.bashrc && \ 25 | echo ". \$HOME/configure.sh" >> /home/ubuntu/.bashrc 26 | 27 | USER root -------------------------------------------------------------------------------- /ROS/configure.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash -eu 2 | 3 | ROS_IP=$(hostname -i) 4 | 5 | sed -i -e "s/127\.0\.0\.1/$ROS_IP/g" $HOME/.bashrc 6 | if [ -e $HOME/.ignition/fuel/config.yaml ]; then 7 | sed -i -e "s/ignitionfuel\.org/ignitionrobotics.org/g" $HOME/.ignition/fuel/config.yaml 8 | fi 9 | 10 | export ROS_IP="$ROS_IP" 11 | export ROS_MASTER_URI="http://$ROS_IP:11311" 12 | -------------------------------------------------------------------------------- /ROS/src/raspimouse_description/.gitignore: -------------------------------------------------------------------------------- 1 | build/ 2 | bin/ 3 | lib/ 4 | msg_gen/ 5 | srv_gen/ 6 | msg/*Action.msg 7 | msg/*ActionFeedback.msg 8 | msg/*ActionGoal.msg 9 | msg/*ActionResult.msg 10 | msg/*Feedback.msg 11 | msg/*Goal.msg 12 | msg/*Result.msg 13 | msg/_*.py 14 | 15 | # Generated by dynamic reconfigure 16 | *.cfgc 17 | /cfg/cpp/ 18 | /cfg/*.py 19 | 20 | # Ignore generated docs 21 | *.dox 22 | *.wikidoc 23 | 24 | # eclipse stuff 25 | .project 26 | .cproject 27 | 28 | # qcreator stuff 29 | CMakeLists.txt.user 30 | 31 | srv/_*.py 32 | *.pcd 33 | *.pyc 34 | qtcreator-* 35 | *.user 36 | 37 | /planning/cfg 38 | /planning/docs 39 | /planning/src 40 | 41 | *~ 42 | 43 | # Emacs 44 | .#* 45 | 46 | # Catkin custom files 47 | CATKIN_IGNORE 48 | 49 | # SketchUp backup files 50 | *~.skp 51 | 52 | # Swap files 53 | *.swp 54 | 55 | # MacOS metadata files 56 | .DS_store 57 | -------------------------------------------------------------------------------- /ROS/src/raspimouse_description/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(raspimouse_description) 3 | 4 | find_package(catkin REQUIRED COMPONENTS 5 | urdf 6 | ) 7 | 8 | catkin_package() 9 | 10 | include_directories( 11 | ${catkin_INCLUDE_DIRS} 12 | ) 13 | 14 | foreach(dir launch meshes urdf) 15 | install(DIRECTORY ${dir}/ 16 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir} 17 | ) 18 | endforeach(dir) 19 | -------------------------------------------------------------------------------- /ROS/src/raspimouse_description/LICENSE: -------------------------------------------------------------------------------- 1 | The MIT License (MIT) 2 | 3 | Copyright (c) 2016-2020 RT Corporation 4 | 5 | Permission is hereby granted, free of charge, to any person obtaining a copy of 6 | this software and associated documentation files (the "Software"), to deal in 7 | the Software without restriction, including without limitation the rights to 8 | use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of 9 | the Software, and to permit persons to whom the Software is furnished to do so, 10 | 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, FITNESS 17 | FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR 18 | COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER 19 | IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN 20 | CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. 21 | -------------------------------------------------------------------------------- /ROS/src/raspimouse_description/README.md: -------------------------------------------------------------------------------- 1 | # raspimouse_description 2 | 3 | ROS package with URDF description macro for [Raspberry Pi Mouse](https://rt-net.jp/products/raspberrypimousev3/) 4 | 5 | ![display_launch](https://rt-net.github.io/images/raspberry-pi-mouse/display_launch.png) 6 | 7 | This ROS package was separated from [rt-net/raspimouse_sim](https://github.com/rt-net/raspimouse_sim). 8 | See details from [rt-net/raspimouse_sim#42](https://github.com/rt-net/raspimouse_sim/pull/42). 9 | 10 | ## Requirements 11 | 12 | - ROS 13 | - [Kinetic Kame](http://wiki.ros.org/kinetic/Installation/Ubuntu) 14 | - [Melodic Morenia](http://wiki.ros.org/melodic/Installation/Ubuntu) 15 | 16 | ## Installation 17 | 18 | ```sh 19 | # Clone raspimouse_description and install dependencies 20 | cd ~/catkin_ws/src 21 | git clone https://github.com/rt-net/raspimouse_description 22 | rosdep install -r -y -i --from-paths . 23 | 24 | # Build the package 25 | cd ~/catkin_ws 26 | catkin_make 27 | source devel/setup.bash 28 | ``` 29 | 30 | ## How to Use 31 | 32 | Display a Raspberry Pi Mouse robot model on RViz with the following comand: 33 | 34 | ```sh 35 | roslaunch raspimouse_description display_xacro.launch 36 | ``` 37 | 38 | ## LICENSE 39 | 40 | (C) 2016-2020 RT Corporation \ 41 | 42 | This repository is licensed under the MIT license, see [LICENSE](./LICENSE). 43 | Unless attributed otherwise, everything in this repository is under the MIT license. 44 | 45 | ### Acknowledgements 46 | 47 | Special thanks to https://gbiggs.github.io/rosjp_urdf_tutorial_text/index.html 48 | -------------------------------------------------------------------------------- /ROS/src/raspimouse_description/launch/display_urdf.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | ["joint_states_source"] 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /ROS/src/raspimouse_description/launch/display_xacro.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | ["joint_states_source"] 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | -------------------------------------------------------------------------------- /ROS/src/raspimouse_description/meshes/dae/body/rt-logo.png: -------------------------------------------------------------------------------- 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https://github.com/rt-net/raspimouse_description 14 | https://github.com/rt-net/raspimouse_description/issues 15 | 16 | catkin 17 | 18 | joint_state_publisher_gui 19 | joint_state_publisher 20 | robot_state_publisher 21 | rviz 22 | urdf 23 | xacro 24 | 25 | 26 | 27 | 28 | 29 | -------------------------------------------------------------------------------- /ROS/src/raspimouse_description/urdf/body/body.gazebo.