Note

This repository is for ROS 2.

Interactive Cleanup Project

This is a Unity project for the Interactive Cleanup task.

In this task, the robot grasps an object located at a place pointed to by a human avatar, and then delivers it to another place the avatar points to.
This task focuses on recognizing human actions.

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

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

Execute the Executable file

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

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.

Task Creation

A VR device is required to generate the tasks.
Please see wiki page for more details.