Has anyone integrated ROS with Unity 3d?

asked 2014-01-28 10:25:19 -0500

daveayyyy
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You know: www.unity3d.com, runs Mono. Prefer Windows, but understand that Mac might be closer to supportable.

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What kind of integration are you talking about?

bchr ( 2014-01-28 10:53:23 -0500 )edit

Using C# to talk to native, DLL, or websocket, for example. Want to be able to interact with the 3D model of my building to tell robot where to go, have robot tell me where it is and reflect that in the model.

daveayyyy ( 2014-01-28 11:07:49 -0500 )edit

I integrated untiy via DLL + socket conection to player/stage 3 years ago . Was quite a bit of work. Haven't heard any thing about ROS+Unity, would be awesome, though.

Wolf ( 2014-01-28 20:07:21 -0500 )edit

Is there anyone who has got his/her hands dirty on that (viz. ROS+Unity3D) ?

Kadir Firat Uyanik ( 2015-04-06 04:59:52 -0500 )edit

http://ieeexplore.ieee.org/xpl/articl...

These guys have done quite a bit in making unity and ROS speak. But sadly, they say nothing about their code.

pavan ( 2016-06-17 14:37:48 -0500 )edit

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answered 2016-11-09 14:30:59 -0500

jacksonkr_

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rosbridge is a great way to make a websocket which can stream data via restful api. You can use rosbridge to get topics from ROS to unity. I've done this myself but one caveat is that PointCloud2 topics are bugged in indigo to the point that the streaming doesn't work for those types.

Here's a great example to get you started with streaming topics form a kinect: http://wiki.ros.org/ros3djs/Tutorials...

Also, do ingest the data via Unity3d you merely point it at the web service.

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answered 2017-10-13 09:08:07 -0500

Martin Bischoff
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We have recently published our ROS-Unity3D Toolbox ROS# on GitHub: https://github.com/siemens/ros-sharp

We use rosbridge_suite on the ROS side and implemented RosBridgeClient in C# (using websocket-sharp and newtonsoft json.net ).

Our toolbox also has a URDF importer for Unity3d which downloads URDF, meshes and textures from ROS and models the robot with all its kinematics in Unity3D.

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Not sure if I can ask you elsewhere, so I ask here: I implemented the ros-sharp toolkit in an existing unity project and even set up a new one but got a error compiling the projects. Something with the newsonsoft.json has problems. It could be because we use the hololens toolkit too. Any suggestions