I'm trying to making a click to navigation function , already referenced the WaypointIntergrationTest.cs . My code look like this:

The object setup are same as the testing script provide in the example.

//ROS Config
    ROSConnection ROS;
    const string k_RobotTag = "robot";
    const string k_RobotBaseName = "base_footprint/base_link";
    const string k_GoalPoseFrameId = "map";
    const string k_GoalPoseTopic = "/goal_pose";
    static readonly string k_GoalPoseMessageName = MessageRegistry.GetRosMessageName<RosMessageTypes.Geometry.PoseStampedMsg>();
    const float k_Nav2InitializeTime = 5.0f;
    const float k_SleepBetweenWaypointsTime = 2.0f;
    const float k_MinimumSpeedExpected = 0.15f;
    const float k_DistanceSuccessThreshold = 0.4f;

Here's the parameter setup.

void Start()
    {
        //Init ROS
        print("init ROS");
        ROS = ROSConnection.instance;
        ROS.ConnectOnStart = true;
        ConnectionCheck();
        ROS.RegisterPublisher(k_GoalPoseTopic, k_GoalPoseMessageName);   
      
        //Init button
        Button btn = GameObject.Find("Navi_Button").GetComponent<Button>();
        btn.onClick.AddListener(Onclick);
    }

Here's the update function , include the ROS message sending.

void Update()
    {
        if (Input.GetMouseButtonDown(0) && pass)
        {
            Plane plane = new Plane(Vector3.up, 0);
            float distance;
            Ray ray = Camera.main.ScreenPointToRay(Input.mousePosition);
            if (plane.Raycast(ray, out distance))
            {
                worldPosition = ray.GetPoint(distance);
            }
            pass = false;
            worldPosition.y = 0.0f;
            print(worldPosition);
            GoalObj.transform.position = worldPosition;     
            ROS.Send(k_GoalPoseTopic, ToRosMsg(GoalObj.transform));
        }
    }

Using the codes above , got the Topic '/goal_pose' is not registered! Known topics are: dict_keys(['cmd_vel', '/tf', 'clock', '/scan'])error , and the navigation to the point where I click only works randomly

Am I missing something?

when i try to Start RViz,it said:

[INFO] [launch]: All log files can be found below /home/axin/.ros/log/2022-05-25-06-40-00-383023-axin-vpc-3298 [INFO] [launch]: Default logging verbosity is set to INFO Task exception was never retrieved future: <Task finished name='Task-2' coro=<LaunchService._process_one_event() done, defined at /opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py:226> exception=InvalidLaunchFileError('py')> Traceback (most recent call last): File "/opt/ros/foxy/lib/python3.8/site-packages/ament_index_python/packages.py", line 50, in get_package_prefix content, package_prefix = get_resource('packages', package_name) File "/opt/ros/foxy/lib/python3.8/site-packages/ament_index_python/resources.py", line 48, in get_resource raise LookupError( LookupError: Could not find the resource 'nav2_bringup' of type 'packages'

During handling of the above exception, another exception occurred:

Traceback (most recent call last): File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_description_sources/any_launch_file_utilities.py", line 53, in get_launch_description_from_any_launch_file return loader(launch_file_path) File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_description_sources/python_launch_file_utilities.py", line 68, in get_launch_description_from_python_launch_file return getattr(launch_file_module, 'generate_launch_description')() File "/home/axin/桌面/Robotics-Nav2-SLAM-Example/ros2_docker/colcon_ws/install/unity_slam_example/share/unity_slam_example/unity_slam_example.py", line 31, in generate_launch_description os.path.join(get_package_share_directory('nav2_bringup'), 'launch', 'navigation_launch.py') File "/opt/ros/foxy/lib/python3.8/site-packages/ament_index_python/packages.py", line 70, in get_package_share_directory return os.path.join(get_package_prefix(package_name), 'share', package_name) File "/opt/ros/foxy/lib/python3.8/site-packages/ament_index_python/packages.py", line 52, in get_package_prefix raise PackageNotFoundError( ament_index_python.packages.PackageNotFoundError: "package 'nav2_bringup' not found, searching: ['/home/axin/桌面/Robotics-Nav2-SLAM-Example/ros2_docker/colcon_ws/install/unity_slam_example', '/home/axin/桌面/Robotics-Nav2-SLAM-Example/ros2_docker/colcon_ws/install/ros_tcp_endpoint', '/opt/ros/foxy']"

The above exception was the direct cause of the following exception:

