Tutorials/Simple-scene.md

+TO BE UPDATED
+
+Start Unity Hub
+
+Click on "Add" on the top right corner
+
+Browse in the directory <your git directory>/CrowdBotSim/
+
+In the row "Unity version" associated to the project CrowdBotUnity, select the version of Unity specified in
+[the recommended configuration.](Installation-and-configuration/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.
+
+![CBSim_Lidar](uploads/79bbc851bda6d1fcfc1d3836b8b98ec8/CBSim_Lidar.mp4)