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 0.1 6 | 0.1 7 | 8 | 9 | -------------------------------------------------------------------------------- /ROS/src/raspimouse_description/urdf/body/body.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 | 34 | 35 | 36 | 37 | 38 | 39 | -------------------------------------------------------------------------------- /ROS/src/raspimouse_description/urdf/body/option.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 | -------------------------------------------------------------------------------- /ROS/src/raspimouse_description/urdf/camera/camera.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 | -------------------------------------------------------------------------------- /ROS/src/raspimouse_description/urdf/common.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 18 | 19 | 20 | 23 | 24 | 25 | 28 | 29 | 30 | 31 | -------------------------------------------------------------------------------- /ROS/src/raspimouse_description/urdf/raspimouse.urdf: -------------------------------------------------------------------------------- 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 | -------------------------------------------------------------------------------- /ROS/src/raspimouse_description/urdf/sensors/lidar.gazebo.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 0 0 0 0 0 0 8 | $(arg laser_visual) 9 | 10 10 | 11 | 12 | 13 | 720 14 | 1 15 | ${base_rad-rad_range/2} 16 | ${base_rad+rad_range/2} 17 | 18 | 19 | 20 | ${min_range} 21 | ${max_range} 22 | 0.01 23 | 24 | 25 | gaussian 26 | 0.0 27 | 0.03 28 | 29 | 30 | 31 | scan 32 | ${sensor_link_name} 33 | 34 | 35 | 36 | 37 | 38 | -------------------------------------------------------------------------------- /ROS/src/raspimouse_description/urdf/sensors/lidar.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 | -------------------------------------------------------------------------------- /ROS/src/raspimouse_description/urdf/sensors/lightsens.gazebo.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | Gazebo/Gray 7 | 8 | 0 0 0 0 0 0 9 | false 10 | 20 11 | 12 | 13 | 14 | 1 15 | 1 16 | ${base_rad-rad_range/2} 17 | ${base_rad+rad_range/2} 18 | 19 | 20 | 21 | ${min_range} 22 | ${max_range} 23 | 0.001 24 | 25 | 26 | gaussian 27 | 0.0 28 | 0.01 29 | 30 | 31 | 32 | ${robot_namespace} 33 | ${prefix}_scan 34 | ${robotdescription_namespace}${prefix} 35 | 36 | 37 | 38 | 39 | 40 | -------------------------------------------------------------------------------- /ROS/src/raspimouse_description/urdf/sensors/lightsens.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 | 29 | 30 | 31 | 32 | 33 | -------------------------------------------------------------------------------- /ROS/src/raspimouse_description/urdf/wheel/wheel.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 | 2 34 | 2 35 | 0 36 | 0 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | -------------------------------------------------------------------------------- /ROS/src/raspimouse_sim/.ci.rosinstall: -------------------------------------------------------------------------------- 1 | - git: 2 | uri: https://github.com/rt-net/raspimouse_description.git 3 | local-name: raspimouse_description 4 | version: master 5 | 6 | - git: 7 | uri: https://github.com/ryuichiueda/raspimouse_ros_2.git 8 | local-name: raspimouse_ros_2 9 | version: master 10 | -------------------------------------------------------------------------------- /ROS/src/raspimouse_sim/.github/workflows/industrial_ci.yml: -------------------------------------------------------------------------------- 1 | name: industrial_ci 2 | 3 | on: 4 | push: 5 | paths-ignore: 6 | - 'docs/**' 7 | - '**.md' 8 | pull_request: 9 | paths-ignore: 10 | - 'docs/**' 11 | - '**.md' 12 | schedule: 13 | - cron: "0 1 * * 2" # Weekly on Tuesdays at 01:00(GMT) 14 | 15 | env: 16 | UPSTREAM_WORKSPACE: .ci.rosinstall 17 | 18 | jobs: 19 | industrial_ci: 20 | continue-on-error: ${{ matrix.experimental }} 21 | strategy: 22 | matrix: 23 | env: 24 | - { ROS_DISTRO: kinetic, ROS_REPO: main } 25 | - { ROS_DISTRO: melodic, ROS_REPO: main } 26 | experimental: [false] 27 | include: 28 | - env: { ROS_DISTRO: kinetic, ROS_REPO: testing } 29 | experimental: true 30 | - env: { ROS_DISTRO: melodic, ROS_REPO: testing } 31 | experimental: true 32 | runs-on: ubuntu-latest 33 | steps: 34 | - uses: actions/checkout@v2 35 | - uses: "ros-industrial/industrial_ci@master" 36 | env: ${{ matrix.env }} 37 | -------------------------------------------------------------------------------- /ROS/src/raspimouse_sim/.gitignore: -------------------------------------------------------------------------------- 1 | raspimouse_ros/ 2 | dev/ 3 | .idea/ 4 | 5 | ### https://raw.github.com/github/gitignore/07c730e1fccfe0f92b29e039ba149d20bfb332e7/Global/Linux.gitignore 6 | 7 | *~ 8 | 9 | # temporary files which can be created if a process still has a handle open of a deleted file 10 | .fuse_hidden* 11 | 12 | # KDE directory preferences 13 | .directory 14 | 15 | # Linux trash folder which might appear on any partition or disk 16 | .Trash-* 17 | 18 | # .nfs files are created when an open file is removed but is still being accessed 19 | .nfs* 20 | 21 | 22 | ### https://raw.github.com/github/gitignore/07c730e1fccfe0f92b29e039ba149d20bfb332e7/Global/macOS.gitignore 23 | 24 | # General 25 | .DS_Store 26 | .AppleDouble 27 | .LSOverride 28 | 29 | # Icon must end with two \r 30 | Icon 31 | 32 | # Thumbnails 33 | ._* 34 | 35 | # Files that might appear in the root of a volume 36 | .DocumentRevisions-V100 37 | .fseventsd 38 | .Spotlight-V100 39 | .TemporaryItems 40 | .Trashes 41 | .VolumeIcon.icns 42 | .com.apple.timemachine.donotpresent 