This page explains how to control a virutal robot in SIGVerse based on ROS. The virtual robots are working under the Unity. SIGVerse uses ROS bridge and SIGVerse-ROS bridge to communicate your software in ROS side to SIGVerse system as shown in the following figure.
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.
*Note: The default RAM size of the virtual machine is 8GB. In case your PC has <8GB RAM, please change the size of RAM before you play the virtual machine.
This virtual machine image has already finished the setup of SIGVerse-ros bridge, and several robot modules for Turtlebot, HSR, and so on.
Before executing the Unity example scene, you need to set the IP address for ROS on Unity.
$ ifconfig
Start the Ubuntu side software first, then start the Windows(Unity) side.
Open a new terminal and execute the following command:
$ roslaunch sigverse_turtlebot2 follower.launch
When you press the arrow key after focusing on the Unity screen, the human avatar moves and TurtleBot2 follows the avatar.
* To check the TurtleBot2 camera image on the ROS side, execute the following command.
$ rosrun image_view image_view image:=/camera/rgb/image_raw
* You can also check with rviz.
$ roslaunch turtlebot_rviz_launchers view_robot.launch
If you want to finish, stop the Unity side and then the ROS side.
Reference Video
Start the Ubuntu software first, and then start the Windows(Unity) side.
Open a new terminal and run the following command:
$ roslaunch sigverse_hsr_teleop_key teleop_key.launch
To start rviz, execute the following command.
$ roslaunch sigverse_hsr_teleop_key teleop_key_with_rviz.launch
* A room will appear when you start. The room is randomly selected from 4 types.
You can control HSR by keyboard operation on the teleop_key.launch terminal.
* Check the terminal for details of the operation.
* Head's Stereo Camera is disabled to reduce communication load.
If you want to finish, stop the Unity side first, and then stop the ROS side.
Ubuntu side (teleop_key_with_rviz.launch)
Windows side
Reference Video
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