Traceback (most recent call last): File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 228, in _process_one_event await self.__process_event(next_event) File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 248, in __process_event visit_all_entities_and_collect_futures(entity, self.__context)) File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context) File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context) File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures sub_entities = entity.visit(context) File "/opt/ros/foxy/lib/python3.8/site-packages/launch/action.py", line 108, in visit return self.execute(context) File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/include_launch_description.py", line 130, in execute launch_description = self.__launch_description_source.get_launch_description(context) File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_description_source.py", line 84, in get_launch_description self._get_launch_description(self.__expanded_location) File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_description_sources/any_launch_description_source.py", line 53, in _get_launch_description return get_launch_description_from_any_launch_file(location) File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_description_sources/any_launch_file_utilities.py", line 56, in get_launch_description_from_any_launch_file raise InvalidLaunchFileError(extension, likely_errors=exceptions) launch.invalid_launch_file_error.InvalidLaunchFileError: Caught exception when trying to load file of format [py]: "package 'nav2_bringup' not found, searching: ['/home/axin/桌面/Robotics-Nav2-SLAM-Example/ros2_docker/colcon_ws/install/unity_slam_example', '/home/axin/桌面/Robotics-Nav2-SLAM-Example/ros2_docker/colcon_ws/install/ros_tcp_endpoint', '/opt/ros/foxy']"

Hello! I am running into the following error when I do "git submodule update --init --recursive"

Please make sure you have the correct access rights and the repository exists. fatal: clone of '[email protected]:Unity-Technologies/ROS-TCP-Endpoint.git' into submodule path '/home/fbaldini/Robotics-Nav2-SLAM-Example/ros2_docker/colcon_ws/src/ROS-TCP-Endpoint' failed Failed to clone 'ros2_docker/colcon_ws/src/ROS-TCP-Endpoint'. Retry scheduled Cloning into '/home/fbaldini/Robotics-Nav2-SLAM-Example/ros2_docker/colcon_ws/src/ROS-TCP-Endpoint'...

Is there anyone that can help?

Thank you!

When trying to switch the protocol in the ROS settings it gets stuck at recompiling and gives some errors. This project also becomes broken afterwards and have to start it in safe mode idk if this message is for here or the TCP connector itself

Hello, i'm getting this error when Building the Docker container cd ros2_docker docker build -t unity-robotics:nav2-slam-example ./

--- stderr: ros_tcp_endpoint CMake Error at CMakeLists.txt:4 (find_package): By not providing "Findcatkin.cmake" in CMAKE_MODULE_PATH this project has asked CMake to find a package configuration file provided by "catkin", but CMake did not find one.

Could not find a package configuration file provided by "catkin" with any of the following names:

catkinConfig.cmake catkin-config.cmake

Add the installation prefix of "catkin" to CMAKE_PREFIX_PATH or set catkin_DIR" to a directory containing one of the above files. If "catkin" provides a separate development package or SDK, be sure it has been installed.

i'm following the steps but get this error, i'm searching for a solution with de catkin config, if you can help me, i appreciate it

i'm running this on windows 10, docker version 3.6

Thank you for providing the awesome project!

There are 2 updates in this PR

• Update the apt key installation step to the latest.
  • ref: https://github.com/ros2/ros2_documentation/pull/1189
• Somehow, the ROS installation using ros2-setup.bash is being executed twice, so make it once.
  • It seems to be added by this commit: https://github.com/Unity-Technologies/Robotics-Nav2-SLAM-Example/pull/7/commits/a5bb1878c8a92238a1335469ee8c8ba434c0c2d4#diff-c937b4b19f91982f17fbe3301b5aacb92dd64b712dc4beb2ba50ec53be2702a1R58-R59

By the way, the ros2_docker/Dockerfile appears to be a fork of the Dockerfile that I have published at docker-ros2-desktop-vnc under the Apache-2.0 license. Please consider noting the license instead of just writing "adapted from." I know that some projects (to avoid any misunderstanding, I'm not talking about the project published at Unity-Technologies) are using code from my projects without any license notation regarding the use, but since most of my personal projects are not business, I pretended didn't see it. However, since this project is a tutorial and will be used by many beginners, I think it is desirable to be polite about noting OSS use.

Unity and ROS 2 should be able to run on Windows, Mac and Linux. What is the preferred (or tested) setup for this project? E.g. Can I run everything on one Linux machine?

Hi there,

I'm trying to run the docker container using: docker run -p 6080:80 -p 10000:10000 -p 5005:5005 --shm-size=1024m unity-robotics:nav2-slam-example, however it stays stagnant loading and never loads the docker container (see attached image). Any suggestions as to what to do would be appreciated.

Hi there,

On the info for this tutorial it mentions that this works with docker or ROS2. My environment is configured to ROS1. Will this tutorial work with ROS as well?