43 | 44 | # Directories potentially created on remote AFP share 45 | .AppleDB 46 | .AppleDesktop 47 | Network Trash Folder 48 | Temporary Items 49 | .apdisk 50 | 51 | 52 | -------------------------------------------------------------------------------- /ROS/src/raspimouse_sim/LICENSE: -------------------------------------------------------------------------------- 1 | The MIT License (MIT) 2 | 3 | Copyright (c) 2016 RT Corp. 4 | Copyright (c) 2016 Daisuke Sato 5 | 6 | Permission is hereby granted, free of charge, to any person obtaining a copy of 7 | this software and associated documentation files (the "Software"), to deal in 8 | the Software without restriction, including without limitation the rights to 9 | use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of 10 | the Software, and to permit persons to whom the Software is furnished to do so, 11 | subject to the following conditions: 12 | 13 | The above copyright notice and this permission notice shall be included in all 14 | copies or substantial portions of the Software. 15 | 16 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 17 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS 18 | FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR 19 | COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER 20 | IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN 21 | CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. 22 | -------------------------------------------------------------------------------- /ROS/src/raspimouse_sim/raspimouse_fake/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(raspimouse_fake) 3 | 4 | find_package(catkin REQUIRED) 5 | 6 | catkin_package() 7 | 8 | install(PROGRAMS 9 | scripts/clean_dev_file.sh 10 | scripts/gen_dev_file.sh 11 | scripts/virtual_led_sensors.py 12 | scripts/virtual_motors.py 13 | DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 14 | ) 15 | 16 | foreach(dir launch misc) 17 | install(DIRECTORY ${dir}/ 18 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir} 19 | ) 20 | endforeach(dir) -------------------------------------------------------------------------------- /ROS/src/raspimouse_sim/raspimouse_fake/launch/virtual_device_file.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | -------------------------------------------------------------------------------- /ROS/src/raspimouse_sim/raspimouse_fake/misc/ms_sound.wav: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/unity3d-jp/Unity-ROS-MobileRobot-UI-Tutorial/2468f6ff51f225be3d2ab48353cc565906d1b51a/ROS/src/raspimouse_sim/raspimouse_fake/misc/ms_sound.wav -------------------------------------------------------------------------------- /ROS/src/raspimouse_sim/raspimouse_fake/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | raspimouse_fake 4 | 0.1.1 5 | The raspimouse_control package 6 | 7 | RT Corporation 8 | 9 | Daisuke Sato 10 | Yuki Watanabe 11 | 12 | MIT 13 | 14 | https://github.com/rt-net/raspimouse_sim/wiki 15 | https://github.com/rt-net/raspimouse_sim 16 | https://github.com/rt-net/raspimouse_sim/issues 17 | 18 | catkin 19 | 20 | geometry_msgs 21 | rospy 22 | sensor_msgs 23 | 24 | 25 | 26 | 27 | 28 | -------------------------------------------------------------------------------- /ROS/src/raspimouse_sim/raspimouse_fake/scripts/clean_dev_file.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash -eu 2 | 3 | array=( 4 | rtled0 5 | rtled1 6 | rtled2 7 | rtled3 8 | rtswitch0 9 | rtswitch1 10 | rtswitch2 11 | rtbuzzer0 12 | rtlightsensor0 13 | rtmotoren0 14 | rtmotor_raw_r0 15 | rtmotor_raw_l0 16 | rtmotor0 17 | rtcounter0 18 | rtcounter_r0 19 | rtcounter_l0 20 | ) 21 | 22 | [[ -z $(lsmod | grep rtmouse) ]] || exit 0 23 | for targetfile in ${array[@]} ; do 24 | [[ -e /dev/$targetfile ]] && sudo rm /dev/$targetfile 25 | done 26 | -------------------------------------------------------------------------------- /ROS/src/raspimouse_sim/raspimouse_fake/scripts/gen_dev_file.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash -eu 2 | 3 | array=( 4 | rtled0 5 | rtled1 6 | rtled2 7 | rtled3 8 | rtswitch0 9 | rtswitch1 10 | rtswitch2 11 | rtbuzzer0 12 | rtlightsensor0 13 | rtmotoren0 14 | rtmotor_raw_r0 15 | rtmotor_raw_l0 16 | rtmotor0 17 | rtcounter0 18 | rtcounter_r0 19 | rtcounter_l0 20 | ) 21 | 22 | for targetfile in ${array[@]} ; do 23 | sudo touch /dev/$targetfile 24 | sudo chmod 666 /dev/$targetfile 25 | echo 0 > /dev/$targetfile 26 | done 27 | 28 | echo 1 > /dev/rtswitch0 29 | echo 1 > /dev/rtswitch1 30 | echo 1 > /dev/rtswitch2 31 | -------------------------------------------------------------------------------- /ROS/src/raspimouse_sim/raspimouse_fake/scripts/virtual_led_sensors.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # -*- coding: utf-8 -*- 3 | 4 | # (C) 2016 Daisuke Sato 5 | # (C) 2020 RT Corporation 6 | # Released under the MIT License 7 | # https://opensource.org/licenses/MIT 8 | 9 | from __future__ import print_function 10 | import rospy, math 11 | from sensor_msgs.msg import LaserScan 12 | 13 | 14 | def range_to_led(range_value): 15 | try: 16 | distance = int(range_value[0] * 1000) # distance[mm] 17 | if distance < 4: distance = 8 - distance 18 | # This formula is calculated from the measurement result of actual sensor. 