#ref(Tutorial at IROS2019/IROS2019_logo.png,70%) Virtual robots can be controlled by using SIGVerse and ROS (Robot Operating System). This section describes examples using ROS. For the examples which do not requires ROS, please see [[here>Tutorial for ver.3]]. #contents * System Requirements [#SystemRequirements] If you want to use ROS, prepare an Ubuntu environment and install ROS there. ~ ROS communicates with Unity on Windows. ~ The requirements for Windows can be found at [[here>Tutorial for ver.3#SystemRequirements]]. The ROS requirement is that the OS is '' Ubuntu 16.04 '' and ROS [[Distribution>http://wiki.ros.org/Distributions]] is '' Kinetic Kame ''. #ref(RobotOperationUsingROS.png) * Environment Setup [#m4038016] ** Build Ubuntu Environment [#zddcd2d8] Build Ubuntu environment as follows.~ *** Using VMware [#gc586877] Instead of preparing an Ubuntu PC, you can use an Ubuntu virtual machine on Windows. ~ Please note that the functions which use GPU are difficult to execute in this case. In the tutorial at IROS 2019, we provides a file of virtual machine image of Ubuntu environment using VMware. + Install VMware Workstation 15.5.0 Player for Windows 64-bit Operating Systems.~ https://my.vmware.com/web/vmware/free#desktop_end_user_computing/vmware_workstation_player/15_0 + Download Iso file of Ubuntu 16.04.6 LTS.~ http://releases.ubuntu.com/16.04/ + Launch VMware Workstation Player. + Click [Create a New Virtual Machine]. + Use [Installer disc image file(iso):] and select ubuntu-16.04.6-desktop-amd64.iso. + Recommend to check "Store virtual disk as a single file". + Please adjust Memory and Processors in [Edit virtual machine settings] after creating VM image. This virtual machine image has already finished the setup of SIGVerse-ros bridge, and several robot modules for Turtlebot, PR2, HSR, and so on. * Execute Example Scenes with ROS [#o023aef1] ** Unity Scene Execution [#open_scene] Before executing the Unity example scene, you need to set the IP address for ROS on Unity. + Check the IP address of the Ubuntu side. ~ Execute the following command in Ubuntu side to check the IP address. $ ifconfig + Open the SIGVerse project in Unity. + Click [SIGVerse]-[SIGVerse Settings] in the Unity menu to open the SIGVerse settings window. + Enter the IP address of Ubuntu side in [Config file Settings]-[Rosbridge IP]. ~ (You can also change [Rosbridge Port] and [SIGVerse Bridge Port] in the same way.) #ref(SIGVerseSettings.png) The Unity scene is executed as follows: + Double-click [Assets/SIGVerse/SampleScenes/xxxxx/yyyyy(.unity)] on the [Project] tab to open the target scene. + Click the play button at the top center of the Unity to play the scene. ** Example Scenes [#od76c211] - [[(Turtlebot2)Follower]] - [[(HSR)Operate with Keyboard]] Next: [[IROS2019/Using Cloud-based VR]] ---- #counter Top: [[Tutorial at IROS2019]]