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

• ros-sharp

  7 929 2.6 C#

  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.

• unity_moveit_manager

  1 3 0.0 C++

  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.

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• unity_moveit_connector

  1 4 0.0 C#

  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

  1 5 0.0 Dockerfile

  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

  17 1,554 8.5 C++

  :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

  1 0 0.0 CMake

  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

  5 267 0.0 C#
  

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