/upg-simulator

Unity3d Environment for UAV simulation, with connection to PX4 and ROS

Primary LanguageC#

UPG-Simulator

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 port
  • MAVROS messages supported via subscriber class
  • Undergoing testing for point2 message to show global obstacle map
  • TinyWhoop and Dji Fpv Models from Sketchfab

Platform

[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

ROS-Unity Setup

This is using unity_robotics_demo under the ROS–Unity-Integration tutorials, use this as a template to generate different message types

  1. 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.
  2. In the Unity menu bar, go to Robotics -> Generate ROS Messages.... In the ROS Message Browser window, click the Browse button at the top right to set the ROS message path to tutorials/ros_unity_integration/ros_packages/unity_robotics_demo_msgs in this repo. (This applies to any message types)
  3. In the message browser, expand the unity_robotics_demo_msgs subfolder and click Build 2 msgs and Build 2 srvs to generate C# scripts from the ROS .msg and .srv files.
  • Current message types already include MAVROS, GEOMETRIC, GEOGRAPHIC, SENSOR and STD.