ROS-Unity integration script for arm robot joint control

This is an Unity Script for ROS-Unity integration. You can move an arm robot on Unity from ros2_control with this script.

Requirements

• ROS version: ROS 2 humble
• Unity version: 2022.3.46 or above
• ROS packages
  • topic_based_ros2_control plugin
    • https://github.com/PickNikRobotics/topic_based_ros2_control.
• Unity packages
  • ROS-TCP-Connector
    • https://github.com/Unity-Technologies/ROS-TCP-Connector
  • URDF-Importer
    • https://github.com/Unity-Technologies/URDF-Importer

Limitations

• Driven joints must be of type "revolute".
• Robot must be of 6 DOF.
• Topics for joint commands and joint states must be ordered from the base to end (near end-effector).

How to Use this script

On ROS

This script depends on topic_based_ros2_control plugin, which is ros2_control hardware component for integration. See https://github.com/PickNikRobotics/topic_based_ros2_control.

You must have <ros2_control> tag with topic_based_ros2_control plugin on your URDF. The parameters joint_commands_topic and joint_states_topic must be the same with the topic names configured on Unity script.

On Unity

You must copy the ROS-Unity integration script RosJointControl.cs to your Unity project and add it to a Game Object. Set the script properties below:

• Joint Names
  • Joint names in URDF to drive.
• Joint States Topic Name
  • Topic name for joint commands. This must be the same with the topic_based_ros2_control parameter joint_commands_topic.
• Joint States Topic Name
  • Topic name for joint states. This must be the same with the topic_based_ros2_control parameter joint_states_topic.
• Urdf Robot
  • Manipulation target robot object imported by URDF-Importer.

Example project

See https://github.com/wildlarva/example-ros-unity-integration.