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This part covers creating a TCP connection between Unity and ROS, generating C# scripts from a ROS msg and srv files, and publishing to a ROS topic.

This part includes downloading and installing the Unity Editor, setting up a basic Unity scene, and importing a robot-the Niryo One-using the URDF Importer. Part 1: Create Unity scene with imported URDF This part provides two options for setting up your ROS workspace: using Docker, or manually setting up a catkin workspace. Clone this repository to a location on your local machine: git clone -recurse-submodules

This repository provides project files for the pick-and-place tutorial, including Unity assets, URDF files, and ROS scripts. Part 4: Pick-and-Place on the Real Robot.Part 1: Create Unity scene with imported URDF.

Note: This project has been tested with Python 2 and ROS Melodic, as well as Python 3 and ROS Noetic. Want to skip the tutorial and run the full demo? Check out our Quick Demo The tutorial is divided into high-level phases, from basic Unity and ROS initial setup through executing a pick-and-place task. This tutorial is designed such that you do not need prior experience with Unity or C# in order to follow the scene setup steps, and you do not need prior robotics experience to get started with ROS integration. This tutorial will go through the steps necessary to integrate ROS with Unity, from installing the Unity Editor to creating a scene with an imported URDF to completing a pick-and-place task with known poses using MoveIt trajectory planning. Unity's robotics tools are able to support importing URDF files and sending and receiving messages between ROS and Unity. ROS (Robot Operating System) provides services such as message-passing, package management, low-level device control, and hardware abstraction. Unity's tools for robotic simulation enable users to integrate Unity with ROS-based workflows.