For more information on these service definition files, see the ROS Custom Services and Publisher section. You must generate ROS custom messages in MATLAB from the custom service definition files inside the unity_robotics_demo_msgs folder. For more details on planning and executing trajectories, see Plan and Execute Task- and Joint-Space Trajectories Using KINOVA Gen3 Manipulator. Use trapveltraj and transformtraj functions to generate simple task-space trajectories from an initial to a desired task configuration. After generating a joint trajectory for the robot to follow, the exampleCommandMoveToTaskConfigROSUnity function samples the trajectory at the desired sample rate, then packages it into joint-trajectory ROS messages, and sends a service request to Unity. Use the exampleCommandMoveToTaskConfigROSUnity command function to move the manipulator to specified poses. The exampleCommandActivateGripperROSUnitycommand function sends a service request to open and close the gripper implemented in Unity. Identify parts and determine where to place them.įor a high-level description of the pick-and-place steps, see Pick-and-Place Workflow Using Stateflow for MATLAB. The ROS TCP Connector package provides a tool you can use to build messages and services. You must build the ROS custom service definition files into C# scripts for use in Unity programming. Generate Unity Scripts for Custom Services For more information on publishing messages from Unity, see ROS–Unity Communication. JointStatePublisher.cs - Publishes the current joint configuration from Unity to the ROS network in MATLAB.
MoveGripper.cs - Opens or closes the gripper fingers attached to the robot arm in Unity. ObjectPosition.cs - Sends the position of the box to be picked from the Unity scene to MATLAB. The script also unselects the Use Gravity option in all the links of the robot during simulation.įollowTrajectory.cs - Moves the robot model along a set of joint configurations provided by the trajectory from MATLAB. Unity then assigns these joint configuration values to the corresponding joints of the robot model.
SetModelConfiguration.cs - Receives the robot joint configuration from MATLAB in Unity.
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