FONBot Simulation

Unity simulation for FONBot - robot assistant made at FON

Setup

To get started, install Unity Hub and Unity 2020.3.30f1 (make sure that you install that specific version of Unity) on your machine. Once you have Unity installed, clone the repository.

Unity <-> ROS2 integration

For us to be able to integrate our Unity simulation with ROS2, we are using ROS2 for Unity package.

Opening Unity project

From your ROS2 terminal type the following command:

• <path to unity installation folder\Unity.exe> -projectPath <project path>

Unity Editor

Unity Editor consists of multiple views:

Scene view

Scene view allows you to edit and navigate through active Unity scene. For more info on scene view navigation check Unity documentation.

Game view

Game view shows how the final, built application looks. For more info on game view check Unity documentation.

Project view

Project view shows all the files in your project.
Folder structure of our project is:

├───Graphics
│   ├───Environment
│   │   ├───closet
│   │   │   └───source
│   │   ├───low-poly-computer-desk
│   │   │   ├───source
│   │   │   │   └───LowPolyComputerDesk
│   │   │   └───textures
│   │   ├───LowPolyOfficeProps_LITE
│   │   │   ├───LowPolyOfficeProps_LiteScene
│   │   │   ├───Materials
│   │   │   ├───Meshes
│   │   │   │   └───Materials
│   │   │   ├───PostProcessProfiles
│   │   │   ├───Prefabs
│   │   │   └───Textures
│   │   ├───Office Supplies Low Poly
│   │   │   └───Assets
│   │   │       ├───FBX
│   │   │       │   └───Materials
│   │   │       ├───Materials
│   │   │       ├───Prefabs
│   │   │       ├───Sample scene
│   │   │       └───Textures
│   │   └───PolygonStarter
│   │       ├───Materials
│   │       │   ├───Misc
│   │       │   └───Plane
│   │       ├───Models
│   │       │   └───Collision
│   │       ├───PolygonPrototype
│   │       │   ├───Materials
│   │       │   │   ├───FX
│   │       │   │   ├───Misc
│   │       │   │   └───Triplanar_ObjectSpace
│   │       │   ├───Models
│   │       │   │   └───Materials
│   │       │   ├───Prefabs
│   │       │   │   ├───Buildings
│   │       │   │   │   ├───Polygon
│   │       │   │   │   └───Simple
│   │       │   │   ├───Characters
│   │       │   │   ├───Character_FPS_Hands
│   │       │   │   │   ├───FiveFinger
│   │       │   │   │   └───Standard
│   │       │   │   ├───Character_Pawns
│   │       │   │   ├───FX
│   │       │   │   ├───Generic
│   │       │   │   ├───Icons
│   │       │   │   ├───Other
│   │       │   │   ├───Primitives
│   │       │   │   ├───Props
│   │       │   │   ├───Vehicle
│   │       │   │   └───_NewAssets
│   │       │   ├───Scenes
│   │       │   ├───Shaders
│   │       │   └───Textures
│   │       ├───Prefabs
│   │       │   └───Characters
│   │       ├───Scenes
│   │       └───Textures
│   ├───Textures
│   │   └───rusty-panel-unity
│   └───URDF
│       └───description
│           ├───fonbot_package
│           │   └───models
│           ├───Materials
│           └───meshes
├───Prefabs
├───Resources
├───Ros2ForUnity
│   ├───Plugins
│   │   └───Windows
│   │       └───x86_64
│   └───Scripts
│       └───Time
└───Scenes
    └───MainScene_Profiles

Hierarchy

Hierarchy shows all objects in your scene and their hierarchical relationship.

Opening Unity scene

Once you've opened Unity project, you can open main scene by going into \Scenes folder and double clicking on MainScene.unity.

Running Unity simulation

You can run your simulation by clicking on ▶ (play) button at the top of Unity Editor. You can also pause the simulation and step by frame (buttons are located at the same place as the play button).