Unity中的机器人仿真与ROS集成。_C#_ShaderLab_下载.zip

# ZeroSim - [ZeroSim](#zerosim) - [Overview](#overview) - [API Documentation](#api-documentation) - [Getting Started](#getting-started) - [Video Tutorials](#video-tutorials) - [Recommended System](#recommended-system) - [Setting up a new Unity Project](#setting-up-a-new-unity-project) - [Getting ZeroSim ROS Docker Container](#getting-zerosim-ros-docker-container) - [Running TurtleBot Test Scene](#running-turtlebot-test-scene) - [Using RViz for Turtlebot](#using-rviz-for-turtlebot) - [Running Universal Robot UR10 Arm Test Scene with MoveIt!](#running-universal-robot-ur10-arm-test-scene-with-moveit) - [Running Image Segmentation Test](#running-image-segmentation-test) - [Export URDF](#export-urdf) - [Import URDF](#import-urdf) - [LEO Robot Example](#leo-robot-example) ZeroSim is a robotics simulation engine built on the easy to use [Unity 3D](https://unity.com/) development platform and the power of the [Robotics Operating System (ROS)](https://www.ros.org/). ZeroSim is designed for ease of use and rapid development of all sorts of robotics and simulation -- from warehouses and industrial settings, to farming and outdoors -- from robotic arms to ground and drone based mobile robots. ZeroSim is a project developed over several years by [FS Studios](https://fsstudio.com/?gclid=CjwKCAjw9MuCBhBUEiwAbDZ-7gpTTbBtgXtQe5VmZd_glTheBonWnaXt30lAFk5efc5mhaChyRNADBoC2EcQAvD_BwE) for the rapid development of all sorts of robotic simulation projects for various clients, from robotic arms to mobile robots. We are releasing ZeroSim as open source to support the community of roboticist and software engineers that have supported us over the decades. We are in active development and welcome all feature requests, bug reports, and pull requests.   ## Overview ZeroSim provides a multitude of tools for building robots and environments in Unity to interface with ROS. We strive to provide the same functionality and ROS interfaces of [Gazebo](http://gazebosim.org/). Including: * Dynamics simulation using the latest [PhysX 4.x](https://developer.nvidia.com/physx-sdk) integrated in Unity. * Hinge, ball, linear and fixed joints. * Advanced 3D Rendering, including the latest realtime ray tracing technology. * Sensors: * 2D LIDAR -> ROS [LaserScan](http://docs.ros.org/en/melodic/api/sensor_msgs/html/msg/LaserScan.html) message. * 3D LIDAR -> ROS [PointCloud2](http://docs.ros.org/en/api/sensor_msgs/html/msg/PointCloud2.html) * Color camera -> ROS [Image](http://docs.ros.org/en/melodic/api/sensor_msgs/html/msg/Image.html) and ROS [CameraInfo](http://docs.ros.org/en/melodic/api/sensor_msgs/html/msg/CameraInfo.html) message. * Color + depth camera -> ROS [Image](http://docs.ros.org/en/melodic/api/sensor_msgs/html/msg/Image.html) and ROS [CameraInfo](http://docs.ros.org/en/melodic/api/sensor_msgs/html/msg/CameraInfo.html) message. * Stereo camera -> ROS [Image](http://docs.ros.org/en/melodic/api/sensor_msgs/html/msg/Image.html) and ROS [CameraInfo](http://docs.ros.org/en/melodic/api/sensor_msgs/html/msg/CameraInfo.html) message. * IMU -> ROS [Imu](http://docs.ros.org/en/melodic/api/sensor_msgs/html/msg/Imu.html) message * Magnetometer -> ROS [MagneticField](http://docs.ros.org/en/melodic/api/sensor_msgs/html/msg/MagneticField.html) message. * Contact switch * Altimeter * Ready to use ROS standard controllers and plugins: * Differential drive. Controlled via standard ROS [Twist](https://docs.ros.org/en/api/geometry_msgs/html/msg/Twist.html) message. * Robotic arm controller via the ROS [FollowJointTrajectory Action Controller Interface](http://docs.ros.org/en/electric/api/control_msgs/html/msg/FollowJointTrajectoryAction.html) allowing [MoveIt](https://moveit.ros.org/) to connect seamlessly with ZeroSim. * ROS [TF](http://wiki.ros.org/tf) publisher. * ROS [JointState](http://wiki.ros.org/joint_state_publisher) publisher. * Full ROS messaging communications layers API. * Many premade standard ROS messages * Subscribe and publish * Action Servers * Fast and efficient message encoding using [ROS Bridge](http://wiki.ros.org/rosbridge_suite) and BSON over TCP. * Parameter server * Ready to run prebuilt ROS Docker images available publically on DockerHub: https://hub.docker.com/r/zerodog/zerosim_ros_vnc * Machine Learning tools: * Image Segmentation for training semantic segmentation algorithms. * URDF Import & Export * ROS2 support via ROS Bridge Suite (https://github.com/RobotWebTools/rosbridge_suite) * **COMING SOON:** * Configure and run Docker images within Unity Editor. * Secure communications via WebSockets. * Drone controller. ## API Documentation [API Documentation](https://fsstudio-team.github.io/ZeroSimROSUnity/api/index.html) ## Getting Started ### Video Tutorials [](http://www.youtube.com/watch?v=Q_CyYt-9kY4&list=PL-GMA_Bq2CR9JnLjbMSXAtcpZFqwlu6mz "Video Title") [](http://www.youtube.com/watch?v=dQXihVeI5YE&list=PL-GMA_Bq2CR9JnLjbMSXAtcpZFqwlu6mz "Video Title") [](http://www.youtube.com/watch?v=LvtnMmcixrY&list=PL-GMA_Bq2CR9JnLjbMSXAtcpZFqwlu6mz "Video Title") [](http://www.youtube.com/watch?v=xGjx8cUVctM&list=PL-GMA_Bq2CR9JnLjbMSXAtcpZFqwlu6mz "Video Title") [](https://youtu.be/VJyvjJUfjv8) https://youtu.be/VJyvjJUfjv8 ### Recommended System * Ubuntu 18.04 or 20.04 (may work on MacOS or Windows but currently untested) * Unity 2020.x LTS (*IMPORTANT:* Currnetly Unity 2021.x breaks a lot of things. We hope to support 2021 in the near future.) * Git LFS * ROS Melodic (ZeroSim provides a pre-built Docker container for ROS functionality https://hub.docker.com/r/zerodog/zerosim_ros_vnc) * Note: ROS Melodic is our primary supported development environment, but ZeroSim has reportedly been able to run on Noetic and ROS2. ### Setting up a new Unity Project 1. In Unity Hub create a new Unity project using Unity 2020.x or later.  2. Add ZeroSim via Unity Packages: 1. IMPORTANT: Make sure GIT LFS is installed on your system before continuing! 2. Unity Menu `Window -> Package Manager` 3. Select the `+` dropdown:  4. Select `Add Package From Git URL...` and enter `git@github.com:fsstudio-team/ZeroSimROSUnity.git`. Note this can take upto a few minutes to update but you should see the following:  5. Import the ZeroSim Samples by selecting the Samples `Import` button in the Package Manager:  3. **IMPORTANT** the default Unity physics settings do not work well with a lot of simulations. It is very much recommended (required for probably most all simulations) to set the physics settings by opening the Unity menu `Edit -> Project Settings... -> Physics` and set the `Default Solver Iterations` to `30` and the `Default Solver Velocity Iterations` to `60`.  4. **IMPORTANT** the default Unity fixed timestep setting does not work well with a lot of simulions. It is very much recommended to set the `Fixed Timestep` setting by `Edit -> Project Settings... -> Time` to `0.005` ![Timestep Settings](Documentation~/images/unity_t