19 | # https://rt-net.jp/mobility/archives/3361 20 | led_value = int(761000 / math.pow(distance, 1.66)) 21 | if led_value > 4000: led_value = 4000 22 | if led_value < 15: led_value = 15 23 | except: 24 | led_value = 15 25 | return led_value 26 | 27 | 28 | def write_to_file(data): 29 | try: 30 | with open("/dev/rtlightsensor0", "w") as f: 31 | print("%d %d %d %d" % tuple(data), file=f) 32 | except: 33 | rospy.logerr("failed to open rtlightsensor0") 34 | 35 | 36 | def sensor1_callback(data): 37 | led_val[0] = range_to_led(data.ranges) 38 | 39 | 40 | def sensor2_callback(data): 41 | led_val[1] = range_to_led(data.ranges) 42 | 43 | 44 | def sensor3_callback(data): 45 | led_val[2] = range_to_led(data.ranges) 46 | 47 | 48 | def sensor4_callback(data): 49 | led_val[3] = range_to_led(data.ranges) 50 | write_to_file(led_val) 51 | 52 | 53 | def listener(): 54 | rospy.Subscriber(rospy.get_namespace() + "rf_scan", LaserScan, sensor1_callback) 55 | rospy.Subscriber(rospy.get_namespace() + "rs_scan", LaserScan, sensor2_callback) 56 | rospy.Subscriber(rospy.get_namespace() + "ls_scan", LaserScan, sensor3_callback) 57 | rospy.Subscriber(rospy.get_namespace() + "lf_scan", LaserScan, sensor4_callback) 58 | 59 | 60 | if __name__ == "__main__": 61 | led_val = [15, 15, 15, 15] 62 | rospy.init_node("virtual_led_sensors", anonymous=True) 63 | listener() 64 | rospy.spin() 65 | -------------------------------------------------------------------------------- /ROS/src/raspimouse_sim/raspimouse_gazebo/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(raspimouse_gazebo) 3 | 4 | find_package(catkin REQUIRED) 5 | 6 | catkin_package() 7 | 8 | install(PROGRAMS 9 | scripts/download_gazebo_models.sh 10 | scripts/distance_sensor_simulator.py 11 | DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 12 | ) 13 | 14 | foreach(dir launch worlds) 15 | install(DIRECTORY ${dir}/ 16 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir} 17 | ) 18 | endforeach(dir) -------------------------------------------------------------------------------- /ROS/src/raspimouse_sim/raspimouse_gazebo/launch/keyboard_teleop.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /ROS/src/raspimouse_sim/raspimouse_gazebo/launch/open_emptyworld.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | -------------------------------------------------------------------------------- /ROS/src/raspimouse_sim/raspimouse_gazebo/launch/raspimouse_with_cheeze_maze.launch: -------------------------------------------------------------------------------- 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 | -------------------------------------------------------------------------------- /ROS/src/raspimouse_sim/raspimouse_gazebo/launch/raspimouse_with_gasstand.launch: -------------------------------------------------------------------------------- 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 | -------------------------------------------------------------------------------- /ROS/src/raspimouse_sim/raspimouse_gazebo/launch/raspimouse_with_samplemaze.launch: -------------------------------------------------------------------------------- 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 | -------------------------------------------------------------------------------- /ROS/src/raspimouse_sim/raspimouse_gazebo/launch/raspimouse_with_willowgarage.launch: -------------------------------------------------------------------------------- 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 | -------------------------------------------------------------------------------- /ROS/src/raspimouse_sim/raspimouse_gazebo/materials/gen_maze.sh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | set -eu 3 | 4 | WORKINGDIR="$(rospack find raspimouse_gazebo)" 5 | 6 | rosrun xacro xacro --inorder $WORKINGDIR/materials/sample_maze.world.xacro > $WORKINGDIR/worlds/sample_maze.world -------------------------------------------------------------------------------- /ROS/src/raspimouse_sim/raspimouse_gazebo/materials/sample_maze.wall.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 10 | 11 | 1 12 | 0 13 | 0 14 | 1 15 | 0 16 | 1 17 | 18 | 19 | 20 | 21 | 22 | 0.180 0.012 0.050 23 | 24 | 25 | 10 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 0.180 0.012 0.050 40 | 41 | 42 | 43 | 47 | 48 | 49 | 50 | 0 51 | 0 52 | 53 | 0 54 | 0 55 | 1 56 | 57 | 1 58 | 59 | 60 | 61 | -------------------------------------------------------------------------------- /ROS/src/raspimouse_sim/raspimouse_gazebo/models/cheeze_maze_a/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | Cheeze Maze A 5 | 1.0 6 | model.sdf 7 | 8 | 9 | RT Corporation 10 | support@rt-net.jp 11 | 12 | 13 | 14 | A simple maze with cheeze. 15 | 16 | -------------------------------------------------------------------------------- /ROS/src/raspimouse_sim/raspimouse_gazebo/models/cheeze_maze_a/model.sdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | true 5 | 6 | 0 0 0 0 0 0 7 | 8 | 9 | 10 | model://cheeze_maze_a/meshes/maze.dae 11 | 1.0 1.0 1.0 12 | 13 | 14 | 15 | 16 | 17 | 1 18 | 1 19 | 0 0 0 20 | 0 21 | 0 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | model://cheeze_maze_a/meshes/maze.dae 30 | 1.0 1.0 1.0 31 | 32 | 33 | 34 | 35 | 36 | -------------------------------------------------------------------------------- /ROS/src/raspimouse_sim/raspimouse_gazebo/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | raspimouse_gazebo 4 | 0.1.1 5 | The raspimouse_gazebo package 6 | 7 | RT Corporation 8 | Daisuke Sato 9 | 10 | MIT 11 | 12 | https://github.com/rt-net/raspimouse_sim/wiki 13 | https://github.com/rt-net/raspimouse_sim 14 | https://github.com/rt-net/raspimouse_sim/issues 15 | 16 | catkin 17 | 18 | gazebo_ros 19 | gazebo_ros_control 20 | raspimouse_fake 21 | raspimouse_description 22 | raspimouse_ros_2 23 | xacro 24 | teleop_twist_keyboard 25 | 26 | 27 | 28 | 29 | 30 | -------------------------------------------------------------------------------- /ROS/src/raspimouse_sim/raspimouse_gazebo/scripts/download_gazebo_models.sh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | set -eu 3 | 4 | # This file is forked from https://gist.github.com/Tiryoh/bf24f61992bfa8e32f2e75fc0672a647 5 | # (C) 2019 Daisuke Sato 6 | # https://tiryoh.mit-license.org/2019 7 | 8 | function download_model(){ 9 | if [[ -d $HOME'/.gazebo/models/'$1 ]]; then 10 | echo model $1 is ready. 