vtc_unity

Virtual Tsukuba Challenge on Unity.

The Virtual Tsukuba Challenge (VTC) using Unreal Engine has been developed by fuRo.

This package is the Unity version of VTC.
In this repository, following packages are utilized.
Please check them if you have more interests.

• vtc_world_unity : The Tsukuba Challenge (environment) model.
• kashiwanoha_world_unity : The Kashiwa No Ha Campus (environment) model.
• unit04_unity : The robot (unit04) model.
• sensors_unity : The sensor models.

Installation

1．Installation of unity(2019.3.10f1)

First, install UnityHub with following links.

• Windows, Mac : https://unity3d.com/jp/get-unity/download
• Linux : Goto https://unity3d.com/get-unity/download and click "Download Unity Hub" button to get latest UnityHub.AppImage.
  Then add execution permission for UnityHub.AppImage by following command.

  $ sudo chmod +x UnityHub.AppImage

  Then, run the UnityHub.AppImage

  $ ./UnityHub.AppImage

  Please certificate the LICENSE for Unity on UnityHub application (you can use them free !)

After that, choose and install Unity Editor (version : 2019.3.10f) from archive.
https://unity3d.com/get-unity/download/archive

For Windows
You have .exe file from above link. Just run them.

For Linux

1. Right click on Unity Hub button on your desired Unity Editor version, and click "Copy Lilnk Location".
2. Run UnityHub.AppImage by setting copied link location as the argument. Here is the example for 2019.3.10 version.

   $ ./UnityHub.AppImage unityhub://2019.3.10f1/5968d7f82152

   If you need any other version, the procedure is same. After above commands, the UnityHub will start to install desird version's Unity Editor!

4.Open vtc_unity

Finally, please open vtc_unity package from UnityHub. (It takes more than 5 minuites at the first time, in the case)

5. Select the Scene file

There are two Scene files in Asset/vtc_unity/Scene/ directory.
Please open the Scene file you want.

Trouble Shooting

Trouble with git lfs

Some problems are come from git lfs

• If you have not installed git lfs, please install them. Then, git clone this repository again.
• If you already have installed git lfs, but have a problem. Try following procedure please.

$ git clean -fdx
$ git lfs pull

Trouble with Blender

The old version of this repository, you need to install blender for launch.
Thanks to @ssilph from #8

1．Installation of Blender 2.8x

You need Blender>=2.8x. Plsease install with following commands (for Ubuntu).

$ sudo apt remove blender
$ sudo add-apt-repository ppa:thomas-schiex/blender
$ sudo apt update
$ sudo apt install blender

2．Installation of PointCloudViewer(version=2.8x) + bpy(version=2.8x)

You also need, PointCloudViewer and bpy. First, download zip file from following link.

• https://github.com/uhlik/bpy#point-cloud-visualizer-for-blender-280
  Then, install them with following procedure.
• blender->Edit(Top Left)->Preferences->Add-ons(Left side)->install(Top Right)->choose zip file->install Add-on Extract zip file

Install space_view3d_point_cloud_visualizer.py with same procedure.

• blender->Edit(Top Left)->Preferences->Add-ons(Left side)->install(Top Right)->choose space_view3d_point_cloud_visualizer.py file->install Add-on

How to use

1. Launch ROS packages

1-1 rosbridge

Launch the rosbridge with following command.

$ roslaunch rosbridge_server rosbridge_websocket.launch address:=localhost

1-2 velodyne_pointcloud

Launch the velodyne_pointcloud package with following launch file.
Please create launch file by copy and paste following script.

<launch>
  <arg name="calibration" default="$(find velodyne_pointcloud)/params/VLP16db.yaml" />
  <arg name="manager" default="velodyne_pointcloud" />
  <arg name="max_range" default="100.0" />
  <arg name="min_range" default="0.9" />

  <node pkg="velodyne_pointcloud" type="cloud_node" name="$(arg manager)">
    <param name="model" value="VLP16"/>
    <param name="calibration" value="$(arg calibration)"/>
    <param name="max_range" value="$(arg max_range)"/>
    <param name="min_range" value="$(arg min_range)"/>
  </node>
</launch>

2. Clone and run on Unity

2-1

Just to clone this repo with git clone command.

2-2

Then, open the project file with UnityHub.

2-3

Finally, RUN the scene file named unit04_test.

LICENSE Dependencies

• Stencil2 PointCloud data : Apache2.0 by 防衛大学校ソフトウェア工学講座
  This data is referenced to create the world model.
• City Hall.fbx : Apache2.0 by Tomoaki Yoshida
  City Hall.prefab is modified from above FBX model.
• FBX data for Kashiwa No Ha Campus : CC BY 4.0 by National Institute of Advanced Industrial Science and Technology （AIST）

From Unity Asset store

We utilize following Assets from Unity Asset Store.
Every package are Free now (2020/05/13). We partly modify and utilize those Assets.

• RosSharp : Apache2.0
• Realistic Tree 9
• Mobile Tree Package
• Yughues Free Bushes
• Yughues Free Ground Materials
• PBR Tile Texture Floor
• Birch Tree Pack vol. 1
• Forester Pro Sycamore
• Asphalt materials
• Easy Grass Substance
• First Person All-in-One
• Simple Cars Pack
• UAA - City Props - Vehicles
• Stylized Vehicles Pack - FREE

LICENSE

Copyright [2020] Ryodo Tanaka [email protected]

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at

http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.