ARrosCore

The unity sample of ARCore and ROS implementation with ROS#

C. Piyavichayanon and M. Koga, "Validation of Robot Model with Mobile Augmented Reality," 2021 6th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS), 2021, pp. 1-5, doi: 10.1109/ACIRS52449.2021.9519362.

Example

Intro : https://www.youtube.com/watch?v=28zOEsvyGYM

Navigation Interface: https://www.youtube.com/watch?v=b3p2vx0AHW8

Collision Checking: https://www.youtube.com/watch?v=Ybw6PvRQdmY

The software version using in this example are

• Unity 2019.xx LTS
• ROS Melodic on Unbuntu 18.xx LTS

For WSL-ROS installation : https://jack-kawell.com/2020/06/12/ros-wsl2/

Setting Up

Install arcore sdk for unity

1. follow quick start guide

https://developers.google.com/ar/develop/unity/quickstart-android

*** The only difference build setting for ROS# is Scripting Backend to Mono and Api to .NET 4.x ***

!! If you need to use IL2CPP backend for arm64 (Ex. Samsung new model) follow the instruction here

https://github.com/EricVoll/ros-sharp/issues

2. config custom gradle (Test only version 6.5)

https://developers.google.com/ar/develop/unity/android-11-build

https://gradle.org/releases/

Insert the following lines at the top of the file:

buildscript {
    repositories {
        google()
        jcenter()
    }
    dependencies {
        // Must be Android Gradle Plugin 3.6.0 or later. For a list of
        // compatible Gradle versions refer to:
        // https://developer.android.com/studio/releases/gradle-plugin
        classpath 'com.android.tools.build:gradle:3.6.0'
    }
}

allprojects {
   repositories {
      google()
      jcenter()
      flatDir {
        dirs 'libs'
      }
   }
}

3. test example

Add ROS# package

https://github.com/siemens/ros-sharp

• Unity Setup

1. Copy the RosSharp folder from the latest commit of our repository into the Assets folder of your Unity project.
2. Check Installation

• Ros Setup

0. Create your workspace : https://github.com/gmp-prem/BasicROS
1. Copy file_server folder to the src folder of your workspace
2. Build the package
3. Install ros bridge suit dependencies

sudo apt-get install ros-melodic-rosbridge-server

4. Check package by launching (Close it before doing next step)

roslaunch file_server ros_sharp_communication.launch

Import Turtlebot3 Model to Unity

1. Download turtlebot3 package in ROS

https://github.com/gmp-prem/BasicROS/tree/Turtlebot3

2. Add URDF export launch file to export Turtlebot3 model

cd ~/catkin_ws/src
code .

<launch>

	<include file="$(find file_server)/launch/ros_sharp_communication.launch">
		<arg name="port" value="9090" />
	</include>

	<arg name="urdf_file" default="$(find xacro)/xacro.py '$(find turtlebot3_description)/urdf/turtlebot3_burger.urdf.xacro'" />
	
	<param name="robot/name" value="Turtlebot3" />
	<param name="robot_description" command="$(arg urdf_file)" />

</launch>

3. Launch Turtlebot3 exporter

roslaunch file_server turtlebot3_description_publisher.launch

4. Check your Linux port

hostname -I

4. In unity: export robot model to your scene

For this example, Enable Kinmatic and Disable Gravity

Move Turtlebot3 in AR

In ROS:

1. Bring up turtlebot3 rviz and fake node (gazebo is also ok)

roslaunch turtlebot3_fake turtlebot3_fake.launch

2. Launch teletop and make its spin

roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

3. Launch ros bridge to unity

roslaunch file_server ros_sharp_communication.launch

In unity:

1. Create empty object, add ros connector scripts and change ip address

2. Add joint states and odometry subscriber

3. Add joint_state_writer to each wheel

4. Drag each wheel to joint state write field in joint state subscriber

5. Build The Scene. Make sure your phone is connected to same wifi with ROS PC

Try

1. Download this respository

2. Add ARrosCore Folder to Assets in Unity

3. Add HelloARROS Scene

In ARrosCore-main --> ARrosCore-main --> HelloARcoreRos --> scene

4. Edit ROSConnector URL

5. Try build the scene while connecting to the Turtlebot3 Fake Node

Acknowledgement

ARCore Depth API: https://github.com/googlesamples/arcore-depth-lab

ROS#: https://github.com/siemens/ros-sharp

CHAMP: https://github.com/chvmp/champ

Turtlebot3: https://github.com/ROBOTIS-GIT/turtlebot3