Backup of System(No. 3) - SIGVerse Wiki

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- 1 (2019-10-30 (Wed) 16:36:09)
- 2 (2019-10-30 (Wed) 17:18:14)
- 3 (2019-10-31 (Thu) 04:37:31)
- 4 (2019-11-06 (Wed) 01:07:06)
- 5 (2019-11-06 (Wed) 10:55:37)
- 6 (2019-11-06 (Wed) 11:52:50)
- 7 (2019-11-06 (Wed) 19:59:53)

Virtual world simulation is achieved using Unity.
Unity is a game engine with an integrated development environment.
Many VR devices can be used in Unity, which helps to reflect the real world human behavior in the virtual world.

Robots in the virtual world are controlled using ROS (Robot Operating System).
ROS is a software platform for robots, and it is possible to control many real robots using ROS.

It is also possible to communicate with robots in the virtual world by logging in to the virtual world using a VR device.
It is also possible to create a ROS robot controller that moves a robot in the virtual world and use that robot controller to move a real robot.
In this way, SIGVerse serves as an alternative to the real world for robots.

The system overview of SIGVerse is shown below.

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Unity runs on Windows and ROS runs on Ubuntu.
Unity and ROS are connected using rosbridge and sigverse_rosbrige.

Use rosbrige to send and receive commands and relatively small data for operating robots in the virtual world.
Use sigverse_rosbridge to send large data such as robot sensor data (RGB images, etc.) to ROS.
Since rosbridge is in JSON format, sigverse_rosbridge is in BSON format, so it is possible to send and receive binary data efficiently.

Backup of System (No. 3)