Unity3d Environment for UAV simulation, with connection to PX4 and ROS here.
Please use this in conjunction with https://github.com/matthewoots/ros_tcp_connector and launch the ROS-TCP-ENDPOINT
node
[Features]
PX4-UNITY-SIMULATOR
with PX4 SITL connection via TCP portMAVROS
messages supported via subscriber class- Undergoing testing for
point2
message to show global obstacle map TinyWhoop
andDji Fpv
Models fromSketchfab
[HARDWARE]
- Ubuntu 18.04
- Intel® Xeon(R) CPU E3-1535M v6 @ 3.10GHz × 8
- NVIDIA Quadro M2200
[SOFTWARE]
- Unity 2020.3.6f1
[NOT SUPPORTED ON UNITY-UBUNTU]
- [HDRP] is not supported
- [Substance engine] is not supported
This is using unity_robotics_demo
under the ROS–Unity-Integration
tutorials, use this as a template to generate different message types
- Open Package Manager and click the + button at the top left corner. Select "add package from git URL" and enter
https://github.com/Unity-Technologies/ROS-TCP-Connector.git?path=/com.unity.robotics.ros-tcp-connector
to install the ROS-TCP-Connector package. - In the Unity menu bar, go to
Robotics -> Generate ROS Messages
.... In theROS Message Browser
window, click theBrowse
button at the top right to set the ROS message path totutorials/ros_unity_integration/ros_packages/unity_robotics_demo_msgs
in this repo. (This applies to any message types) - In the message browser, expand the
unity_robotics_demo_msgs subfolder
and clickBuild 2 msgs
andBuild 2 srvs
to generate C# scripts from the ROS .msg and .srv files.
- Current message types already include
MAVROS
,GEOMETRIC
,GEOGRAPHIC
,SENSOR
andSTD
.