Installation Guide

Prerequisites

To get started, ensure you have the following:

• A PointCloud2 source for ROS2. In my example: zivid-ros with drivers.

  • Make sure that the Zivid camera is on the same network as the ROS2 driver. You can test this with Zivid Studio. (Default IP: 172.28.60.XXX/24)

• ROS2 version: Humble.

• Unity 2021 or higher.

• For debug

  • rqt (ROS2 GUI tool).

  • rviz (ROS2 visualization tool).

  • ParaView (3D visualization tool).

ROSPointCloudMeshify Requirements:

• A C++ compiler (GCC, Clang, or MSVC).

• ROS2 Humble installation installation with support for sensor_msgs.

• PointCloud Library installed.

You also need the following ROS packages:

sudo apt install ros-humble-pcl-conversions ros-humble-pcl-ros

sudo apt install ros-humble-visualization-msgs

sudo apt install libpcap-dev

ROSUnityBIRPMeshViz Requirements:

• Unity Editor 2021 or higher.

• Unity-Robotics-Hub

  • ROS-TCP-Connector: The Unity package with the C# API.

  • ROS-TCP-Endpoint: ROS environment endpoint node for the TCP connection. How to set up the endpoint

Installation Steps

1. ROSPointCloudMeshify:

1. Clone the repository:

   git clone https://github.com/NiklasDerEchte/ROSPointCloudMeshify
   

2. Build the project in object_detection/:

   colcon build
   source install/setup.bash
   

2. ROSUnityBIRPMeshViz:

1. Clone the repository:

   git clone https://github.com/NiklasDerEchte/ROSUnityBIRPMeshViz
   

2. Open the project in Unity Editor.

3. Import required Unity packages:

   • GitHub ROS-TCP-Connector 1

1

Currently, there is a bug in version 0.7.0 of ROS-TCP-Connector. Therefore, it is better to use my fork for the connector: ROS-TCP-Connector (fork) For more informations, see here