Installation

Roboy and its behavior is simulated on the virtual machine via ROS. Important information regarding roboy’s movement are then sent through a ROSBridge(e.g. messages) towards Unity. In Unity roboy is rendered and constantly updated concerning positions, rotations, etc. With the help of a VR-Headset you can watch roboy move around in a virtual space.

This tutorial will help you setup roboyVR with all necessities it comes with.

Part 1: Setup Virtualbox with Ubuntu [OPTIONAL]

  1. Download and install Virtualbox for your OS https://www.virtualbox.org/
  2. Download Ubuntu 16.04 (64bit) https://www.ubuntu.com/download/desktop
  3. Mount the .iso and setup Virtualbox with the following settings (if available):
  1. 4 cores (Settings->System->Processor)
  2. 6 GB of RAM (Settings->System->Motherboard)
  3. 128 MB of VRAM (Settings->Display->Screen)
  4. 30 GB HDD space (Settings->Storage)
  1. Set network settings to Bridged-Adapter or Host-Only Adapter

Part 2: Simulation Setup

Follow the setup instructions on the main Roboy repository.

Note: the setup.sh of gazebo is in /usr/share/gazebo-7/setup.sh and not in ../gazebo-7.0/..
Note: Export the gazebo paths AFTER the catkin_make because the devel directory is just created at this command.

On top of that it may be necessary to update the submodules of this repository:

cd /path-to-roboy-repository/
git submodule update --recursive --remote

There may also occur an error that says that you need to install the OpenPowerlink stack library. In that case follow the instructions on the OpenPowerlink Homepage. The OpenPowerlink folder lies in the roboy_powerlink folder.

Part 3: Unity Setup

  1. Download Unity
  1. Install Unity
  • During the install process make sure to check also the standalone build option.
  • Visual studio is recommended to use with Unity3D, as it is free and more user friendly than MonoDevelop (standard option).
  1. Download this project

Part 4: Blender & Python

Part 5: ZED API and Unity Plugin

  • Install the latest verstion of the API
  • If the Unity plugin in the project is outdated then download the plugin from the same page and import it into the project to update it