Help needed with the project

[MaulshreeSingh]

Hi,

I'm trying to follow your project but implementing it on my own. When I added the ROSMoveItControllerGeneric.cs to my assets script in Unity, I'm getting these two errors:

• The type or namespace name 'Time' does not exist in the namespace 'RosMessageTypes.Std' (are you missing an assembly reference?)
• The type or namespace name 'JointTrajectory' does not exist in the namespace 'RosMessageTypes.Trajectory' (are you missing an assembly reference?)

I'm new to this. Can you please help me in figuring out what can I do to fix it?

[szandara]

Have you added the right libraries to Unity?

https://github.com/Unity-Technologies/ROS-TCP-Connector.git#v0.1.2 
https://github.com/Unity-Technologies/URDF-Importer.git#v0.1.2

[MaulshreeSingh]

yes. I have been following the Unity-Robotics-Hub tutorial too. I have been working on ABB robotic arm and trying to implement yours and that tutorial in my own project.

[szandara]

That's pretty odd, it seems it cannot find some URDF importer and ROS-TCP-Connector . Seems like it could be an different versions.

Can you check in your Editor files if you have RosMessageTypes and the subfolder Std?

[MaulshreeSingh]

I couldn't find any folder named RosMessageTypes within the project, however, there is an Std folder under the library.

Library/PackageCache/com.unity.robotics.ros-tcp-connector@c27f00c6cf/Runtime/Messages/Std

[MaulshreeSingh]

Hi again,

I fixed this error for "'JointTrajectory' does not exist in the namespace 'RosMessageTypes.Trajectory' (are you missing an assembly reference?)" by replacing 'JointTrajectory' with 'JointTrajectoryMsg' by referring to this file https://github.com/Unity-Technologies/ROS-TCP-Connector/blob/main/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Trajectory/msg/JointTrajectoryMsg.cs

But as you can see there is no file for 'Time' here https://github.com/Unity-Technologies/ROS-TCP-Connector/tree/main/com.unity.robotics.ros-tcp-connector/Runtime/Messages/Std/msg

[szandara]

Are you sure you are using the correct version?

https://github.com/Unity-Technologies/ROS-TCP-Connector/blob/v0.1.2/Runtime/MessageGeneration/std_msgs/Time.cs The file is there. The ROS-TCP-Connector must be version 0.1.2

[MaulshreeSingh]

Hi again,

I'm still working on this project and I'm stuck again. If you could help me it will that would be great. So I have modified the Unity script based on new versions of the packages. The issue I'm facing right now is the '/move_group' node is not publishing any Joint Trajectory msgs on the '/move_group/unity_trajectory/unity_arm_controller' topic. The topic is listed on but no new msg is being published there. I have made no changes in unity_moveit_manager.cpp script and using same files(modified to my robot) as [https://github.com/szandara/unity_reachy_tutorial/tree/master/src/unity_reachy_tutorial] on the ROS side. Will you know how I can fix it, please?

[szandara]

JointTrajectory should be published by your moveit console. When do you expect to see JointTrajectory messages exactly? Can you share some logs?

[MaulshreeSingh]

here is the screenshot of Unity scene showing the connection between ros and unity

joint_states of robotic arm is being published by unity for MoveIt to use

However, there is no msg being published by MoveIt in this topic

even though the info about the topic shows this

there is no problem in executing the goal

now I'm not sure what's the problem. Any help will be appreciated. Thanks.

[wongsinglam]

@MaulshreeSingh the problem is that the version of ros tcp connector has been upgraded. Check the package and modify it, and you will get everything work.