/Introduction/
The vineyard environment presented can be used for traversability estimation experiments while executing, for instance, crops spraying and inspection tasks.
In particular, the terrain can be adjusted to display higher amounts of intricacy due to an array of different properties (steep, rocks, mud, foliage, tree leaves, branches). Exceptional attention should be placed on foliage that, due to its uncertain physical characteristics e.g. being compliant or not, often causes mischief when trying to determine traversability.
/Demo execution/
Install ROS1, http://wiki.ros.org/noetic/Installation
Install Unity, https://unity3d.com/get-unity/download
Download Unity Hub https://unity3d.com/get-unity/download
Open the Unity Hub File
Find the URL of the Unity Editor version 2020.1.0f1 https://unity.com/releases/2020-1
Open a new Terminal window
Run './Unity-Hub-imp<url_Unity_Editor>
Open Unity.Hub file
Clone this repo
Open this repo as a project in Unity
Download ROS#, https://github.com/siemens/ros-sharp
Import ROS# to Unity
Executing a ROS Master
Open the file Assets/NAOUM.Unity
For RosBridge:
Establish the connection between Unity and ROS, https://www.youtube.com/watch?v=OZiAJuWh6w8
Replace the project's 'Rosharp' folder with the one from the official Rosharp repo
Once the connection is established, press the 'Play' button on Unity
You can now move the robot around the Unity environment, collected screenshots as input images and see robot's sensor topics in ROS.
/Reference/ Reader can refer to https://dl.acm.org/doi/abs/10.1145/3453892.3462214