11 | else 12 | wget -l1 -np -nc -r "http://models.gazebosim.org/"$1 --accept=gz 13 | fi 14 | } 15 | 16 | mkdir -p ~/.gazebo/models 17 | cd /tmp 18 | TMPDIR=$(mktemp -d tmp.XXXXXXXXXX) 19 | cd $TMPDIR 20 | download_model sun 21 | download_model ground_plane 22 | download_model gas_station 23 | download_model willowgarage 24 | if [[ -d "models.gazebosim.org" ]]; then 25 | cd "models.gazebosim.org" 26 | for i in *; do tar -zvxf "$i/model.tar.gz"; done 27 | cp -vfR * ~/.gazebo/models/ 28 | fi 29 | rm -rf $TMPDIR -------------------------------------------------------------------------------- /ROS/src/raspimouse_sim/raspimouse_gazebo/worlds/cheeze_maze_a.world: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 0 6 | 7 | 8 | model://ground_plane 9 | 10 | 11 | model://sun 12 | 13 | 14 | 15 | model://cheeze_maze_a 16 | 17 | 0 0 0.001 0 0 0 18 | 19 | 20 | 21 | -2.1 -1.9 4.1 0.0 1.0 0.5 22 | orbit 23 | 24 | 25 | 26 | -------------------------------------------------------------------------------- /ROS/src/raspimouse_sim/raspimouse_gazebo/worlds/empty.world: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 0 6 | 7 | 8 | model://ground_plane 9 | 10 | 11 | model://sun 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /ROS/src/raspimouse_sim/raspimouse_gazebo/worlds/gas_station.world: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 0 6 | 7 | 8 | model://ground_plane 9 | 10 | 11 | model://sun 12 | 13 | 14 | model://gas_station 15 | gas_station 16 | -2.0 7.0 0 0 0 0 17 | 18 | 19 | 20 | -------------------------------------------------------------------------------- /ROS/src/raspimouse_sim/raspimouse_gazebo/worlds/willowgarage.world: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 0 6 | 7 | 8 | model://ground_plane 9 | 10 | 11 | model://sun 12 | 13 | 14 | model://willowgarage 15 | 16 | 17 | 18 | -0.556842 -0.914575 3.68773 0 1.05964 0.520195 19 | orbit 20 | 21 | 22 | 23 | 24 | -------------------------------------------------------------------------------- /ROS/src/raspimouse_sim/raspimouse_msgs/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.0.2) 2 | project(raspimouse_msgs) 3 | 4 | set(MESSAGE_DEPENDS 5 | actionlib_msgs 6 | std_msgs 7 | ) 8 | 9 | find_package(catkin REQUIRED COMPONENTS 10 | message_generation ${MESSAGE_DEPENDS} 11 | ) 12 | 13 | ################################################ 14 | ## Declare ROS messages, services and actions ## 15 | ################################################ 16 | 17 | ## Generate messages in the 'msg' folder 18 | add_message_files( 19 | FILES 20 | LightSensorValues.msg 21 | LedValues.msg 22 | ButtonValues.msg 23 | MotorFreqs.msg 24 | ) 25 | 26 | ## Generate services in the 'srv' folder 27 | add_service_files( 28 | FILES 29 | TimedMotion.srv 30 | ) 31 | 32 | ## Generate actions in the 'action' folder 33 | add_action_files( 34 | FILES 35 | Music.action 36 | ) 37 | 38 | ## Generate added messages and services with any dependencies listed here 39 | generate_messages( 40 | DEPENDENCIES 41 | ${MESSAGE_DEPENDS} 42 | ) 43 | 44 | ################################### 45 | ## catkin specific configuration ## 46 | ################################### 47 | 48 | catkin_package(CATKIN_DEPENDS 49 | message_runtime 50 | ${MESSAGE_DEPENDS} 51 | ) 52 | -------------------------------------------------------------------------------- /ROS/src/raspimouse_sim/raspimouse_msgs/action/Music.action: -------------------------------------------------------------------------------- 1 | uint16[] freqs 2 | float32[] durations 3 | --- 4 | bool finished 5 | --- 6 | uint32 remaining_steps -------------------------------------------------------------------------------- /ROS/src/raspimouse_sim/raspimouse_msgs/msg/ButtonValues.msg: -------------------------------------------------------------------------------- 1 | bool front 2 | bool mid 3 | bool rear 4 | bool front_toggle 5 | bool mid_toggle 6 | bool rear_toggle -------------------------------------------------------------------------------- /ROS/src/raspimouse_sim/raspimouse_msgs/msg/LedValues.msg: -------------------------------------------------------------------------------- 1 | bool left_side 2 | bool left_forward 3 | bool right_forward 4 | bool right_side -------------------------------------------------------------------------------- /ROS/src/raspimouse_sim/raspimouse_msgs/msg/LightSensorValues.msg: -------------------------------------------------------------------------------- 1 | int16 right_forward 2 | int16 right_side 3 | int16 left_side 4 | int16 left_forward 5 | int16 sum_all 6 | int16 sum_forward -------------------------------------------------------------------------------- /ROS/src/raspimouse_sim/raspimouse_msgs/msg/MotorFreqs.msg: -------------------------------------------------------------------------------- 1 | int16 left_hz 2 | int16 right_hz -------------------------------------------------------------------------------- /ROS/src/raspimouse_sim/raspimouse_msgs/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | raspimouse_msgs 4 | 0.0.0 5 | ROS message definition for raspimouse 6 | 7 | RT Corporation 8 | 9 | Apache-2.0 10 | 11 | catkin 12 | message_generation 13 | message_generation 14 | message_runtime 15 | std_msgs 16 | actionlib_msgs 17 | 18 | 19 | -------------------------------------------------------------------------------- /ROS/src/raspimouse_sim/raspimouse_msgs/srv/TimedMotion.srv: -------------------------------------------------------------------------------- 1 | int16 left_hz 2 | int16 right_hz 3 | uint32 duration_ms 4 | --- 5 | bool success -------------------------------------------------------------------------------- /ROS/src/raspimouse_sim/raspimouse_sim/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(raspimouse_sim) 3 | find_package(catkin REQUIRED) 4 | catkin_metapackage() 5 | -------------------------------------------------------------------------------- /ROS/src/raspimouse_sim/raspimouse_sim/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | raspimouse_sim 