FarmSim

A simulated oyster/seaweed aquaculture farm in Unity3D. I developed this simulator to test out Blue Meadow's robotic perception software.

Check out the design document for details on naming, coordinate frames, ROS topics, etc.

Requirements

This project is currently being developed with:

Ubuntu 18.04
ROS Melodic
Unity 2020.1.6.f1
Our fork of LCM

First-Time Setup

Troubleshooting

Launch Error Loop

Sometimes you'll get stuck in an error loop on launch about the editor layout. It can be fixed by copying an existing CurrentLayout-default.dwlt into the project:

# Don't modify this file!
cp ~/resources/CurrentLayout-default.dwlt Library/

LCM Crashes Editor / Makes Simulation Hang in Play Mode

Check ~/.config/unity3d/Editor.log for the crash.

Transforms show up in the wrong place!

If child objects aren't showing up in the right place, make sure the Unity editor is set to Pivot and Local in the top left toolbar. For example, a child object at [0, 0, 0] might not be at the origin of the parent object - this will fix that.