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ROS Sharp Unity3d import PointCloud2

asked 2019-12-09 05:29:24 -0600

acp gravatar image

Dear People,

I do have ros kinetic and Ubuntu 16.04.5 and I have installed Unity3d-2018.3.0f2

Does any one has experience in importing a Poincloud2 from ROS to Unity3d.

Any advice I will appreciate it

Thank you very much :)

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1 Answer

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answered 2020-01-08 06:14:39 -0600

acp gravatar image

updated 2020-01-14 04:47:30 -0600

I know is a mess of code, but at least it subscribe to a pointclou2 and publishes a mesh and also transform from ROS to unity coordinate systems.

  ´╗┐using System.Collections;
using System.Collections.Generic;
using UnityEngine;
using System;
using RosSharp.RosBridgeClient;
using std_msgs = RosSharp.RosBridgeClient.MessageTypes.Std;
using sensor_msgs = RosSharp.RosBridgeClient.MessageTypes.Sensor;
//using RosSharp.RosBridgeClient.Protocols;

using System.IO;

using Object = UnityEngine.Object;

[RequireComponent(typeof (RosConnector))]
[RequireComponent(typeof (MeshFilter))]
public class PointCloudSubscriber : MonoBehaviour

    public string uri = "ws://";
    private RosSocket rosSocket;
    string subscriptionId = "";

    public RgbPoint3[] Points;

    //Mesh components
    private Mesh mesh;
    Vector3[] vertices;
    int[] triangles;

    public int xSize = 20;
    public int zSize = 20;

    //Vector3[] newverts;

    private bool update_mesh = false;

    // Start is called before the first frame update
    void Start()

        mesh = new Mesh(); 
        GetComponent<MeshFilter>().mesh = mesh;


        //mesh.vertices = newVertices;
        //mesh.uv = newUV;
        //mesh.triangles = newTriangles;

            Debug.Log("RosSocket Initialization!!!");
        //RosSocket rosSocket = new RosSocket("ws://");
        rosSocket = new RosSocket(new  RosSharp.RosBridgeClient.Protocols.WebSocketNetProtocol(uri)); //


    void Update()

        ////string publication_id = rosSocket.Advertise<std_msgs.String>("/talker");

        ////std_msgs.String message = new std_msgs.String
        ////    data = "hello"
        //RosSocket.Publish(publication_id, message);

        ////rosSocket.Publish(publication_id, message);


        if(update_mesh) {
            update_mesh = false;



    void CreateShape(){
        Debug.Log("received one");
        vertices = new Vector3[(xSize+1)*(zSize+1)];

        for(int i = 0,  z =0; z <= zSize; z++)
            for(int x =0; x <= xSize; x++){
                vertices[i] = new Vector3(x,0,z);
        Debug.Log("received two");

    void UpdateMesh()
        Debug.Log("received three");

        try {
        } catch (Exception e) {
        Debug.Log("received four");

        mesh.vertices = vertices;


    public void OnDrawGizmos()
        Gizmos.color = new Color(1, 0.2F, 0, 0.5F);
        if(vertices == null)
        for(int i =0; i < vertices.Length; i++)
            //Gizmos.DrawSphere(vertices[i], .1f);
            Gizmos.DrawCube(vertices[i], new Vector3(0.1f, 0.1f, 0.1f));


    /*public void OnDrawGizmos()
        if(vertices == null)
        for(int i =0; i < vertices.Length; i++)
            Gizmos.DrawSphere(vertices[i], .1f);
            //Gizmos.DrawWireCube(vertices[i], .1f);

    public void Subscribe(string id)
        //subscriptionId  = rosSocket.Subscribe<std_msgs.String>(id, SubscriptionHandler);
                subscriptionId  = rosSocket.Subscribe<sensor_msgs.PointCloud2>(id, SubscriptionHandler);

        // Subscription:
        //subscription_id = rosSocket.Subscribe<std_msgs.String>("/subscription_test", SubscriptionHandler);
        //subscription_id = rosSocket.Subscribe<std_msgs.String>("/subscription_test", SubscriptionHandler);


    private IEnumerator WaitForKey()
        Debug.Log("Press any key to close...");

        while (!Input.anyKeyDown)
            yield return null;

        // rosSocket.Close();

    public void SubscriptionHandler(sensor_msgs.PointCloud2 message)

        Debug.Log("Message received!");
        long I = / message.point_step;
        Debug.Log("Long I   " + I);
        RgbPoint3[] Points = new RgbPoint3[I];
        byte[] byteSlice = new byte[message.point_step];

        for (long i = 0; i < I; i++)
            Array.Copy(, i * message.point_step, byteSlice, 0, message.point_step);
            Points[i] = new RgbPoint3(byteSlice, message.fields);

            //Debug.Log("X   " + Points[i].x);
            //Debug.Log("Y   " + Points[i].y);
            //Debug.Log("Z   " + Points[i].z);


        //Vector3[] newverts = new Vector3[I];
        vertices = new Vector3[I];
        //Debug.Log("newvertes_X   " + newverts[0].x ...
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Hey there, I think I'm trying to do the same thing as you. Couple of questions:

What RgbPoint3 class are you using? I appear to have two: one from Pcx editor and one defined in PointCloud.cs in the ROS# repo.

Is there any particular reason you are setting up the ros socket yourself instead of adding rosconnector as a script?

I'm new to Unity, how are you transforming to a mesh? Are you essentially having to define your own?

Think you could post a screenshot of your implementation? That would help immensely.

Thanks for this.

brady_kruse gravatar image brady_kruse  ( 2020-05-07 17:04:06 -0600 )edit


Sorry for the late replay, I just saw your comment :)

I am using rossocket because I am communicating from a drone that runs ros.

I think I am using the one defined in PointCloud.cs in the ROS# repo.

well, the implementation is big for a screenshot :)

This is the link of the file


acp gravatar image acp  ( 2020-08-06 02:03:46 -0600 )edit

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Asked: 2019-12-09 05:29:24 -0600

Seen: 1,074 times

Last updated: Jan 14 '20