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[[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
+Select [[Unity 2017.2.0>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
$ 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
$ 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
$ 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
$ 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
$ 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
$ 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
$ cd ~ / catkin_ws / src
$ git clone https://github.com/SIGVerse/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
$ roslaunch sigverse_turtlebot2 follower.launch
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.~
+Double-click [Assets / SIGVerse / SampleScenes / Turtlebot2 / Turtlebot2Follower (.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
** TurtleBot keyboard teleop [#ngechh8c]
*** Startup procedure on Ubuntu[#nffc4dhc]
Open a new terminal and execute the following command.~
$ roslaunch turtlebot_teleop keyboard_teleop.launch
$ roslaunch sigverse_turtlebot2 teleop_key.launch
Open an other terminal and execute this command.~
$ roslaunch rosbridge_server rosbridge_websocket.launch
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 / TurtlebotTeleop (.unity)] on the Project tab to open the scene.~
+Double-click [Assets / SIGVerse / SampleScenes / Turtlebot2 / Turtlebot2Teleop (.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[#nfgjkdg]
If you perform key operation on the terminal of the keyboard_teleop.launch on Ubuntu, the turtlebot will move.~
** Execution of sample scenes walk with the avatar viewpoint [#n3efbh8c]
+Open the SIGVerse_v3 project on Unity.
+Double-click [Assets / SIGVerse / SampleScenes / SampleHouse / SampleHouse (.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[#nfgjndm]
When you operate the four-way controller on the screen, the avatarr moves at the character viewpoint.~