ZeroSim is a robotics simulation engine built on the easy-to-use Unity 3D development platform and the power of the Robotics Operating System (ROS). ZeroSim is designed for ease of use and rapid development of all sorts of robotics and simulation -- from warehouses and industrial settings, to farming and outdoors -- from robotic arms to ground and drone-based mobile robots.
ZeroSim is a project developed over several years by FS Studios for the rapid development of all sorts of robotic simulation projects for various clients, from robotic arms to mobile robots.
We are releasing ZeroSim as open-source to support the community of roboticist and software engineers that have supported us over the decades. We are in active development and welcome all feature requests, bug reports, and pull requests.
ZeroSim provides a multitude of tools for building robots and environments in Unity to interface with ROS. We strive to provide the same functionality and ROS interfaces of Gazebo. Including:
Dynamics simulation using the latest PhysX 4.x integrated in Unity.
Advanced 3D Rendering, including the latest real-time ray tracing technology.
Sensors:
Ready to use ROS standard controllers and plugins:
Full ROS messaging communications layers API.
Ready to run prebuilt ROS Docker images available publically on DockerHub: https://hub.docker.com/r/zerodog/zerosim_ros_vnc
Machine Learning tools:
COMING SOON:
Window -> Package Manager
+
dropdown:3. Select Add Package From Git URL...
and enter git@github.com:fsstudio-team/ZeroSimROSUnity.git
. Note this can take upto a few minutes to update but you should see the following:
4. Import the ZeroSim Samples by selecting the Samples Import
button in the Package Manager:
IMPORTANT the default Unity physics settings do not work well with a lot of simulations. It is very much recommended (required for probably most all simulations) to set the physics settings by opening the Unity menu Edit -> Project Settings... -> Physics
and set the Default Solver Iterations
to 30
and the Default Solver Velocity Iterations
to 60
.
IMPORTANT the default Unity fixed timestep setting does not work well with a lot of simulions. It is very much recommended to set the Fixed Timestep
setting by Edit -> Project Settings... -> Time
to 0.005
5. If running Unity on Linux you want to avoid using OpenGL and use Vulkan, otherwise image based sensors may run slowly or not at all. To change to using Vulkan:
Edit -> Project Settings...
:Auto Graphics API for Linux
and then under Graphics APIs for Linux
set Vulkan
ahead of OpenGL
:docker pull zerodog/zerosim_ros_vnc:latest
NOTE: Order of operations is important. Especially starting the Docker before the Unity simulation.
Turtlebot3_Waffle_test.scene
docker run -it --rm
--publish=9090:9090
--publish=11311:11311
--publish=8083:8083
--publish=80:80
--publish=5678:5678
--name my_zerosim_vnc_docker
zerodog/zerosim_ros_vnc:latest
roslaunch zero_sim_ros basic_unity_editor.launch
5. Run the ROS teleop in a seperate terminal by running:
docker exec -it my_zerosim_vnc_docker
bash -c "source devel/setup.bash ; rosrun turtlebot3_teleop turtlebot3_teleop_key"
6. In the Unity editor press the "Play" button.
7. The Turtlebot can now be controlled via the w a s d keys in the ROS teleop console window:
This will show visualizing the 2D LIDAR and ROS TF in RViz. This uses a VNC viewer to the ZeroSim ROS Docker container.
3. In the VNC window press the LEFT mouse button and select "Terminal".
In the new terminal run rviz -d ./src/zero_sim_ros/rviz/turtlebot_viewer.rviz
. RViz will start up with a 3D view with the LIDAR scanner visibile.
NOTE: Order of operations is important. Especially starting the Docker before the Unity simulation.
UniversalRobot_UR10_test.scene
4. Launch the ZeroSim Docker via:
docker run -it --rm
--publish=9090:9090
--publish=11311:11311
--publish=8083:8083
--publish=80:80
--publish=5678:5678
--name my_zerosim_vnc_docker
zerodog/zerosim_ros_vnc:latest
roslaunch zero_sim_ros ur10_moveit.launch
5. Start the UR10 test Scene by pressing the Play button.
6.Open a noVNC connection by:
In the noVNC window RViz will be setup with MoveIt
You can now to standard MoveIt! operations in RViz to control the UR10 arm
ImageSegmentation_test.scene
4. Launch the ZeroSim Docker via:
docker run -it --rm
--publish=9090:9090
--publish=11311:11311
--publish=8083:8083
--publish=80:80
--publish=5678:5678
--name my_zerosim_vnc_docker
zerodog/zerosim_ros_vnc:latest
roslaunch zero_sim_ros basic_unity_editor.launch
5. Start the Image Segmentation Test Scene by pressing the Play button.
6. Open a noVNC connection by:
7. In the VNC window press the LEFT mouse button and select "Terminal".
8. In the new terminal run rqt_image_view /image/segmentation_image
.
9. Open up a second terminal and run rqt_image_view /image/image_raw