ROS - unity - VR(HTC_VIVE) - tracker - pointcloud联合

Unity 脚本 API

目录

 一、 ROS(ubuntu)和unity(windows)之间通讯的方法

方法一:Unity-Robotics-Hub项目提供的ros_tcp_endpoint包

方法二:ROS#

二、import urdf to unity

三、unity - VR

四、unity - tracker

五、unity - realsense - pointcloud


 一、 ROS(ubuntu)和unity(windows)之间通讯的方法

方法一:Unity-Robotics-Hub项目提供的ros_tcp_endpoint包

video:youtube视频

参考:Unity-Robotics-Hub项目,该项目提供了ros_unity_integration通讯方法,pick_and_place机械臂仿真实例

ros_unity_integration总结:

dwh@PC:~/carla-ros-bridge/catkin_ws$ catkin_make # 或 catkin build(若使用catkin_tools) Base path: /home/dwh/carla-ros-bridge/catkin_ws Source space: /home/dwh/carla-ros-bridge/catkin_ws/src Build space: /home/dwh/carla-ros-bridge/catkin_ws/build Devel space: /home/dwh/carla-ros-bridge/catkin_ws/devel Install space: /home/dwh/carla-ros-bridge/catkin_ws/install Multiple packages found with the same name "carla_ackermann_control": - ros-bridge/carla-ros-bridge/src/ros-bridge/carla_ackermann_control - ros-bridge/carla_ackermann_control Multiple packages found with the same name "carla_ackermann_msgs": - ros-bridge/carla-ros-bridge/src/ros-bridge/carla_ackermann_msgs - ros-bridge/carla_ackermann_msgs Multiple packages found with the same name "carla_ad_agent": - ros-bridge/carla-ros-bridge/src/ros-bridge/carla_ad_agent - ros-bridge/carla_ad_agent Multiple packages found with the same name "carla_ad_demo": - ros-bridge/carla-ros-bridge/src/ros-bridge/carla_ad_demo - ros-bridge/carla_ad_demo Multiple packages found with the same name "carla_common": - ros-bridge/carla-ros-bridge/src/ros-bridge/carla_common - ros-bridge/carla_common Multiple packages found with the same name "carla_manual_control": - ros-bridge/carla-ros-bridge/src/ros-bridge/carla_manual_control - ros-bridge/carla_manual_control Multiple packages found with the same name "carla_msgs": - ros-bridge/carla-ros-bridge/src/ros-bridge/carla_msgs - ros-bridge/carla_msgs Multiple packages found with the same name "carla_ros_bridge": - ros-bridge/carla-ros-bridge/src/ros-bridge/carla_ros_bridge - ros-bridge/carla_ros_bridge Multiple packages found with the same name "carla_ros_scenario_runner": - ros-bridge/carla-ros-bridge/src/ros-bridge/carla_ros_scenario_runner - ros-bridge/carla_ros_scenario_runner Multiple packages found with the same name "carla_ros_scenario_runner_types": - ros-bridge/carla-ros-bridge/src/ros-bridge/carla_ros_scenario_runner_types - ros-bridge/carla_ros_scenario_runner_types Multiple packages found with the same name "carla_spawn_objects": - ros-bridge/carla-ros-bridge/src/ros-bridge/carla_spawn_objects - ros-bridge/carla_spawn_objects Multiple packages found with the same name "carla_twist_to_control": - ros-bridge/carla-ros-bridge/src/ros-bridge/carla_twist_to_control - ros-bridge/carla_twist_to_control Multiple packages found with the same name "carla_walker_agent": - ros-bridge/carla-ros-bridge/src/ros-bridge/carla_walker_agent - ros-bridge/carla_walker_agent Multiple packages found with the same name "carla_waypoint_publisher": - ros-bridge/carla-ros-bridge/src/ros-bridge/carla_waypoint_publisher - ros-bridge/carla_waypoint_publisher