4 | 0.1.1 5 | ROS package suite for Raspberry Pi Mouse Simulator 6 | 7 | RT Corporation 8 | 9 | Daisuke Sato 10 | Yuki Watanabe 11 | 12 | MIT 13 | 14 | https://github.com/rt-net/raspimouse_sim/wiki 15 | https://github.com/rt-net/raspimouse_sim 16 | https://github.com/rt-net/raspimouse_sim/issues 17 | 18 | catkin 19 | 20 | raspimouse_fake 21 | raspimouse_gazebo 22 | 23 | 24 | 25 | 26 | 27 | -------------------------------------------------------------------------------- /UnityScripts/JoyStick/Scripts/OnScreenStickCmdVelPublisher.cs: -------------------------------------------------------------------------------- 1 | using UnityEngine; 2 | using UnityEngine.InputSystem; 3 | using Unity.Robotics.ROSTCPConnector; 4 | using TwistMsg = RosMessageTypes.Geometry.TwistMsg; 5 | 6 | public class OnScreenStickCmdVelPublisher : MonoBehaviour 7 | { 8 | [SerializeField] private InputAction _moveAction; 9 | 10 | [SerializeField] string topicName = "cmd_vel"; 11 | private ROSConnection ros; 12 | private TwistMsg cmdVelMessage = new TwistMsg(); 13 | 14 | private void Start() 15 | { 16 | ros = ROSConnection.GetOrCreateInstance(); 17 | ros.RegisterPublisher(topicName); 18 | StopPublish(); 19 | 20 | _moveAction.performed += _ => 21 | { 22 | var value = _moveAction.ReadValue(); 23 | Debug.Log($"Move: ({value.x}, {value.y})"); 24 | cmdVelMessage.linear.x = value.y * 0.2f; 25 | cmdVelMessage.angular.z = value.x * -1.0f; 26 | Publish(); 27 | }; 28 | 29 | _moveAction.canceled += _ => 30 | { 31 | StopPublish(); 32 | }; 33 | } 34 | 35 | private void OnEnable() 36 | { 37 | _moveAction.Enable(); 38 | } 39 | 40 | private void OnDisable() 41 | { 42 | _moveAction.Disable(); 43 | } 44 | 45 | private void OnDestroy() 46 | { 47 | _moveAction.Dispose(); 48 | } 49 | 50 | private void StopPublish() 51 | { 52 | cmdVelMessage.linear.x = 0.0f; 53 | cmdVelMessage.angular.z = 0.0f; 54 | Publish(); 55 | } 56 | 57 | private void Publish() 58 | { 59 | ros.Publish(topicName, cmdVelMessage); 60 | } 61 | } 62 | -------------------------------------------------------------------------------- /UnityScripts/JoyStick/Textures/white_circle.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/unity3d-jp/Unity-ROS-MobileRobot-UI-Tutorial/2468f6ff51f225be3d2ab48353cc565906d1b51a/UnityScripts/JoyStick/Textures/white_circle.png -------------------------------------------------------------------------------- /UnityScripts/OdometryViewer/Materials.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: ecc449d3c05199d3d9a36925914ddc83 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /UnityScripts/OdometryViewer/Materials/ArrowMaterial.mat.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: d47c437c1d5e9499681fe7ed3747c1bc 3 | NativeFormatImporter: 4 | externalObjects: {} 5 | mainObjectFileID: 0 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /UnityScripts/OdometryViewer/Materials/ArrowMaterial2.mat.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 9f6bb532c1d924888adeefb2733bc4fb 3 | NativeFormatImporter: 4 | externalObjects: {} 5 | mainObjectFileID: 0 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /UnityScripts/OdometryViewer/Materials/Arrows.fbx: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/unity3d-jp/Unity-ROS-MobileRobot-UI-Tutorial/2468f6ff51f225be3d2ab48353cc565906d1b51a/UnityScripts/OdometryViewer/Materials/Arrows.fbx -------------------------------------------------------------------------------- /UnityScripts/OdometryViewer/Prefabs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 742c48e0c8cbceaab9a23f8714d260b7 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /UnityScripts/OdometryViewer/Prefabs/Arrows-bule.prefab.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: abdb200c6bbce4de78e32958500935de 3 | NativeFormatImporter: 4 | externalObjects: {} 5 | mainObjectFileID: 100100000 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /UnityScripts/OdometryViewer/Prefabs/Arrows-red.prefab.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: ad09d02a767c94008a93473968a137c1 3 | NativeFormatImporter: 4 | externalObjects: {} 5 | mainObjectFileID: 100100000 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /UnityScripts/OdometryViewer/Scripts.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 87f6df19bfd592011b02a949280624a5 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /UnityScripts/OdometryViewer/Scripts/OdometryViewer.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: ab0860b423006027b990607bba52dc93 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /UnityScripts/PointCloud/Materials.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: d42bb1f0777419544b1d623f804a6109 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /UnityScripts/PointCloud/Materials/Sphere.mat.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: e39ed91c775f85c4dba745e0c45ca921 3 | NativeFormatImporter: 4 | externalObjects: {} 5 | mainObjectFileID: 2100000 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /UnityScripts/PointCloud/Prefabs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 60dddee5ab5f7e34e9a03a15726c2baf 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /UnityScripts/PointCloud/Prefabs/Sphere.prefab.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 6a7d64f0df28e324684ffb16cae07465 3 | PrefabImporter: 4 | externalObjects: {} 5 | userData: 6 | assetBundleName: 7 | assetBundleVariant: 8 | -------------------------------------------------------------------------------- /UnityScripts/PointCloud/Scenes.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 0ccd62507e208984a84406ad23590d42 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /UnityScripts/PointCloud/Scenes/PointCloudSample.unity.