Unity User Interface and ROS-Sharp Communication for Oculus Quest 2

An Unity3D project built for an interface for Oculus Quest 2 and, with the help of ROS-sharp package, for transmitting messages of headsets and joysticks in ROS message type.

Note

1. This repository is one part of my whole marslite project. The main repository should be launched with the corresponding Docker environment.
2. This repository does not support VR image rendering for headset, but this feature could possibly be appended in future.

Prerequisites

Hardware

• Oculus Quest 2

Software

• Windows 7 or above
• Unity Hub with editor version: 2022.3.9f1
• Oculus PC application

Features

Published ROS topics:

• /unity/joy/left [Sensor/Joy] - joy inputs of the left joystick based on Unity frame
• /unity/joy_pose/left [Geometry/PoseStamped] - pose of the left joystick based on the frame of the robotic arm (tm_base)

Development

In ROS (on Ubuntu PC/Virtual Machine)

Step 1. Download the ROS workspace and follow the instructions in README.md

In Unity (on Windows PC)

Step 1. Open the RosSharpCommunicationScene scene

Once the project has been launched, delete the current scene and drag Assets/Scenes/RosSharpCommunicationScene to hierarchy.

Step 2. Modify IP address for ROS-sharp connection

1. Click on the RosConnector object and guide to the Ros Connector (Script) component.
2. Select the Protocol as Web Socket Sharp if using Windows 7 or lower, or as Web Socket NET if using Windows 8 or higher.
3. Change the IP address in Ros Bridge Server Url as the IP address of your Ubuntu PC/VM. The url format should be ws://<IP_ADDRESS_>:9090.

In Oculus

[TODO] Finish this part