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| ## UnitySensors | ||
| <div align="center"> | ||
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| [](https://github.com/Field-Robotics-Japan/UnitySensorsROSAssets/actions?query=workflow%3A%22Acquire+activation+file%22) | ||
| [](https://github.com/Field-Robotics-Japan/UnitySensorsROSAssets/actions?query=workflow%3ACI) | ||
| # UnitySensors | ||
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| [![][github-release-shield]][github-release-link] | ||
| [![][external-unity-shield]][external-unity-link] | ||
| [![][external-ros-shield]][external-ros-link] | ||
| [![][github-workflow-shield]][github-workflow-link] <br> | ||
| [![][github-contributors-shield]][github-contributors-link] | ||
| [![][github-forks-shield]][github-forks-link] | ||
| [![][github-stars-shield]][github-stars-link] | ||
| [![][github-issues-shield]][github-issues-link] | ||
| [![][github-license-shield]][github-license-link] | ||
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|  | ||
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| ## Overview | ||
| Robot sensor packages available on Unity. | ||
| You can communicate sensor info via ROS and ROS2 using ROSTCPConnector and ROSTCPEndpoint. | ||
| </div> | ||
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| ## 🔍 Overview | ||
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| UnitySensos is a projet that regroup two Unity3D packages that allow you to **easly** use Unity3D as robotic simulation ! | ||
| There are several Prefab and Scene files available for testing each sensor. | ||
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| **1. UnitySensor** | ||
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| The following sensors are added. | ||
| The following sensors are available inside : | ||
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| - Velodyne 3D LiDAR (Velodyne VLP-16, VLP-16-HiRes, VLP-32, HDL-32E, VLS-128) | ||
| - Livox 3D LiDAR(Avia, Horizon, Mid40, Mid70, Tele, HAP, Mid360) | ||
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@@ -20,28 +34,78 @@ The following sensors are added. | |
| - (GroundTruth) | ||
| - (TF) | ||
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| There are several Prefab and Scene files available for testing each sensor. | ||
| **2. UnitySensorROS** | ||
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| This package is responsible to make the link between sensor and ROS by serializing sensor raw data and sending to them to ROS using [ROS-TCP-Connector][external-RosTCPConnector-link] package. | ||
| To receive the data in ROS take a look at [ROS-TCP-Endpoint][external-RosTCPEndpoint-link]. | ||
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| ## 🚀 Quick start | ||
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| ## Dependencies | ||
| - [RosTCPConnector](https://github.com/Unity-Technologies/ROS-TCP-Connector) (Appache 2.0 LICENSE) | ||
| ### Inside Unity3D | ||
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| ## Package Installation (For using UnitySensors in your project) | ||
| 1. Using Unity 2021.3 or later, open the Package Manager from `Window` -> `Package Manager`. | ||
| > \[!NOTE] | ||
| > | ||
| > Unitysensor is made for Unity 2020.3 or later | ||
| 1. Open the Package Manager from `Window` -> `Package Manager`. | ||
| 2. In the Package Manager window, find and click the + button in the upper lefthand corner of the window. Select `Add package from git URL....` | ||
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| 3. Enter the git URL for the desired package. | ||
| 1. For the UnitySensors, enter `https://github.com/Field-Robotics-Japan/UnitySensors.git?path=/Assets/UnitySensors#v2.0.4`. | ||
| 2. For the UnitySensorsROS, enter `https://github.com/Field-Robotics-Japan/UnitySensors.git?path=/Assets/UnitySensorsROS#v2.0.4`. | ||
| 3. Enter the git URL for the desired package. | ||
| 1. For the UnitySensors, enter `https://github.com/Field-Robotics-Japan/UnitySensors.git?path=/Assets/UnitySensors#v2.0.5`. | ||
| 2. For the UnitySensorsROS, enter `https://github.com/Field-Robotics-Japan/UnitySensors.git?path=/Assets/UnitySensorsROS#v2.0.5`. | ||
