An example project which contains the Unity components necessary to complete Navigation2's SLAM tutorial with a Turtlebot3, using a custom Unity environment in place of Gazebo.
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README.md

Navigation 2 SLAM Example

License ROS Unity

This example provides a Unity Project and a colcon workspace that, when used together, allows a user to substitute Unity as the simulation environment for the purposes of following the Navigation 2 SLAM tutorials. In following the setup instructions below, you will exercise Unity's ROS 2 integration, explore an example environment generated with our Robotics Warehouse randomizable environment, integrate visualizations with our Visualizations package, and learn about ways in which this project could be extended to support a more specific use case or automated to provide continuous integration testing of a robotics navigation stack.


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Setup Instructions

  1. Configuring Your Development Environment

  2. Setting Up the Unity Project

  3. Running the Example

  4. Visualizing with Unity

  5. Making a Custom Visualizer

Understanding the Project Components

Learning More About Unity

If you are brand new to Unity, found this example intersting, and want to learn more about how to use the Unity Editor, you may find these tutorials very useful for better familiarizing yourself with the Editor interface:

  • Exploring the Editor Layout: a 10 minute tutorial giving a quick and straightforward overview of the Editor layout
  • Using the Unity Interface: a 1 hr tutorial, which includes more context for each window and short introductions to commonly used components of the Scene

If you'd like more information about how to create customized environments, you may find some of these very in-depth tutorials on the creation of environments in Unity useful:


Getting Support

Many issues you may encounter can be solved by performing an internet search on the relevant error message and following the troubleshooting tips you find online. If you've already investigated your issue and haven't been able to find a suitable solution, please submit an Issue ticket here, describing your issue with as much detail as possible, including logs and screenshots as appropriate, and we'll do our best to help you resolve it.

More from Unity Robotics

Visit the Unity Robotics Hub for more robotics-related tutorials and examples. Join in on discussions on robotics or start your own in the official Unity Robotics Forums.