This is a library to connect Unity3D and ROS by websocket protocol.

• The ROS package: RosBridge_suit.

Clone this repository in to the Assets folder of an Unity project:

1. Instantiate a Gameobject with the "ROS" script attached.
2. Configure this script with the IP and port used by rosbridget.
3. Call the function "Connect".

• ROS topic data is received from the "Callback" functions of the classes that implement "ROSBridgeSubscriber" so you can create your own class to access the data you need.
• In the same way, to publish in a topic it is necessary to create a class that implements "ROSBridgePublisher".
• In the package you can find some examples to start from in the "topic" folder.

This package adds some utilities to speed up development:

• TfManaguer: A system that synchronizes the ROS Tfs tree with the Hierarchy used in Unity. In order to use it, some gameobject must have the TfManaguer script that takes care of the synchronization. For a gameobject to be taken into account in ROS, it is enough to attach the TFNode script.
• MapConstructor: This system stamps the occupation map used in ROS on a Unity terrain.
• LaserScaner: Simulates in Unity a laser scanner.

This project comes from ROSBridgeLib.