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On the ROS side inherit from static_object in flightlib/objects. On the Unity side, add a prefab of your object in the folder Assets/Resources/. The application creates two TCP sockets, one for publishing images and one for subscribing camera pose.Ĭlicking the Start button will start the program, but since we don’t have a client running and sending messages to the server, you won’t see any changes. Move the Game window to the right so you can visualize both the 3D model on the left and the camera view on the right. HD_Camera: the main camera that renders imagesĬamera_Controller: the main controller for loading different scenes, moving the camera, and retrieving camera pose & publishing images.Īfterward, load a warehouse scene for demo. Load the Top_Level_Scene that has three basic GameObjects,

The first time you load the project, Unity will create an empty scene which we don’t need, delete it.

Ignore the HDRP warning ( Build time will be extremely long) when clicking Build button, it will take a while (not more than 2 minutes) for building the application for the first time, and become fast (around 10 seconds) after the first build. (Optional) Add a timeline for preview animation.(Optional) Add button on the start menu for your scene.Move the scene into the folder Environments.