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Gazebo Simulation and Unity Integration with ROS#

Robot simulation in Gazebo while integrating control and visualization capabilities in Unity using ROS#. The tutorial is structured into three parts, offering a step-by-step guide for effective robot simulation and interaction between Gazebo and Unity. Part 1 covers how to stream the R2D2 camera feed from Gazebo to Unity, enabling real-time visual feedback within the Unity environment. In Part 2, we show how to control R2D2’s motion by publishing Joy data from Unity and subscribing to joint states and odometry topics, allowing for dynamic robot movement. Part 3 explores alternative control methods in Unity using UI elements, such as a touch screen joystick and slider, providing more intuitive ways to interact with the robot. We explain the communication flow between Unity and ROS/Gazebo, detailing the specific messages sent by Unity, including /joy and joint control commands, and the topics subscribed by Unity, such as /camera/compressed, /odometry, and /joint_state. The tutorial also guides you through setting up the necessary workspaces and scenes in Gazebo and Unity, ensuring a smooth start to your simulation project. For more resources and tools, visit the ROS# GitHub page (https://sie.ag/2pXyM2)