ROS2 For Unity - Windows 10

This readme contains information specific to Window 10. For general information, please see README.md.

Building

We assume that working directory is C:\dev and we are using ROS2 galactic (replace with foxy or humble where applicable).

Prerequisites

It is necessary to complete all the steps for ros2cs Prerequisites and consider Important notices sections.

Steps

• Make sure long paths on Windows are enabled
• Make sure you open Developer PowerShell for VS with administrator privileges
• For ros2 galactic distribution, it is best to create a C:\ci\ws\install\include directory
• Clone this project.

  git clone git@github.com:RobotecAI/ros2-for-unity.git C:\dev\ros2-for-unity
  

• Source your ROS2 installation (C:\dev\ros2_foxy\local_setup.ps1) in the terminal before you proceed.

  C:\dev\ros2_foxy\local_setup.ps1
  

• Enter Ros2ForUnity working directory.

  cd C:\dev\ros2-for-unity
  

• Set up you custom messages in ros2_for_unity_custom_messages.repos
• Import necessary and custom messages repositories.

  .\pull_repositories.ps1
  

  NOTE pull_repositories.ps1 script doesn't update already existing repositories, you have to remove src\ros2cs folder to re-import new versions.

• Build Ros2ForUnty. You can build it in standalone or overlay mode.

  # standalone mode
  ./build.ps1 -standalone
  
  # overlay mode
  ./build.ps1
  

  • You can build with -clean_install to make sure your installation directory is cleaned before deploying.
• Unity Asset is ready to import into your Unity project. You can find it in install/asset/ directory.
• (optionally) To create .unitypackage in install/unity_package

  create_unity_package.ps1
  

  NOTE Please provide path to your Unity executable when prompted. Unity license is required. In case your Unity license has expired, the create_unity_package.ps1 won't throw any errors but Ros2ForUnity.unitypackage won't be generated too.

Build troubleshooting

• If you see one of the following errors:

<script_name> is not digitally signed

<script_name> cannot be loaded because running scripts is disabled on this system

Please execute Set-ExecutionPolicy Bypass -Scope Process in PS shell session to enable third party scripts execution only for this session. Otherwise please refer to official Execution Policies.

• If you see the following error:

[4.437s] Traceback (most recent call last):
[4.437s]   File "<string>", line 1, in <module>
[4.437s]   File "C:\Python38\lib\site-packages\numpy\__init__.py", line 148, in <module>
[4.437s]     from . import _distributor_init
[4.437s]   File "C:\Python38\lib\site-packages\numpy\_distributor_init.py", line 26, in <module>
[4.437s]     WinDLL(os.path.abspath(filename))
[4.437s]   File "C:\Python38\lib\ctypes\__init__.py", line 373, in __init__
[4.453s]     self._handle = _dlopen(self._name, mode)
[4.453s] OSError: [WinError 193] %1 is not a valid Win32 application
[4.469s] CMake Error at C:/dev/ros2_foxy/share/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake:213 (message)
[4.469s]   execute_process(C:/Python38/python.exe -c 'import
[4.469s]   numpy;print(numpy.get_include())') returned error code 1
[4.469s] Call Stack (most recent call first):
[4.469s]   C:/dev/ros2_foxy/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake:48 (include)
[4.469s]   C:/dev/ros2_foxy/share/rosidl_cmake/cmake/rosidl_generate_interfaces.cmake:286 (ament_execute_extensions)
[4.484s]   CMakeLists.txt:16 (rosidl_generate_interfaces)

Please reinstall numpy package from python by typing:

pip uninstall numpy
pip install numpy

If no solution of your problem is present in the section above, please make sure to check out ros2cs Troubleshooting section

OS-Specific usage remarks

If the Asset is built with -standalone flag (the default), then nothing extra needs to be done. Otherwise, you have to source your ros distribution before launching either Unity3D Editor or Application.

Note that after you build the Asset, you can use it on a machine that has no ros2 installation (if built with -standalone).

You can simply copy over the Ros2ForUnity subdirectory to update your Asset.