UnitySensos is a projet that regroup two Unity3D packages that allow you to easly use Unity3D as robotic simulation ! There are several Prefab and Scene files available for testing each sensor.
1. UnitySensor
The following sensors are available inside :
- Velodyne 3D LiDAR (Velodyne VLP-16, VLP-16-HiRes, VLP-32, HDL-32E, VLS-128)
- Livox 3D LiDAR(Avia, Horizon, Mid40, Mid70, Tele, HAP, Mid360)
- RGB Camera
- RGBD Camera
- IMU
- GNSS
- (GroundTruth)
- (TF)
2. UnitySensorROS
This package is responsible to make the link between sensor and ROS by serializing sensor raw data and sending to them to ROS using ROS-TCP-Connector package. To receive the data in ROS take a look at ROS-TCP-Endpoint.
Note
Unitysensor is made for Unity 2021.3 or later
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Open the Package Manager from
Window
->Package Manager
. -
In the Package Manager window, find and click the + button in the upper lefthand corner of the window. Select
Add package from git URL....
-
Enter the git URL for the desired package.
- For the UnitySensors, enter
https://github.com/Field-Robotics-Japan/UnitySensors.git?path=/Assets/UnitySensors#v2.0.5
. - For the UnitySensorsROS, enter
https://github.com/Field-Robotics-Japan/UnitySensors.git?path=/Assets/UnitySensorsROS#v2.0.5
. Note: UnitySensorsROS does not contain UnitySensors.
- For the UnitySensors, enter
-
Click
Add
.
- Download lastest release of ROS-TCP-Endpoint.
- Build your workspace.
- Launch ROS endpoint node.
- ROS-TCP-Connector (Appache 2.0 LICENSE)
Copyright [2020-2024] Ryodo Tanaka (groadpg@gmail.com) and Akiro Harada
Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.