Robotics on WSL2 using ROS, Docker and Unity 3D (Part II)

This page summarizes the projects mentioned and recommended in the original post on dev.to

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  • ros-sharp

    ROS# is a set of open source software libraries and tools in C# for communicating with ROS from .NET applications, in particular Unity3D

  • There are several ways of using Unity for robotics. Robotics for Unity is a new field and support is still custom made. Most of the applications out there are proprietary software created by private companies and not easily accessible or configurable by others. ROS support has been recently introduced by Unity itself, and it is a fork from a previous library from Siemens' RosSharp. In my setup, I used the Unity ROS library which works with the latest ArticulationBody types.

  • InfluxDB

    Power Real-Time Data Analytics at Scale. Get real-time insights from all types of time series data with InfluxDB. Ingest, query, and analyze billions of data points in real-time with unbounded cardinality.

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  • unity_moveit_manager

    MoveIt plugin to communicate with Unity 3D

  • unity_connector_manager.cpp which sends the trajectory to Unity after calling execute() on a planned MoveIt! trajectory.

  • unity_moveit_connector

    Unity script which acts as controller for Unity ArticulationBody robotics arms for a ROS moveit instance.

  • Here we setup a script to control Unity's ArticulatedBody objects with MoveIt! messages from ROS. I have uploaded the script in this repository https://github.com/szandara/unity_moveit_connector/blob/master/Editor/ROSMoveItControllerGeneric.cs

  • unity_reachy_tutorial

    Tutorial to run reachy on unity

  • zandara@XXX:$ cd ~ zandara@XXX:$ mkdir unity_demo zandara@XXX:$ cd unity_demo zandara@XXX:$ git clone https://github.com/szandara/unity_reachy_tutorial zandara@XXX:$ cd unity_reachy_tutorial

  • moveit

    :robot: The MoveIt motion planning framework

  • For this demo project I have chosen a cute robotic manipulator which is open sourced. To use a robot with ROS in Unity you need an existing URDF (robot file descriptor) which is usually shipped by the robot manufacturer. In specific I have decided to work on a static robotic manipulator and operate it with MoveIt!.

  • reachy_description_ros1

    Fork of Reachy URDF ROS1 version for back compatible tutorial

  • zandara@XXX:$ cd src zandara@XXX:$ git clone https://github.com/szandara/reachy_description_ros1 zandara@XXX:$ git clone https://github.com/pollen-robotics/reachy_moveit_config

  • ROS-TCP-Connector

  • SaaSHub

    SaaSHub - Software Alternatives and Reviews. SaaSHub helps you find the best software and product alternatives

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NOTE: The number of mentions on this list indicates mentions on common posts plus user suggested alternatives. Hence, a higher number means a more popular project.

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