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 20e52f821fe5cae35b15481db148ee90 3 | DefaultImporter: 4 | externalObjects: {} 5 | userData: 6 | assetBundleName: 7 | assetBundleVariant: 8 | -------------------------------------------------------------------------------- /UnityScripts/PointCloud/Scripts.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: f8cc732510791c34bb5aa767aa2e8b5d 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /UnityScripts/PointCloud/Scripts/PointCloudLocator.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: fb1c556465693b44a9f4d57e1adcdb72 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /UnityScripts/Scripts/CmdVelPublisher.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 3ce3c96156e9cae259dfd03a04c8616c 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /UnityScripts/Scripts/CmdVelSubscriber.cs: -------------------------------------------------------------------------------- 1 | using UnityEngine; 2 | using Unity.Robotics.ROSTCPConnector; 3 | // 各種ROSトピック形式 4 | using TwistMsg = RosMessageTypes.Geometry.TwistMsg; 5 | 6 | /// 7 | /// CmdVel（TwistMsg）を受信するためのクラス 8 | /// 主にデバッグ用に使うことを想定 9 | /// 10 | public class CmdVelSubscriber : MonoBehaviour 11 | { 12 | // 受信するROSのトピック名 13 | [SerializeField] string rosTopicName = "cmd_vel"; 14 | // デバッグモードとするかどうか（デバッグモードではコンソールにログを出力） 15 | [SerializeField] bool isDebugMode = true; 16 | 17 | /// 18 | /// 初期化用のイベント関数 19 | /// https://docs.unity3d.com/ja/2020.3/Manual/ExecutionOrder.html 20 | /// 21 | void Start() 22 | { 23 | ROSConnection.GetOrCreateInstance().Subscribe(rosTopicName, CmdVelUpdate); 24 | } 25 | 26 | /// 27 | /// ROSトピックを受け取った際に呼ばれるコールバック関数 28 | /// 29 | void CmdVelUpdate(TwistMsg twistMessage) 30 | { 31 | if (isDebugMode) 32 | { 33 | Debug.Log(twistMessage); 34 | } 35 | } 36 | } -------------------------------------------------------------------------------- /UnityScripts/Scripts/CmdVelSubscriber.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 3745db3e9359cd2fdad7685ade18554c 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /UnityScripts/Scripts/ImageSubscriber.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 8e9069025f49c0582a6d94301f283d14 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /UnityScripts/Scripts/LaserScanSubscriber.cs: -------------------------------------------------------------------------------- 1 | using UnityEngine; 2 | using Unity.Robotics.ROSTCPConnector; 3 | // 座標変換用 4 | using Unity.Robotics.ROSTCPConnector.ROSGeometry; 5 | // 各種ROSトピック形式 6 | using LaserScanMsg = RosMessageTypes.Sensor.LaserScanMsg; 7 | 8 | /// 9 | /// LiDARスキャンデータ（LaserScanMsg）を受信するためのクラス 10 | /// 主にスキャンデータの取得および座標変換に使い、描画は別のスクリプトを用意することを想定 11 | /// 12 | public class LaserScanSubscriber : MonoBehaviour 13 | { 14 | 15 | // 受信するROSのトピック名 16 | [SerializeField] string rosTopicName = "scan"; 17 | // デバッグモードとするかどうか（デバッグモードではコンソールにログを出力） 18 | [SerializeField] bool isDebugMode = true; 19 | 20 | private float[] scanRangesArray; 21 | private float scanAngleMin = 0; 22 | private float scanAngleMax = 0; 23 | 24 | /// 25 | /// 初期化用のイベント関数 26 | /// https://docs.unity3d.com/ja/2020.3/Manual/ExecutionOrder.html 27 | /// 28 | void Start() 29 | { 30 | ROSConnection.GetOrCreateInstance().Subscribe(rosTopicName, ScanUpdate); 31 | } 32 | 33 | 34 | /// 35 | /// ROSトピックを受け取った際に呼ばれるコールバック関数 36 | /// 37 | void ScanUpdate(LaserScanMsg scanMessage) 38 | { 39 | if (isDebugMode) 40 | { 41 | Debug.Log(scanMessage); 42 | } 43 | 44 | scanRangesArray = scanMessage.ranges; 45 | scanAngleMax = scanMessage.angle_max; 46 | scanAngleMin = scanMessage.angle_min; 47 | } 48 | 49 | /// 50 | /// 外部からスキャン結果の配列にアクセスするための関数 51 | /// 52 | public float[] GetScanRanges() 53 | { 54 | return scanRangesArray; 55 | 56 | } 57 | 58 | /// 59 | /// 外部からスキャン結果にアクセスするための関数 60 | /// 61 | public float GetScanAngleMin() 62 | { 63 | return scanAngleMin; 64 | } 65 | 66 | /// 67 | /// 外部からスキャン結果にアクセスするための関数 68 | /// 69 | public float GetScanAngleMax() 70 | { 71 | return scanAngleMax; 72 | } 73 | } 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ロボット操作用ボタンの作成と速度指令値の送信 28 | * ロボット位置姿勢の可視化 29 | * オドメトリの可視化 30 | * LiDARデータの可視化 31 | * カメラ映像の可視化 32 | 33 | 使用するロボットのハードウェアやROSなどのツールについて詳細な解説は省いています。 34 | 35 | 特にソフトウェアのインストール手順などは頻繁に変更が生じるため、適宜外部のドキュメントへのリンクを案内しています。 36 | 37 | ## 扱わない内容 38 | 本教材はUnityとROSとの通信とUI開発に特化しており、Unityによる物理演算や距離計測などのシミュレーションは行っていません。 39 | 40 | ## 想定している対象者 41 | 42 | 本教材の対象として以下の方を想定しています。 43 | 44 | * Unityの開発経験がありロボット制御に興味のある方 45 | * ROSの開発経験がありUnityを使ったUI開発に興味のある方 46 | * Unity、ROSの開発経験がなくロボットのUI開発に興味のある方 47 | 48 | UnityとROSが連携したシステムを開発するためには両方の知識が必要になりますが、 49 | 連携部分をサンプルプログラムとして用意したので入門者でも扱いやすい内容となっています。 50 | サンプルに含まれていないデータのやり取りをしたい場合も、多くの場合はサンプルを少し書き換えることで対応可能です。 51 | 本教材で学んだ後は、ぜひオリジナルのUI作成に挑戦してみて下さい。 52 | 53 | ## ROSのビジュアライズツールとの違い 54 | 55 | ROS対応しているロボットのUI開発において 56 | RVizなどが広く用いられていますが、 57 | 本教材ではこれらをUnityにおきかえることで高精細なグラフィックや 58 | 多様なインターフェースを実現することが出来ます。 59 | 60 | こうしたUnityの特徴は現実で動作するロボットの状態を端末から確認するといった 61 | いわゆるデジタルツイン分野においても非常に有効です。 62 | 63 | [INTRO1](./intro1.md)ではROSとUnityが連携することの利点として 64 | Unityの強みを少し掘り下げてご紹介します。 65 | 66 | --- 67 | 68 | * [目次](./intro2.md) 69 | * \> [INTRO1](./intro1.md) -------------------------------------------------------------------------------- /docs/intro1.md: -------------------------------------------------------------------------------- 1 | # Unityとロボットが連携することの利点 2 | ## UI作成が簡単 3 | キーボードやマウス、ゲームコントローラ、タッチパネルなどを用いたUIを簡単に作成することができます。 4 | 5 | 本教材ではUnityに最初から用意されているボタンの部品を使用してRaspberry Pi Mouseを操作できるようにします。 6 | 7 | ![](./images/intro1-1.png) 8 | 9 | ## マルチプラットフォームサポート 10 | 様々なプラットフォーム上で動作するので使い方に応じて適切な端末を選ぶことができます。 11 | 12 | 例えばPCで動作するプロジェクトをスマートフォン向けにビルドすることが可能です。 13 | 14 | 現実のロボットを操作する際は、持ち運びしやすい端末から操作できるととても便利です。 15 | 16 | またARやVR向けの対応も容易なため、より没入的で直感的なUIを作成することもできます。 17 | 18 | 対応プラットフォームについて詳しくは[こちら](https://unity.com/ja/features/multiplatform)をご覧ください。 19 | 20 | ![](./images/intro1-2.jpg) 21 | 22 | ## リアルタイムレンダリング 23 | Unityはリアルタイムレンダリングを実現するための様々な仕組みを統合した開発環境です。 