2_ros_unity_integration.md

Pick-and-Place Tutorial: Part 2

Table of Contents

• The Unity side
• The ROS side
• Run the game

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The Unity side

1. The game has been tested on publishing the robot state, target pose, and target placement pose to ROS. Select Publisher game object in the Hierarchy view, check Source Destination Publisher, and uncheck Trajectory Planner. Please refer to SourceDestinationPublisher if you want to know how Source Destination Publisher works.

2. Select Button game object in Hierarchy view under Canvas. In the Inspector view, On click (), switch to SourceDestinationPublisher.Publish.

The ROS side

Open a terminal window in the ROS catkin workspace. Then run the following command

roslaunch ur_moveit part_2.launch

Run the game

Return to Unity, and press play. Click the UI Publish Button in the Game view. ROS and Unity have now sucessfully connected!