Multiple packages found with the same name "carla_waypoint_types": - ros-bridge/carla-ros-bridge/src/ros-bridge/carla_waypoint_types - ros-bridge/carla_waypoint_types Multiple packages found with the same name "pcl_recorder": - ros-bridge/carla-ros-bridge/src/ros-bridge/pcl_recorder - ros-bridge/pcl_recorder Multiple packages found with the same name "ros_compatibility": - ros-bridge/carla-ros-bridge/src/ros-bridge/ros_compatibility - ros-bridge/ros_compatibility Multiple packages found with the same name "rqt_carla_control": - ros-bridge/carla-ros-bridge/src/ros-bridge/rqt_carla_control - ros-bridge/rqt_carla_control Multiple packages found with the same name "rviz_carla_plugin": - ros-bridge/carla-ros-bridge/src/ros-bridge/rviz_carla_plugin - ros-bridge/rviz_carla_plugin dwh@PC:~/carla-ros-bridge/catkin_ws$ source devel/setup.bash bash: devel/setup.bash: 没有那个文件或目录
最新发布
03-19
<think>嗯,用户在使用catkin_make编译Carla ROS Bridge时遇到了多个同名包的问题,并且在编译后无法找到devel/setup.bash文件。首先,我需要分析这些同名包的原因。可能的情况是用户的工作空间中有重复的包路径,导致编译系统无法正确处理。例如,用户可能克隆了仓库到不同的目录,或者子模块嵌套导致路径重复。 接下来,用户执行source devel/setup.bash时提示文件不存在,这通常意味着编译没有成功完成,因此devel目录没有被正确生成。编译失败的原因很可能就是前面提到的重复包问题,导致catkin_make中途停止,从而没有生成必要的setup文件。 需要指导用户如何解决这些重复包的问题。首先应该检查工作空间中的src目录,查找是否有重复的包路径。例如,用户可能同时有ros-bridge/carla-ros-bridge/src/ros-bridge/...和ros-bridge/...这样的路径,这会导致catkin工具发现多个同名包,进而报错。 解决方法包括清理重复的包,可能通过移除重复的目录或调整工作空间的结构。另外,用户可能需要检查是否正确地克隆了子模块,或者是否有误操作导致包被复制到错误的位置。建议用户手动删除重复的包目录,然后重新运行catkin_make,确保编译过程顺利完成,从而生成devel/setup.bash文件。 此外,还需要提醒用户在编译成功后正确source环境变量,以确保ROS能够识别新编译的包。如果用户使用catkin build命令,可能需要使用不同的目录结构,但当前问题主要是重复包导致的编译失败,因此重点应放在解决路径冲突上。</think>在运行`catkin_make`时出现多个同名ROS包冲突的问题,这会导致编译失败。以下是逐步解决此问题的方法: --- ### **问题分析** 错误信息显示**同一工作空间(workspace)中存在多个同名ROS包**,例如: ``` Multiple packages found with the same name "carla_ackermann_control": - ros-bridge/carla-ros-bridge/src/ros-bridge/carla_ackermann_control - ros-bridge/carla_ackermann_control ``` 原因是工作空间的`src`目录中存在重复的包路径。这通常由以下原因导致: 1. **错误地克隆仓库**:可能重复克隆了Carla ROS Bridge的子模块。 2. **子模块嵌套问题**:`carla-ros-bridge`可能自身包含子模块,与其他手动克隆的包冲突。 --- ### **解决方案** #### **步骤1:清理重复的包** 进入工作空间的`src`目录,手动删除重复的包: ```bash cd ~/carla-ros-bridge/catkin_ws/src # 删除所有重复路径的包(根据错误提示选择保留一个) # 例如:保留 "ros-bridge/carla-ros-bridge/src/ros-bridge/carla_ackermann_control" # 删除 "ros-bridge/carla_ackermann_control" rm -rf ros-bridge/carla_ackermann_control rm -rf ros-bridge/carla_ackermann_msgs # 其他重复包同理 ``` #### **步骤2:确保子模块正确初始化** 如果使用了Git子模块,需重新初始化: ```bash cd ~/carla-ros-bridge/catkin_ws/src git submodule update --init --recursive ``` #### **步骤3:重新编译** 清理之前的编译缓存并重新编译: ```bash cd ~/carla-ros-bridge/catkin_ws catkin clean -y # 若使用catkin_tools catkin_make ``` #### **步骤4:Source环境变量** 编译成功后,`devel/setup.bash`会自动生成: ```bash source devel/setup.bash ``` --- ### **注意事项** 1. **路径规范**:确保`src`目录中的包路径唯一,避免嵌套或重复克隆。 2. **子模块管理**:若从Git仓库克隆,建议使用`git submodule`统一管理依赖。 3. **编译失败排查**:若编译仍失败,检查终端输出的具体错误信息(如依赖缺失)。 --- ### **补充说明** - **`catkin_make` vs `catkin build`**:若使用`catkin_tools`工具链,建议使用`catkin build`,它能更好地处理复杂包依赖。 - **工作空间结构**:标准ROS工作空间结构应确保所有包位于`src`目录下,且无重复名称。
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