[[Tutorial]] #contents *Environment [#s2c201d0] ** Windows environment setting[#n8ec4g8c] ***Unity installation[#t38cb130] +Select [[Unity 5.6.2>https://unity3d.com/jp/get-unity/download/archive]] installer for windows from Unity download web page and proceed to the download then Run the installer and go through the installation according to the procedure. +Next, start Unity, create a Unity account, and sign in. --Click "Create account" on the sign-in login --Register your account (browser registration) then use the registered account and "Sign In" ***Download Unity project of SIGVerse_v3[#j826be89] +Please download the [["zip" project>https://github.com/SIGVerse/unity_project]] +Clone or download」→「Download ZIP」 and extract it in the repository of your choice. You can clone the repository anywhere in the Windows environment if you are using Git ***How to open the Unity project[#ad0g2bef] +Start Unity and click "OPEN".~ +The folder selection UI will appear select the downloaded project in the previous section ("unity_project" ? "SIGVerseProject") and then click on "Select folder" button.~ ** Setting up the Ubuntu environment[#teef1681] The following installation requires Ubuntu 14.04.~ SIGVerse_v3 is fully connective to ROS.~ In order to connect to the ROS components we need to perform some installations.~ ***Installation of ROS indigo [#a9afde20] Follow the following instructions to install [[ROS>http://wiki.ros.org/indigo/Installation/Ubuntu]]. ***Installing ROSBridge_suite [#a9a8df30] ROSBridge_suite will allow a part of SIGVser to be connected to ROS.~ Start the terminal and execute the following command.~ $ Sudo apt-get install ros-indigo-rosbridge-server ***Installing CMake [#j82hbe39] CMake ver.3.2 or higher is is required to compile our project please proceed as follow for the installation.~ Start the terminal and execute the following commands.~ $ Cd ~ / Downloads $ Wget https://cmake.org/files/v3.7/cmake-3.7.2.tar.gz $ Tar zxvf cmake-3.7.2.tar.gz $ Cd cmake-3.7.2 $ ./bootstrap --prefix=/usr $ Make $ Sudo make install ***Mongo C driver installation [#j826ge59] Mongo C driver is required to compile our project please proceed as follow for the installation.~ Start the terminal and execute the following commands.~ $ Cd .. $ Wget https://github.com/mongodb/mongo-c-driver/releases/download/1.4.2/mongo-c-driver-1.4.2.tar.gz $ Tar zxvf mongo-c-driver-1.4.2.tar.gz $ Cd mongo-c-driver-1.4.2 $ ./configure $ Make $ Sudo make install ***Mongo C ++ driver installation [#ad0g2bfe] Mongo C ++ driver is required to compile our project please proceed as follow for the installation.~ Start the terminal and execute the following commands. ~ $ Cd .. $ Wget https://github.com/mongodb/mongo-cxx-driver/archive/r3.0.3.tar.gz $ Tar zxvf r3.0.3.tar.gz $ Cd mongo-cxx-driver-r 3.0.3 / build $ Cmake - DCMAKE_BUILD_TYPE = Release - DCMAKE_INSTALL_PREFIX = / usr / local - DLIBMONGOC_DIR = / usr / local - DLIBBSON_DIR = / usr / local .. $ Sudo make EP_mnmlstc_core $ Make $ Sudo make install ***Setting of sigverse_ros_bridge[#tenf1570] Open a terminal and execute the following commands.~ We assume that a catkin workspace has been created according to the ROS tutorial procedure.~ $ Cd ~ / catkin_ws / src $ Git clone https://github.com/SIGVerse/ros_package.git $ Cd .. $ Catkin_make *Examples [#s2c406d0] ** TurtleBot [#n8ec4h8c] *** Startup procedure on Ubuntu[#nfec4d8c] Open a new terminal and execute the following command.~ $ roslaunch turtlebot_bringup minimal.launch --screen Open an other terminal and execute this command.~ $ export TURTLEBOT_3D_SENSOR=asus_xtion_pro_sigvers $ roslaunch turtlebot_follower follower.launch Open a new terminal and execute the following command.~ $ roslaunch rosbridge_server rosbridge_websocket.launch Open a new terminal and execute the following command.~ $ source ~/catkin_ws/devel/setup.bash $ rosrun sigverse_ros_bridge sigverse_ros_bridge Next, check the IP address on Ubuntu . The IP address can be confirmed with the following command.~ $ ifconfig *** Startup procedure on Windows[#nfec4f8g] +Open the SIGVerse_v3 project on Unity. +Click [SIGVerse] - [SIGVerse Settings] go on the Unity menu and open the SIGVerse setting screen.~ +Change [Rosbridge IP] of [Config file Settings] to the IP address of ROS.~ (also change [Rosbridge Port] and [SIGVeres Bridge Port] as necessary.) +Double-click [Assets / SIGVerse / SampleScenes / TurtlebotFollower / TurtlebotFollower (.unity)] on the Project tab to open the scene.~ +Click on the play button at the top center of Unity screen to play the scene.~ +Click [Start] on the SIGVerse menu to start the scene.~ *** Execution[#nfgc4dg] If you operate the four-way controller with focus on Unity screen, the avatar moves and the turtlebot follows the avatar.~ -If you want to check the camera of TurtleBot on ROS , you can use the following command. $ rosrun image_view image_view image:=/camera/rgb/image_raw -You can also check it with rviz. $ roslaunch turtlebot_rviz_launchers view_robot.launch