Ros2 to Unity(rclcs)

ROS2가 c#으로 바인딩된 rclcs 설치

1. 다운받기

git clone

https://github.com/RobotecAI/ros2-for-unity

1. 전제조건 설치

# Install rmw and tests-msgs for your ROS2 distribution
apt install -y ros-${ROS_DISTRO}-test-msgs
apt install -y ros-${ROS_DISTRO}-fastrtps ros-${ROS_DISTRO}-rmw-fastrtps-cpp
apt install -y ros-${ROS_DISTRO}-cyclonedds ros-${ROS_DISTRO}-rmw-cyclonedds-cpp

# Install vcstool package
curl -s <https://packagecloud.io/install/repositories/dirk-thomas/vcstool/script.deb.sh> | sudo bash
sudo apt-get update
sudo apt-get install -y python3-vcstool

# Install .NET core
wget <https://packages.microsoft.com/config/ubuntu/20.04/packages-microsoft-prod.deb> -O packages-microsoft-prod.deb
sudo dpkg -i packages-microsoft-prod.deb
rm packages-microsoft-prod.deb
sudo apt-get update; \\
  sudo apt-get install -y apt-transport-https && \\
  sudo apt-get update && \\
  sudo apt-get install -y dotnet-sdk-3.1

1. 설치하기

• vi ~/.profile로 가장 밑에 source /opt/ros/foxy/setup.bash추가
• chmod +xpull_repositories.sh →./pull_repositories.sh
• chmod +x build.sh →build.sh

1. 컴퓨터 껏다키기
2. 아래의 동영상 따라해서 정상작동하는지 확인

https://www.youtube.com/watch?v=1X6uzrvNwCk

• 정상작동 사진

1. • https://github.com/RobotecAI/ros2-for-unity