UnitySimDemo

Description: A simulation demo in Unity designed to help beginners set up, run, and code for various environments and control mechanisms.

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1. Install Unity Hub

1. Download Unity Hub from the Unity Hub Download Page.
2. Open Unity Hub and sign in or create an account if you don’t have one.

2. Install Unity Editor

1. Inside Unity Hub, go to the Installs tab.
2. Install Unity Version 2022.3.52f1.
   • Modules to include:
     • All Three Linux Build Support Modules
     • Universal Windows Platform Support (optional, for building on Windows)
     • WebGL Build Support (optional, for building on the web)
3. Click Next to begin the installation.

3. Install Microsoft Visual Studio

1. Download and install Microsoft Visual Studio from the Visual Studio Download Page.
2. When prompted during installation, be sure to check the Unity support component.

   Note: This will allow Visual Studio to integrate smoothly with Unity for coding and debugging.

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Project Setup in Unity

1. Open Unity Hub and click Add, the button with the dropdown arrow.
2. Select Add project from disk and then select the file folder containing this project.
3. The project should start compiling and Unity should open! Ensure you are using the correct version installed earlier, Unity Version 2022.3.52f1.

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Installing Required Unity Packages

1. Open the Package Manager: Go to Window > Package Manager.
2. Search for and install if they are not already installed:
   • Cinemachine (used for basic camera control).
   • Burst (terrain gen requirement)
   • Unity glTFast "com.unity.cloud.gltfast" | (importing the robot model)
   • Draco for Unity "com.unity.cloud.draco" | (dependency for glTFast)
   • UnityGLTF "https://github.com/KhronosGroup/UnityGLTF.git" | (exporting robot and field as meshes)

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Note: Additional packages may be required for advanced functionality. If any prompts for missing packages appear, follow the instructions to install them.

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Coding Guidelines

To make code and issue tracking simpler, we’ve assigned unique codes to various areas of the project. Use these codes to reference and organize code changes.

Issue Area Codes

Area	Code
Environment	1000
Rover Control	2000
Stereo Camera	3000
Algorithm Implementation	4000
CAD	5000

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Code Numbering System

Each issue or code change should be labeled according to the following structure:

• First Digit: Project area (see table above)
• Second Digit: Priority (0 = low, 9 = high urgency)
• Last Two Digits: Chronological order of the issue

Example:

2353 -

• 2: Indicates Rover Control
• 3: Priority level (mid-level priority)
• 53: The 53rd issue in this area

Use these codes in comments and commit messages to keep the project organized and to make it easy to understand issue importance at a glance.

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Integrating ROS2 on Unity:

1. Open the Package Manager on Unity: Go to Window < Package Manager.
2. Click on the + on the top-left.
3. Click on Add package from git URL.
4. Add the first git-link: https://github.com/Unity-Technologies/ROS-TCP-Connector.git?path=/com.unity.robotics.ros-tcp-connector (ROS-TCP-CONNECTOR)
5. Add the second git-link: https://github.com/Unity-Technologies/ROS-TCP-Connector.git?path=/com.unity.robotics.visualizations (Robot Visualizations)

Additional Information:

Article on Ros2 integration on Unity:

1. https://unity.com/blog/engine-platform/advance-your-robot-autonomy-with-ros-2-and-unity
2. https://github.com/Unity-Technologies/ROS-TCP-Connector

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