Example project for ROS-Unity joint control integration

This is an example project to demonstrate ros-unity-joint-control-integration script. You can move Panda arm robot on Unity with MoveIt 2 with this example.

Requirements

• ROS version: ROS 2 humble
• Unity version: 2022.3.46 or above

How to setup this demo

1. Build demo projects and packages

   1. Unity Side
      1. Clone this demo repository

         git clone --recurse-submodules https://github.com/wildlarva/example-ros-unity-integration.git

      2. Import cloned project to Unity
      3. Load EmptyScene from Assets/Scenes/EmptyScene.unity
      4. Build the project
   2. ROS Side
      1. Clone panda moveit config for Unity

         git clone https://github.com/wildlarva/moveit_resources.git

      2. Build the cloned ROS packages with colcon

2. Setup Unity ROS2 environment.

   • Follow the instruction below:
     • https://github.com/Unity-Technologies/Unity-Robotics-Hub/blob/main/tutorials/ros_unity_integration/setup.md#-ros2-environment

3. Run demo

   1. Unity Side
      1. Run Unity simulation
   2. ROS Side
      1. Launch panda moveit package with Unity option

         ros2 launch moveit_resources_panda_moveit_config demo.launch.py ros2_control_hardware_type:="unity"