| __Note: UnitySensorsROS does not contain UnitySensors.__ | ||
| 4. Click `Add`. | ||
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| ## Documentation | ||
| ### Inside ROS workspace | ||
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| 1. Download lastest release of [ROS-TCP-Endpoint][external-RosTCPEndpoint-release-link]. | ||
| 2. Build your workspace. | ||
| 3. Launch ROS endpoint node. | ||
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| ## LICENSE | ||
| ## 🤝 Contributing | ||
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| <div align="center"> | ||
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| A huge thank you to everyone who is helping to improve UnitySensors ! | ||
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| [![contributors badge][github-contributors-img]][github-contributors-link] | ||
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| </div> | ||
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| ## 🔗 Dependencies | ||
| - [ROS-TCP-Connector][external-RosTCPConnector-link] (Appache 2.0 LICENSE) | ||
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| ## 📄 LICENSE | ||
| Copyright [2020-2024] Ryodo Tanaka ([email protected]) and Akiro Harada | ||
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| Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at | ||
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| http://www.apache.org/licenses/LICENSE-2.0 | ||
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| Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License. | ||
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| <!-- LINK GROUP --> | ||
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| [external-unity-shield]: https://img.shields.io/badge/Unity3D-%3E%202020.3-blue?style=flat-square&logo=unity | ||
| [external-unity-link]: https://unity.com/ | ||
| [external-ros-shield]: https://img.shields.io/badge/ROS-1%7C2-blue?style=flat-square&logo=ros | ||
| [external-ros-link]: https://www.ros.org/ | ||
| [external-RosTCPConnector-link]: https://github.com/Unity-Technologies/ROS-TCP-Connector | ||
| [external-RosTCPEndpoint-link]: https://github.com/Unity-Technologies/ROS-TCP-Endpoint | ||
| [external-RosTCPEndpoint-release-link]: https://github.com/Unity-Technologies/ROS-TCP-Endpoint/releases | ||
| [github-workflow-shield]: https://img.shields.io/github/actions/workflow/status/Field-Robotics-Japan/UnitySensors/main.yml?style=flat-square&logo=github&label=CI%20check | ||
| [github-workflow-link]: https://github.com/Field-Robotics-Japan/UnitySensors/actions/workflows/main.yml | ||
| [github-contributors-img]: https://readme-contribs.as93.net/contributors/Field-Robotics-Japan/UnitySensors?avatarSize=40&shape=circle | ||
| [github-contributors-link]: https://github.com/Field-Robotics-Japan/UnitySensors/graphs/contributors | ||
| [github-contributors-shield]: https://img.shields.io/github/contributors/Field-Robotics-Japan/UnitySensors?color=B2FFA3&style=flat-square | ||
| [github-forks-link]: https://github.com/Field-Robotics-Japan/UnitySensors/network/members | ||
| [github-forks-shield]: https://img.shields.io/github/forks/Field-Robotics-Japan/UnitySensors?color=8ae8ff&style=flat-square | ||
| [github-issues-link]: https://github.com/Field-Robotics-Japan/UnitySensors/issues | ||
| [github-issues-shield]: https://img.shields.io/github/issues/Field-Robotics-Japan/UnitySensors?color=FFDBFA&style=flat-square | ||
| [github-license-link]: https://github.com/Field-Robotics-Japan/UnitySensors/blob/main/LICENSE | ||
| [github-license-shield]: https://img.shields.io/github/license/Field-Robotics-Japan/UnitySensors?color=FFADAD&style=flat-square | ||
| [github-stars-link]: https://github.com/Field-Robotics-Japan/UnitySensors/network/stargazers | ||
| [github-stars-shield]: https://img.shields.io/github/stars/Field-Robotics-Japan/UnitySensors?color=F9DC5F&style=flat-square | ||
| [github-release-link]: https://github.com/Field-Robotics-Japan/UnitySensors/releases | ||
| [github-release-shield]: https://img.shields.io/github/v/release/Field-Robotics-Japan/UnitySensors?color=9BF6FF&logo=github&style=flat-square | ||
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