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本篇文章主要介绍基于ROS-TCP-Connector、ROS-TCP-Endpoint两个Unity接口与ROS进行通信的环境配置,并对官方给出的Unity和ROS相互通信示例中的消息部分做了说明 一、环境配置参考:Unity-Robotics-Hub/setup.md at main · Unity-Technologies/Unity-Robotics-Hub (github.com) Ununtu环境下 1.成功配置ros环境 2.下载ROS-TCP-Endpoint放在工作空间编译ROS-TCP-Endpoint下载地址:Unity-Technologies/ROS-TCP-Endpoint: ROS package used to create an endpoint to accept ROS messages sent from a Unity scene using the ROS TCP Connector scripts (github.com) Unity环境下 1.创建新项目,在Window/Package Manager下导入两个包(方式有两个,本地导入和URL导入)URL导入: 两个包: https://github.com/Unity-Technologies/ROS-TCP-Connector.git?path=/com.unity.robotics.ros-tcp-connector https://github.com/Unity-Technologies/ROS-TCP-Connector.git?path=/com.unity.robotics.visualizations导入成功结果如下: 因为URL是在线下载,可能会连接失败(但我多试了几次也成功了)。选择本地的方式也可以,把整个包下载到本地,然后选择这两个com包: 下载上面画的这两个,然后路径选择本地磁盘,点击之后,导入com文件夹下的package.json即可: 这个时候发现Unity上多了一个选项: 点击Robotics下面的ROS Settings进行配置,主要是两个ROS IP Address和ROS Port,关于ROS IP Address在ubuntu下用ifconfig查一下设置,然后端口任意了默认10000了 到目前为止,两方的环境配置就结束了。 二、demo环境配置Ubuntu环境 下载这两个到同一个工作空间,然后catkin_make一下 下载路径:Unity-Robotics-Hub/tutorials/ros_unity_integration/ros_packages at main · Unity-Technologies/Unity-Robotics-Hub (github.com) Unity环境下 点击“Robotics -> Generate ROS Messages…” 那个ROS message path是把整个项目下载下来,然后选择tutorials/ros_unity_integration/ros_packages/unity_robotics_demo_msgs文件夹,最后再Build两个一下(为了换成C#文件) 三、实例:Unity发布,ros订阅 1.ubuntu端先查一下IP(根据自己的IP地址实际替换)然后执行: roslaunch ros_tcp_endpoint endpoint.launch tcp_ip:=192.168.178.134 tcp_port:=10000 2.Unity端建立空物体挂载文件(命名:RosPublisherExample)把以下代码放进去,再新建一个Cube,把Cube做参数传入文件 using UnityEngine; using Unity.Robotics.ROSTCPConnector; using RosMessageTypes.UnityRoboticsDemo; /// /// /// public class RosPublisherExample : MonoBehaviour { ROSConnection ros; public string topicName = "pos_rot"; // The game object public GameObject cube; // Publish the cube's position and rotation every N seconds public float publishMessageFrequency = 0.5f; // Used to determine how much time has elapsed since the last message was published private float timeElapsed; void Start() { // start the ROS connection ros = ROSConnection.GetOrCreateInstance(); ros.RegisterPublisher(topicName); } private void Update() { timeElapsed += Time.deltaTime; if (timeElapsed > publishMessageFrequency) { cube.transform.rotation = Random.rotation; PosRotMsg cubePos = new PosRotMsg( cube.transform.position.x, cube.transform.position.y, cube.transform.position.z, cube.transform.rotation.x, cube.transform.rotation.y, cube.transform.rotation.z, cube.transform.rotation.w ); // Finally send the message to server_endpoint.py running in ROS ros.Publish(topicName, cubePos); timeElapsed = 0; } } } 3.unity运行运行时出现下面的框,为蓝色时代表连接成功,红色是失败 同时ubuntu那边也有显示: 然后rostopic echo pos_rot,可以看到输出 四、实例:ros发布,Unity订阅 1. ubuntu端先查一下IP(根据自己的IP地址实际替换)然后执行: roslaunch ros_tcp_endpoint endpoint.launch tcp_ip:=192.168.178.134 tcp_port:=10000 2.Unity端建立空物体挂载文件(命名:RosSubscriberExample)把以下代码放进去,再新建一个Cube,把Cube做参数传入文件 using UnityEngine; using Unity.Robotics.ROSTCPConnector; using RosColor = RosMessageTypes.UnityRoboticsDemo.UnityColorMsg; public class RosSubscriberExample : MonoBehaviour { public GameObject cube; void Start() { ROSConnection.GetOrCreateInstance().Subscribe("color", ColorChange); } void ColorChange(RosColor colorMessage) { cube.GetComponent().material.color = new Color32((byte)colorMessage.r, (byte)colorMessage.g, (byte)colorMessage.b, (byte)colorMessage.a); } } 3.unity运行运行时出现下面的框,为蓝色时代表连接成功,红色是失败 4.ubuntu端再执行: rosrun unity_robotics_demo color_publisher.py运行一次Unity中物体改变一次颜色 完活~ |
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