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Up:[[SIGVerse]]
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* System Overview [#g29a0fd9]

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.

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

Using a VR device, a human can log into the virtual world and communicate with the robot in the virtual world. ~
It is also possible to control real robots using the ROS robot controller that can work in a virtual world. ~
SIGVerse can thus be a real world alternative for robots.
A real human (test subject) can log into the virtual world through general VR devices to interact with the virtual robot in the virtual world. ~
You can apply the original software, which is used to control the real robot based on ROS, to the virtual robot without any modification. ~
//<!— SIGVerse can thus be a real world alternative for robots.—>

The system overview of SIGVerse is shown below.
The following figure shows the system architecture of the SIGVerse.

#ref(System/sigverse_architecture.png,40%)
#ref(System/sigverse_architecture_wiki.png,80%)


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

Use rosbrige to send / receive commands and small data for operating the robot. ~
Use sigverse_rosbridge to send large data such as robot sensor data (RGB images, etc.) to ROS. ~
Since sigverse_rosbridge is in BSON format, it is possible to send and receive binary data efficiently.