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User Documentation

1. Installation and Configuration

• 1.1 Configuring Unity

• 1.2 Installing Ubuntu on Virtual Machine

• 1.3 Installing ROS on Ubuntu

  • 1.3.1 R2D2 Setup
  • 1.3.2 Gazebo Setup on VM
  • 1.3.3 TurtleBot Setup (Optional for ROS2)

• 1.4 Installing ROS# for Unity

  • 1.4.1 Unity Simulation Scene Setup
  • 1.4.2 Gazebo Simulation Scene Setup

• 1.5 Installing and Configuring ROS# for .NET

2. Unity Application Examples with ROS Communication

• 2.1 Quick Start
• 2.2 Transfer a URDF from ROS to Unity
• 2.3 Transfer a URDF from Unity to ROS
• 2.4 Unity Simulation Scene Example
• 2.5 Gazebo Simulation Scene Example
• 2.6 Fibonacci Action Client
• 2.7 Fibonacci Action Server

3. Unity Application Examples without ROS Communication

• 3.1 Import a URDF on Windows
• 3.2 Create, Modify and Export a URDF Model
• 3.3 Animate a Robot Model in Unity

4. .NET Application Examples

• 4.1 Introduction to RosBridgeClient
• 4.2 Image Publication
• 4.3 URDF Transfer
• 4.4 Fibonacci Action Client/Server

Developer Documentation

• Message Handling: Readers & Writers
• Thread Safety for Message Reception
• File Server Package
• ROS-Unity Coordinate System Conversions
• Post Build Events
• Preprocessor Directives in ROS#
• Adding New Message Types
• RosBridgeClient Protocols
• RosBridgeClient Serializers
• Actions in ROS#
• Action Server State Machine Model

General Information

• Application Showcases
• Publications
• Contributors and Acknowledgements
• License Headers

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