Mobile-Robot-Project

This repository contains a Unity-based robot simulation integrated with a ROS backend. It demonstrates distributed control, sensor communication, and real-time interaction between Unity and ROS.

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🚀 Getting Started

Follow the steps below to set up the project on your local machine (This guide is written specifically for Windows and Ubuntu 20.04).

📥 1. Clone the Repository

git clone https://github.com/imorange/Mobile-Robot-Project.git
cd Mobile-Robot-Project

📳 2. Connect the Haptic device to your machine

• Read documentation and install their drivers (OpenHaptics for Windows Developer Edition v3.5)

• Run Touch Smart Setup and initialise Haptic device

🎮 3. Open the Unity Project

• Open Unity Hub

• Click Add → Add Existing Project

• Select the folder Mobile-Robot-Project/MyUnityProject

• Open it with Unity 2021.3+ (or your required version)

🤖 4. Set Up the ROS Package (Ubuntu 20.04)

Ubuntu Install of ROS Noetic is essential. Follow the steps in the link if not been configured on your own machine.

# Clone the GitHub repository into your Catkin workspace
cd ~/catkin_ws/src
git clone https://github.com/RcO2Rob/Dis-Project.git

# Restructure the directory
cd ~/catkin_ws/src
mv Dis-Project/myproject .

# Modify move_base launch file
roscd turtlebot3_navigation/launch/
sudo vim move_base.launch

# Edit line 4 to <arg name="cmd_vel_topic" default="/nav_vel" />

# Build catkin workspace
cd ~/catkin_ws
catkin_make
source devel/setup.bash

📶 5. Set Up ROS# Unity Connection

# Install rosbridge_server in WSL
sudo apt update
sudo apt install ros-noetic-rosbridge-server

# Find IP address of WSL
hostname -I

Use that IP address in any RosConnector and modify the port address

📶 6. Set Up Turtlebot3 Packages

Turtlebot3 Packages are essential. Follow the steps in the link if not been configured on your own machine.

# Move map files to Ubuntu root directory. 
cd ~/catkin_ws/src/maps
mv room2.yaml ~/
mv room2.pgm ~/

Modify room2.pgm path in room2.yaml

# Move all shell scripts to catkin_ws, then launch shell script on a separate terminal
./run_experiment.sh

✅ 7. Run your experiment scene, and everything should be ready to go!

Brief Scene Descriptions

Scenes Main Task A, B, and C differ by the location of target objects. In all four conditions (modes), they differ only in the clues presented.

• Condition A has no cues
• Condition B has a haptic guidance force
• Condition C has a direction indicator line and an autonomy level indicator bar, and haptic guidance force
• Condition D combines the cues from B and C, and mini-map, collision detection lines, and anti-collision braking cue.