ROS 1 and ROS 2

Integration with ROS

This project has been tested on ROS Melodic, Noetic, and ROS 2 Eloquent. This section will deal with the instructions for the ROS side of the project. The RosBridgelibrary used on the ROS side is part of rosbridge_suite. We used a WebSocket to create a connection with Unity. The exchange of information happens over this connection, including all the video feeds and the parameters.

For ROS 1

1. Install ROSBridge suite on your Linux machine.

   $ sudo apt-get install ros-<rosdistro>-rosbridge-suite

2. Source your ROS distro and run the WebSocket launch file.

   $ source /opt/ros/<rosdistro>/setup.bash
   $ roslaunch rosbridge_server rosbridge_websocket.launch

   This will also run 'roscore.'

3. Check the host IP address in a new terminal using -

   $ hostname -I

   Note: If you are running Unity and ROS on the same system, the IP address would be 'ws://localhost:9090'

4. Open a new terminal and source your ros distro. Then make a workspace with a package inside having rospy as a dependency and run the script in the 'ROS' folder of this repository.

For ROS 2

The rosbridge_suite currently does not support ROS 2 officially. But there is a pull request (https://github.com/RobotWebTools/rosbridge_suite/pull/493) to the repository for ROS 2 support. We use the contents of that pull request to set up the rosbridge connection for ROS 2.

1. Clone the rosbridge_suite repository to your system.

   $ git clone https://github.com/RobotWebTools/rosbridge_suite.git

2. Shift to the latest commit of the ROS 2 support pull request using GitHub CLI.

   $ gh pr checkout 493

3. Build the library on your system and source your ROS 2 distro.

   $ source /opt/ros/eloquent/setup.sh
   $ cd rosbridge_suite
   $ ./rosbridge_suite$ colcon build

4. Source the setup.bash of the rosbridge library.

   $ ./rosbridge_suite $ source install/setup.bash

5. Run the WebSocket script.

   $. /rosbridge_suite $ ros2 run rosbridge_server rosbridge_websocket