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

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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_

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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

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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.

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Starting ROS Endpoints

started roslaunch server http://b52f741a6b4b:33643/

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SUMMARY

========

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PARAMETERS

_ * /ROS_IP: 172.17.0.3_

_ * /rosdistro: melodic_

_ * /rosversion: 1.14.10_

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NODES

_ /_

_ server_endpoint (niryo_moveit/server_endpoint.py)_

_ trajectory_subscriber (niryo_moveit/trajectory_subscriber.py)_

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auto-starting new master

process[master]: started with pid [47]

ROS_MASTER_URI=http://localhost:11311

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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

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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

Collaborators