Warning

This repository is for ROS 1 only.

Interactive Cleanup Project

This is a Unity project for the Interactive Cleanup task of the RoboCup@Home Simulation.

Please prepare a common unitypackage in advance, and import the unitypackage to this project.
For details of using the common unitypackage, please see an instruction in the following repository:
https://github.com/RoboCupatHomeSim/common-unity.git

See also wiki page.

Prerequisites

Same as below for OS and Unity version. https://github.com/RoboCupatHomeSim/documents/blob/master/SoftwareManual/Environment.md#windows-pc

How to Build

Import unitypackages

1. Download SteamVR Unity Plugin v2.7.3 from the following link.
   https://github.com/ValveSoftware/steamvr_unity_plugin/releases/download/2.7.3/steamvr_2_7_3.unitypackage
2. Open this project with Unity.
3. Click [Continue] in the [Unity Package Manager Error] window.
4. Click [Ignore] in the [Enter Safe Mode?] window.
5. Click [Assets]-[Import Package]-[Custom Package...].
6. Select a common unitypackage (e.g. robocup-common.unitypackage) and open the file.
7. Click [Import] button.
8. Click [Assets]-[Import Package]-[Custom Package...].
9. Select the steamvr_2_7_3.unitypackage and open the file.
10. Click [Import] button.
11. Click [Assets]-[Reimport All].
12. Click [Reimport] button.
13. Please confirm that no error occurred in Console window.

Import Executable file and Dll for TTS

If you want to output speech, please do the following two steps.

Windows Settings

Please install the English language if you are using other than English.
The procedure is like as follows.

1. Open the Windows settings menu
2. Click [Time & Language] - [Region & language]
3. Click [Add a language] in [Languages]-[Preferred languages]
4. Select "English (United States)" and Install

Import Files

Please import files by following the steps below.

1. Prepare "ConsoleSimpleTTS.exe" and "Interop.SpeechLib.dll".
   For details on these files, see here.
2. Copy those files to the "TTS" folder in the same directory as SIGVerseConfig folder.

Build

1. Create a "Build" folder under this project folder.
2. Open this project with Unity.
3. Click [File]-[Build Settings].
4. Click [Build]
5. Select the "Build" folder , and type a file name (e.g. InteractiveCleanup) and save the file.
6. Copy the "TTS" folder under the "Build" folder.

How to Set Up

Modify Configuration

1. Open this project with Unity.
2. Click [SIGVerse]-[SIGVerse Settings].
   SIGVerse window will be opened.
3. Type the IP address of ROS to "Rosbridge IP" in SIGVerse window.

How to Execute Interactive Cleanup

Please start the ROS side application beforehand.
See interactive-cleanup-ros for an example application.

Execute on Unity Editor

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

Execute the Executable file

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

Data generation mode

Please see wiki page for more details.
If you want to use the data generation mode, you need to prepare your VR device.
Please install Steam and SteamVR on your PC. Download the installer from the official website and install it.
And please install Oculus Software to use Oculus Headsets. Oculus Link is also required.

License

This project is licensed under the SIGVerse License - see the LICENSE.txt file for details.