User_App_ROS_TransferURDFToROS

2.2 Transfer a URDF from Unity to ROS

Note: This tutorial assumes that you have completed tutorial: 1 - Installation and Configuration.

Using the following command, launch the ros_sharp_communication.launch file which was previously downloaded in the 1.3 ROS on Ubuntu tutorial. This will launch rosbridge_websocket and file_server, so that ROS is ready to receive any information sent from Unity.

$ roslaunch file_server ros_sharp_communication.launch

TransferToRosWindow

In the dialog box, change the address to the IP address of enp0s8 mentioned earlier in tutorial 1.2
Change the port to 9090 as displayed in the roslaunch terminal. ws://xxx.xxx.xxx.xxx:9090
Select a URDF file to export. In order to transfer meshes and texture files properly, the URDF file must be in the same root folder as the assets.
Enter a ROS package name. The URDF file and any resources it needs will be transfered to this package. If the package doesn't already exist in your catkin workspace, a new one with this name will be created.
Initiate the transfer by clicking the button Read Robot Description.

In your catkin workspace, all URDF files will be in the package that you specified previously. As well, you can now access the rosparams /robot_description and /robot_name.
To visualize the transfered robot, run the following command. This will launch robot_state_publisher, joint_state_publisher, and RVIZ.

$ roslaunch file_server visualize_robot.launch

RVIZ