###TO BE UPDATED
Start Unity Hub
Click on "Add" on the top right corner
Browse in the directory /CrowdBotSim/
In the row "Unity version" associated to the project CrowdBotUnity, select the version of Unity specified in the recommended configuration.
Click on "CrowdBotUnity" to launch the project. This should take a while.
Open the scene located in Assets/Scenes/Tests/Sensors/lidarTests
This scene is composed of the following GameObjects:
- Corridor 1: This is the stage, i.e. walls, floor, ceil, lights. It also handle the crowd behavior.
- wheelchair_with_lidar: the actual robot that composed of a body and sensors. This demo show a 1D lidar (rear) and 2D lidar (front)
- An agent model
- A player: This is the camera you can control in game mode.
- A simulation manager which handle the plugins and scene initialisation.
- a rotating cube.
Open a terminal
roslaunch crowdbotsim unity_sim.launch
The roscore is configurated to use the /clock topic published by unity so you should start Unity by pressing the "play" button
The clock is paused, press space to unpause or click in the game view If you switch to the scene view, you should see yellow and red raycast
In the terminal the command rostopic list should give you the output
/client_count /clock /connected_clients /point_cloud /rosout /rosout_agg /scan
run the command rosrun tf static_transform_publisher 0 0 0 0 0 0 map base_link 50 for rviz to have a fake base_link tf.
run rviz
Click on "Add" and slect the panel "by topic"
You can add and visualize the topic /scan for the 1D lidar and /point_cloud for the 2D lidar.