/Unity-ROS-MiniPupper-Tutorial

Unity x ROS1 x Mini Pupper Tutorial!

Primary LanguageC#MIT LicenseMIT

Unity-ROS-MiniPupper-Tutorial

Unity x ROS1 x Mini Pupper Tutorial.


(Important!) - You will need to install and Register Unity 3D Software beforehand! (You can use Free version.)

'Unity Hub' is recommended.


https://unity3d.com/get-unity/download



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Slide - Use Unity 3D ROS Engine to control mini pupper -

Overview

You can play your Mini Pupper with Unity 3D Engine and ROS!

Unity 3D Engine can also create Windows / MacOS / Android / iOS Apps and so on.

This repository contain a tutorial for connecting Unity and ROS.

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Preparations

You need a Mini Pupper and PC.

1. Mini Pupper

(SD Card image: (64bit)v1.0.0.20220219.MiniPupper_ROS&OpenCV_Ubuntu20.04.03.img.zip )

https://drive.google.com/drive/folders/1RXu8dGXx3duYmF6jz4DYGml95TujSjsq

  • Ubuntu 20.04
  • ROS Noetic

ID: ubuntu / pass: mangdang

  • Clone the ROS-TCP-Endpoint repository.
  • (You use the new image (20221013_minipupper_roscon2022_trim.img.xz), you do not need this cloning and update-alternatives command.)
sudo apt update

cd ~/catkin_ws/src
git clone https://github.com/Unity-Technologies/ROS-TCP-Endpoint.git
cd ./ROS-TCP-Endpoint
pip3 install -r requirements.txt
cd ../
catkin_make

# for changing default python version 3
sudo update-alternatives --install /usr/bin/python python /usr/bin/python3.8 0

2. PC

Windows (10 or later) or Ubuntu (I tried Ubuntu20.04)


Please install these in each PC beforehand.


  • Install Unity 3D (I used version 2021) You will need to install and Register Unity 3D Software beforehand. 'Unity Hub' is recommended.
  • Install git software (https://git-scm.com/downloads) for importing Unity asset.
  • Clone this repository, and Open the project. The first time, some assets downloads would be performed.

- (Optional) If you want to build Android App, Android build Module (via Unity Hub Setting) / Android SDK is required.
  • Unity 3D Software

Windows - (https://unity3d.com/get-unity/download)

Ubuntu - (https://docs.unity3d.com/hub/manual/InstallHub.html#install-hub-linux)



Network

These client have to connect the same network.

Usage

1. Mini Pupper

Open the terminal, Enter this. (Tab No.1)

# check your IP address.
ifconfig

cd ~/catkin_ws
source devel/setup.bash
roslaunch ros_tcp_endpoint endpoint.launch     # with roscore

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And open new terminal (Tab No.2) (Ctrl-T key)

source devel/setup.bash

# If you try CmdVel sample project
roslaunch mini_pupper bringup.launch

# Or, If you try JointTrajectory sample project,,
roslaunch servo_interface servo_interface.launch

# (If use mini_pupper_ros - ros1 branch (updated Sep, 2022),  )
# roslaunch mini_pupper_bringup bringup.launch
# roslaunch mini_pupper_control servo_interface.launch

2. PC

Open the Unity project. And open the scene file.

(Additional packages will start to download automatically.)

Two scenes can be selected.

Assets/Scenes/MiniPupperCmdVelPose.unity : Example for CmdVel message.

  • This example shows two virtual joystick.

  • When connected to ROS, you can move Mini Pupper with CmdVel messages.

Assets/Scenes/MiniPupperJointTrajectory.unity : Example for JointTrajectory message. with IK foot positioning.

  • This example shows 4 foot position box and a body position box.

  • When connected to ROS, you can move Mini Pupper with JointTrajectory messages.

  • And the Leg move with IK (forward to foot position box.)

Setup the ROS network description.

Enter the Mini Pupper's IP address in the "ROS IP Address" fields.

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So click the play button, then Mini Pupper and Unity were connected.

Note

This page will be update.

Author

@devemin

https://twitter.com/devemin

Reference

https://github.com/Unity-Technologies/Unity-Robotics-Hub/tree/main/tutorials/ros_unity_integration

Licence

MIT License