UnityRosIntelXe

Abhishek Nandy

Abhishek Nandy

Kolkata, WB

Integration of Unity Game engine using ROS on Intel Xe Perfect simulations for checking extremities of Intel Xe Deep learning training on Intel Xe architecture ...learn more

Project status: Under Development

Game Development, Artificial Intelligence

Intel Technologies
Intel Iris Xe MAX, Intel Deep Link, Intel Iris Xe

Overview / Usage

Integration of Unity Game engine using ROS on Intel Xe

Perfect simulations for checking extremities of Intel Xe

Deep learning training on Intel Xe architecture

a set of tools to make it easier to use Unity with existing ROS-based workflows

Some commands and docker scripts to enable ROS

Building ROS Docker image

cd \Unity-Robotics-Hub\tutorials\pick_and_place && git submodule update --init --recursive && docker build -t unity-robotics:pick-and-place -f docker/Dockerfile .

[+] Building 806.2s (5/17)

_ => [internal] load build definition from Dockerfile 0.1s_

[+] Building 1486.6s (18/18) FINISHED

_ => [internal] load build definition from Dockerfile 0.1s_

_ => => transferring dockerfile: 1.10kB 0.0s_

_ => [internal] load .dockerignore_

Start the docker container

C:Unity-Robotics-Hub\tutorials\pick_and_place>docker run -it --rm -p 10000:10000 -p 5005:5005 unity-robotics:pick-and-place /bin/bash

root@b52f741a6b4b:/catkin_ws# roslaunch niryo_moveit part_2.launch

... logging to /root/.ros/log/5a9c3b3a-b3e8-11eb-a04d-0242ac110003/roslaunch-b52f741a6b4b-37.log

Checking log directory for disk usage. This may take a while.

Press Ctrl-C to interrupt

Done checking log file disk usage. Usage is <1GB.

Starting ROS Endpoints

started roslaunch server http://b52f741a6b4b:33643/

SUMMARY

========

PARAMETERS

_ * /ROS_IP: 172.17.0.3_

_ * /rosdistro: melodic_

_ * /rosversion: 1.14.10_

NODES

_ /_

_ server_endpoint (niryo_moveit/server_endpoint.py)_

_ trajectory_subscriber (niryo_moveit/trajectory_subscriber.py)_

auto-starting new master

process[master]: started with pid [47]

ROS_MASTER_URI=http://localhost:11311

setting /run_id to 5a9c3b3a-b3e8-11eb-a04d-0242ac110003

process[rosout-1]: started with pid [58]

started core service [/rosout]

process[server_endpoint-2]: started with pid [61]

process[trajectory_subscriber-3]: started with pid [66]

[INFO] [1620909613.910840]: Starting server on 172.17.0.3:10000

ROS-Unity Handshake received, will connect to 127.0.0.1:5005

Methodology / Approach

Steps

1)Installing Docker on Windows

  1. Running the image

3)Opening Unity, setup urdf file

4)Unity Ros Integration

5)Play the Simulation

Technologies Used

Unity

Intel XE graphics implementation

ROS

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