How to control unity model from publish a numerical value on ROS

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From Unity, I can able to control the infant model assigning numerical values to each joint. Since now I can able to communicate between Unity and ROS how can I

publish a numerical value on ROS
read this value on Unity and use it to control the infant model?

Answer 1

Answer by Captain_Pineapple · Mar 21 at 07:50 PM

this appeared to be an intresting unknown topic at first but somehow it makes me wonder if you have tried to ask google before compiling your post:

There is even a Unity page on this here: https://resources.unity.com/unitenow/onlinesessions/simulating-robots-with-ros-and-unity

As there is plenty of resources on this topic available please try to post a question which is a bit more specific if you still have issues.

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kamaliaisu · Mar 21 at 07:57 PM 0

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Hello Captain_Pineapple, First of all, thanks for your quick response, I have searched it on google and I cannot able to figure it out since I can only able to find basic stuff like integrating ROS with unity. I have given bones to my infant model in blender and I wrote code to control it in unity. Then I have integrated unity with ROS using a TCP connection. The thing is I wonder how to publish the numerical values for joints in ROS to control it in unity?

Captain_Pineapple kamaliaisu · Mar 22 at 08:53 AM 0

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Apologies from my side, i apparently misread your original post and thought that you were searching for a way to integrate ROS with Unity.

I guess the best way to approach this issue would be to take a look at what formats are actually available on both ends. Like how can you serve rotations? What format do you have them in? Best here would be quaternions.

On Unity-Side you can just write a script where you set a new (local) rotation to your bones transform. That is all there is to it. Since a rotation is always a quaternion in Unity a quaternion would be best here. If needs be you can try to use euler angles, but that can lead to janky results in some cases.

How to control unity model from publish a numerical value on ROS

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