Graphical User Interface for controlling a Mars Rover. Visualizing sensordata via Unity to create a pointcloud and controll the robot inside it.
The UI is developed under Unity Version 2022.3.10f1. The project can be cloned and the folder "ROS_Mobile" needs to be opened in Unity. Because the Unity-Robotics-Hub package is used and it beeing in the Package Cache (which was modified for the implementation to work), two minor changes have to be done when opening the programm on a new machine. Otherwise errors will occure!
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/ROS_Mobile/Library/PackageCache/com.unity.robotics.visualizations@c27f00c6cf/Runtime/Drawing3d/Scripts/PointCloudDrawing.cs
- Line 12: Make the m_Mesh Mesh object public
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/ROS_Mobile/Library/PackageCache/com.unity.robotics.ros-tcp-connector@c27f00c6cf/Runtime/TcpConnector/ROSConnection.cs
- Line 1016: Make the method InitializeHUD() public
- Change Camera FOV + Direction to look at
- Simple "Move 2 clicked point" interaction. Distance to point is shown, distance to arrival changes depending on how far the robot drove.
- Multiple Robots can be controlled by changing the dropdown at the top.
- Visualizing Connection-State and Watchdog for Camera and Sensory errors. Battery-Status and more will be implemented in the future.
- Manual Drive Mode to controll the Robot via Forward, Backward, Clockwise and Counterclockwise commands. All manual-steering commands in seconds (e.g. 5 Seconds Forward). Clockwise and counterclockwise given at angle.
- Mission-modes for making rock analysis (GeoSAMA), starting high-fidelity RIEGL scan and launching UWB beacons (UWB) over a Sensor Distribution System.
Methods in the Diagramm not complete, yet showing how the classes are connected
