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Up:[[SIGVerse]]
----
Virtual world simulation is achieved using [[Unity>https://unity.com/]]. ~
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.

#contents
Robots in the virtual world are controlled using [[ROS (Robot Operating System)>http://wiki.ros.org/]]. ~
ROS is a software platform for robots, and it is possible to control many real robots using ROS. ~

* Introduction To SIGverse 3.0 [#m9140c83]
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.

** Introduction [#qeb8af35]
The system overview of SIGVerse is shown below.

[[Old Page>Introduction_old]]
#ref(System/System_Overview.png,50%)


* Links [#o19e24e2]
Unity runs on Windows and ROS runs on Ubuntu. ~
Unity and ROS are connected using rosbridge and sigverse_rosbrige.

- [[Inamura Laboratory>http://www.iir.nii.ac.jp/lab/index-e/]]
- [[SIGVerse source code (GitHub)>https://github.com/SIGVerse]]
- [[The RoboCup Japanese National Committee (Japanese)>http://www.robocup.or.jp/]]
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 diff of System (No. 3)