24 | 25 | 実機の動きをなめらかに表現できるだけでなく、低遅延のインタラクションを実現することが出来ます。 26 | 27 | また、HDRP(High Definition Render Pipeline)を使うと現実により忠実な高品質な表現が行えたり、URP(Universal Render Pipeline)という仕組みを使うと複雑なレンダリングの処理を簡易な処理に置き換えることで負荷を低減させたりすることが出来ます。 28 | 29 | 参考までに、下記画像は左がUnity標準のBuilt-in、右がより高精細なHDRPを用いた画面です。 30 | 31 | ![](./images/intro1-3.png) 32 | 33 | ## 豊富な情報や素材 34 | [公式チュートリアル](https://learn.unity.com/course/unity-tutorials-for-beginners-jp)や[マニュアル](https://docs.unity3d.com/ja/2020.3/Manual/UnityManual.html)、Unity公式の素材集である[Unity Asset Store](https://assetstore.unity.com/?locale=ja-JP)、個人のブログ記事などゲーム開発で培われた様々な技術や素材が蓄積されています。 35 | 36 | Unityの使い方等でわからないことが出てきたら、こちらの[コミュニティ](https://unity.com/ja/community)のページや、[Unityユーザー助け合い所](https://www.facebook.com/groups/unityuserj)(日本語での質問が可能)にアクセスしてみて下さい。 37 | 38 | さらなる学びや情報収集には、Unity Japan が運営する [Unity Learning Materials](https://learning.unity3d.jp/)もおすすめです。 39 | 40 | ![](./images/intro1-4.png) 41 | 42 | --- 43 | 44 | * [目次](./intro2.md) 45 | * < [INTRO0](./intro0.md) 46 | * \> [INTRO2](./intro2.md) -------------------------------------------------------------------------------- /docs/step5.md: -------------------------------------------------------------------------------- 1 | # オドメトリの可視化 2 | 3 | ## 概要 4 | 5 | ロボットのオドメトリを可視化する方法を紹介します。 6 | 今回はオドメトリ受信用スクリプトとオドメトリ描画用スクリプトを組み合わせて可視化します。 7 | 8 | 本ステップ実行後の状態のSceneファイルは[`MobileRobotUITutorialProject/Assets/Scenes/Step5.unity`](../MobileRobotUITutorialProject/Assets/Scenes/Step5.unity)から入手できます。 9 | 10 | ## 動作確認済環境 11 | 12 | * Windows 10 Home バージョン 21H2 13 | * Unity 2021.3.4f1 14 | * [Unity-Technologies/ROS-TCP-Connector](https://github.com/Unity-Technologies/ROS-TCP-Connector) v0.7.0 15 | * Docker Desktop 4.9.1 16 | 17 | ## 手順 18 | 19 | ### 1. オドメトリ受信用スクリプトをアタッチ 20 | 21 | [STEP4](./step4.md)までと同様に`Assets/Scripts/OdomSubscriber.cs`を`Subscriber`オブジェクトにアタッチします。 22 | 23 | ここまでで`Subscriber`に追加したコンポーネントは`Tf Subscriber`と`Odom Subscriber`の2つになります。 24 | 25 | ![](./images/step5-1.png) 26 | 27 | ### 2. オドメトリ描画用スクリプトをアタッチ 28 | 29 | まず、スクリプトを用意します。[`UnityScripts/OdometryViewer`](../UnityScripts/OdometryViewer)フォルダをUnityプロジェクトの`Assets`フォルダにコピー（`Assets/OdometyViewer`として配置）します。 30 | 31 | ![](./images/step5-2.png) 32 | 33 | 次に用意したスクリプトをアタッチしていきます。 34 | `Assets/OdometyViewer/Scripts/OdometryViewer.cs`を`raspimouse`オブジェクトにアタッチします。 35 | 36 | ![](./images/step5-3.gif) 37 | 38 | `raspimouse`オブジェクトを選択してInspectorウィンドウを開き、`Odometry Viewer`コンポーネントの`Subscriber Game Object`に`Subsciber`オブジェクトを、`Arrow Prefab`に`Assets/OdometryViewer/Prefabs/Arrows-red.prefab`を指定します。 39 | 40 | ![](./images/step5-4.gif) 41 | 42 | 以上で可視化の準備ができました。 43 | 44 | ### 3. Unityプロジェクトの実行 45 | 46 | [STEP3](./step3.md)と[STEP4](./step4.md)と同様に、 47 | 48 | 1. 再生モードでUnityプロジェクトを実行 49 | 2. Gazeboシミュレータを起動 50 | 3. 操作ボタンから移動指令送信 51 | 52 | の手順でロボットを動かしてみます。 53 | 54 | ![](./images/step5-5.gif) 55 | 56 | [STEP4](./step4.md)ではGazebo上の移動ロボットに合わせてUnityのロボットも動かすことができましたが、 57 | 今回はそれに加えてオドメトリを可視化することができました。 58 | 59 | `Odometry Viewer`コンポーネントの`Length Of History`のパラメータを変えることで描画するオドメトリの履歴数を変更できます。 60 | 61 | ![](./images/step5-6.png) 62 | 63 | ![](./images/step5-7.png) 64 | 65 | ## 本STEPのまとめ 66 | 67 | 68 | オドメトリ受信用スクリプトとオドメトリ描画用スクリプトを組み合わせて可視化する方法を紹介しました。 69 | さらにパラメータを変更して描画する履歴の数を変更する方法も紹介しました。 70 | 71 | 次は[STEP6](./step6.md)でLiDARデータの可視化方法を紹介します。 72 | 73 | --- 74 | 75 | * [目次](./intro2.md) 76 | * < [STEP4](./step4.md) 77 | * \> [STEP6](./step6.md) -------------------------------------------------------------------------------- /docs/step6.md: -------------------------------------------------------------------------------- 1 | # LiDARデータの可視化 2 | 3 | ## 概要 4 | 5 | ロボットのに搭載されているLiDARデータの可視化を紹介します。 6 | 今回もオドメトリ可視化の際と同様にLiDARデータ受信用スクリプトとLiDARデータ描画用スクリプトを組み合わせて可視化します。 7 | 8 | 本ステップ実行後の状態のSceneファイルは[`MobileRobotUITutorialProject/Assets/Scenes/Step6.unity`](../MobileRobotUITutorialProject/Assets/Scenes/Step6.unity)から入手できます。 9 | 10 | ## 動作確認済環境 11 | 12 | * Windows 10 Home バージョン 21H2 13 | * Unity 2021.3.4f1 14 | * [Unity-Technologies/ROS-TCP-Connector](https://github.com/Unity-Technologies/ROS-TCP-Connector) v0.7.0 15 | * Docker Desktop 4.9.1 16 | 17 | ## 手順 18 | 19 | ### 1. LiDARデータ受信用スクリプトをアタッチ 20 | 21 | [STEP5](./step5.md)までと同様に`Assets/Scripts/LaserScanSubscriber.cs`を`Subscriber`オブジェクトにアタッチします。 22 | 23 | ここまでで`Subscriber`に追加したコンポーネントは`Tf Subscriber`、`Odom Subscriber`、`Laser Scan Subscriber`の3つになります。 24 | 25 | ![](./images/step6-1.png) 26 | 27 | ### 2. LiDARデータ描画用スクリプトをアタッチ 28 | 29 | まず、スクリプトを用意します。[`UnityScripts/PointCloud`](../UnityScripts/PointCloud)フォルダをUnityプロジェクトの`Assets`フォルダにコピー（`Assets/PointCloud`として配置）します。 30 | 31 | ![](./images/step6-2.png) 32 | 33 | 次に用意したスクリプトをアタッチしていきます。 34 | `Assets/PointCloud/Scripts/PointCloudLocator.cs`を`lidar_link`オブジェクト（`raspimouse/base_footprint/base_link/urg_mount_link/lidar_link`）にアタッチします。 35 | 36 | ![](./images/step6-3.gif) 37 | 38 | `lidar_link`オブジェクトを選択してInspectorウィンドウを開き、`Point Cloud Locator`コンポーネントの`Subscriber Game Object`に`Subsciber`オブジェクトを、`Point Prefab`に`Assets/PointCloud/Prefabs/Sphere.prefab`を指定します。 39 | 40 | ![](./images/step6-4.gif) 41 | 42 | 以上で可視化の準備ができました。 43 | 44 | ### 3. Unityプロジェクトの実行 45 | 46 | [STEP3](./step3.md)～[STEP5](./step5.md)と同様に、 47 | 48 | 1. 再生モードでUnityプロジェクトを実行 49 | 2. Gazeboシミュレータを起動 50 | 3. 操作ボタンから移動指令送信 51 | 52 | の手順でロボットを動かしてみます。 53 | 54 | ![](./images/step6-5.gif) 55 | 56 | [STEP5](./step5.md)で可視化したオドメトリに加えてLiDARデータを可視化することができました。 57 | 58 | `Assets/PointCloud/Scripts/PointCloudLocator.cs`の`private static readonly int MaxPointCount = 100;`を書き換えることで 59 | 描画する点群の数を変えることができます。 60 | 61 | ### 本STEPのまとめ 62 | 63 | LiDARデータ受信用スクリプトとLiDARデータ描画用スクリプトを組み合わせて可視化する方法を紹介しました。 64 | さらに描画する点群の数を変更する方法も紹介しました。 65 | 66 | 次は[STEP7](./step7.md)でカメラ画像の可視化方法を紹介します。 67 | 68 | --- 69 | 70 | * [目次](./intro2.md) 71 | * < [STEP5](./step5.md) 72 | * \> [STEP7](./step7.md) --------------------------------------------------------------------------------