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Setting up the Unity Project

Table of Contents

Open the Unity Project

Assuming you have already configured your dev environment, you can open the Nav2SLAMExampleProject either by adding the directory to your Unity Hub via the Add button, or opening it directly from an open Editor.

Unity Hub with projects tab, showing the Nav2SLAMExampleProject

On Linux, you may encounter a bug in the Hub where, if you have no Projects in your list already, Add will not work properly. If you see this, create a New, empty project first, then try and Add Nav2SLAMExampleProject again.

Open the SimpleWarehouseScene

Find the example scene, SimpleWarehouseScene, in the project browser, located in the bottom left of the Editor by default, and open it by double-clicking.

Project Browser pointing to Scenes directory

You should see something like this open in your Editor window:

SimpleWarehouseScene open in Editor

Configure your ROS Settings

Use the Robotics drop-down menu to open the ROS Settings menu.

Robotics drop-down with ROS Settings selected

In the ROS Settings panel:

  • Ensure the Connect on Startup checkbox is checked
  • Ensure Protocol is set to ROS2
  • For those using a Docker container on the same machine as per our guidance from the setup instructions, leave your ROS IP Address as the default: 127.0.0.1.
    • Otherwise, set your ROS IP Address to the address of the adapter your ROS2 environment is using.
  • Ensure the Show HUD is checked. This is to ensure you get visual feedback on the state of your ROS connection during runtime.

ROS Settings Panel with appropriate settings

Continue to running the example

Everything is now configured to run the example. If you'd like to understand more about how this project is set up and what the different components are doing, you may skip to Understanding the Project Components

Troubleshooting

If you encounter the following error when opening the Unity project:

An error occurred while resolving packages:
  Project has invalid dependencies:
    com.unity.robotics.warehouse: Error when executing git command. error: RPC failed; curl 56 LibreSSL SSL_read: SSL_ERROR_SYSCALL, errno 54
    error: 5749 bytes of body are still expected
    fetch-pack: unexpected disconnect while reading sideband packet
    fatal: early EOF
    fatal: index-pack failed

You may need to modify the compression, e.g. git config --global core.compression 9.