Note

This repository is for ROS 2.

Human Navigation Project

This is a Unity project for the Human Navigation task.

In this task, a real person wears a VR headset and enters a virtual environment where the robot is present.
The robot gives natural language instructions to the person, who then delivers a specified object to a specified location.
This task focuses on understanding the situation and generating appropriate natural language instructions.

See also wiki page.

Prerequisites

For the Unity version and other requirements, please refer to the following.
https://github.com/RoboCupatHomeSim/overview/blob/master/Environment.md#windows-pc

Please prepare a common unitypackage in advance.
For details on how to create the common unitypackage, please see the introduction in the following repository.
https://github.com/RoboCupatHomeSim/common-unity2

Please prepare Text-to-Speech DLLs.
For details, please see the following repository.
https://github.com/RoboCupatHomeSim/console-simple-tts

A VR device (Meta Quest 2 or 3) is required for this task.

How to Build

Import the Common Unitypackage

1. Open this project with Unity.
2. Click [Ignore] in the [Enter Safe Mode?] window.
3. Click [Assets]-[Import Package]-[Custom Package...].
4. Select a common unitypackage (e.g. robocup-common.unitypackage) and open the file.
5. Click [Import] button.
6. Click [Assets]-[Reimport All].
7. Click [Reimport] button.
8. Please confirm that no error occurred in Console window.

Import the Text-to-Speech DLLs.

Copy ConsoleSimpleTTS.exe and Interop.SpeechLib.dll to the "TTS" folder next to the SIGVerseConfig folder.

Modify Configuration

1. Open this project with Unity.
2. Click [SIGVerse]-[SIGVerse Settings].
   SIGVerse window will be opened.
3. Enter the Ubuntu PC's IP address in "Rosbridge IP".
4. Close SIGVerse window.

Build

1. Create a "Build" folder under this project folder.
2. Open this project with Unity.
3. Click [File]-[Build Profiles].
4. Click [Build].
5. Select the "Build" folder.
   The build will start.
6. Copy the "TTS" folder into the "Build" folder.

How to Run

Please start the ROS side application beforehand.
For the ROS side, please see the following repository.
https://github.com/RoboCupatHomeSim/ros2-competition-msgs

On the Windows PC, connect your Meta Quest 2/3 to the PC via Meta Horizon Link, and leave it in standby mode.

Execute the Executable file

1. Double Click the "HumanNavigation.exe" in the "Build" folder.

Execute on Unity Editor

1. Click [SIGVerse]-[Set Default GameView Size].
2. Double click "Assets/Competition/HumanNavi/HumanNavi(.unity)" in Project window.
3. Click the Play button at the top of the Unity editor.

Task Creation

Please see wiki page for more details.

Notes

• The translation feature is currently unavailable.
  If you want to use the translation feature, see below.
  https://github.com/RoboCupatHomeSim/ros2-competition-msgs/wiki/RosMessage-HumanNavigation#3-guidance-message
  https://github.com/RoboCupatHomeSim/translation-library-for-human-navi/wiki