Thanks for your time!

error when you build dockerFile

..\Robotics-Nav2-SLAM-Example\ros2_docker>docker build -t unity-robotics:nav2-slam-example ./
[+] Building 4.2s (8/14)
 => [internal] load build definition from Dockerfile                                                               0.0s
 => => transferring dockerfile: 3.23kB                                                                             0.0s
 => [internal] load .dockerignore                                                                                  0.0s
 => => transferring context: 2B                                                                                    0.0s
 => [internal] load metadata for docker.io/dorowu/ubuntu-desktop-lxde-vnc:focal                                    1.1s
 => [auth] dorowu/ubuntu-desktop-lxde-vnc:pull token for registry-1.docker.io                                      0.0s
 => [internal] load build context                                                                                  0.2s
 => => transferring context: 554.97kB                                                                              0.2s
 => [1/9] FROM docker.io/dorowu/ubuntu-desktop-lxde-vnc:focal@sha256:07e51eafb6e0923759105eeb8cfc8f0d19be77a212b1  0.0s
 => CACHED [2/9] RUN echo "Set disable_coredump false" >> /etc/sudo.conf                                           0.0s
 => ERROR [3/9] RUN apt-get update -q &&     apt-get upgrade -yq &&     apt-get install -yq         wget           3.0s
------
 > [3/9] RUN apt-get update -q &&     apt-get upgrade -yq &&     apt-get install -yq         wget         curl         git         build-essential         vim         sudo         gnupg2         lsb-release         locales         bash-completion         tzdata         gosu         python3-argcomplete         python3-pip     && rm -rf /var/lib/apt/lists/*:
#7 0.411 Get:1 http://dl.google.com/linux/chrome/deb stable InRelease [1811 B]
#7 0.417 Get:2 http://mirrors.ubuntu.com/mirrors.txt Mirrorlist [617 B]
#7 0.481 Err:1 http://dl.google.com/linux/chrome/deb stable InRelease
#7 0.481   The following signatures couldn't be verified because the public key is not available: NO_PUBKEY 4EB27DB2A3B88B8B
#7 0.524 Get:5 http://ubuntu.mirrors.ovh.net/ubuntu focal-backports InRelease [108 kB]
#7 0.537 Ign:4 https://ubuntu.lafibre.info/ubuntu focal-updates InRelease
#7 0.548 Ign:3 https://mirror.ubuntu.ikoula.com focal InRelease
#7 0.585 Get:6 http://security.ubuntu.com/ubuntu focal-security InRelease [114 kB]
#7 0.653 Get:4 http://www-ftp.lip6.fr/pub/linux/distributions/Ubuntu/archive focal-updates InRelease [114 kB]
#7 0.693 Ign:3 https://mirror.crexio.com/ubuntu focal InRelease
#7 0.757 Get:8 http://ubuntu.univ-nantes.fr/ubuntu focal-backports/main amd64 Packages [54.2 kB]
#7 0.800 Ign:10 https://mirror.ubuntu.ikoula.com focal-updates/multiverse amd64 Packages
#7 0.832 Get:12 http://ubuntu.univ-nantes.fr/ubuntu focal-updates/main amd64 Packages [2456 kB]
#7 0.833 Get:7 http://ubuntu.mirror.serverloft.de/ubuntu focal-backports/universe amd64 Packages [27.1 kB]
#7 0.840 Get:3 http://mirror.plusserver.com/ubuntu/ubuntu focal InRelease [265 kB]
#7 0.843 Ign:10 https://ubuntu.lafibre.info/ubuntu focal-updates/multiverse amd64 Packages
#7 0.860 Ign:11 http://ftp.rezopole.net/ubuntu focal-updates/universe amd64 Packages
#7 0.881 Get:9 http://ubuntu.mirror.serverloft.de/ubuntu focal-updates/restricted amd64 Packages [1487 kB]
#7 0.977 Ign:11 http://distrib-coffee.ipsl.jussieu.fr/pub/linux/ubuntu focal-updates/universe amd64 Packages
#7 1.027 Get:17 http://security.ubuntu.com/ubuntu focal-security/main amd64 Packages [1990 kB]
#7 1.041 Ign:13 https://mirror.ubuntu.ikoula.com focal/multiverse amd64 Packages
#7 1.050 Get:10 http://ubuntu.univ-nantes.fr/ubuntu focal-updates/multiverse amd64 Packages [30.2 kB]
#7 1.056 Ign:16 https://ubuntu.lafibre.info/ubuntu focal/restricted amd64 Packages
#7 1.060 Get:14 http://ftp.rezopole.net/ubuntu focal/universe amd64 Packages [11.3 MB]
#7 1.105 Get:11 http://ubuntu.univ-nantes.fr/ubuntu focal-updates/universe amd64 Packages [1161 kB]
#7 1.118 Get:15 http://distrib-coffee.ipsl.jussieu.fr/pub/linux/ubuntu focal/main amd64 Packages [1275 kB]
#7 1.179 Ign:13 https://ftp.u-picardie.fr/mirror/ubuntu/ubuntu focal/multiverse amd64 Packages
#7 1.229 Get:16 http://miroir.univ-lorraine.fr/ubuntu focal/restricted amd64 Packages [33.4 kB]
#7 1.366 Get:13 http://mirrors.ircam.fr/pub/ubuntu/archive focal/multiverse amd64 Packages [177 kB]
#7 1.758 Get:18 http://security.ubuntu.com/ubuntu focal-security/multiverse amd64 Packages [27.5 kB]
#7 1.852 Get:19 http://security.ubuntu.com/ubuntu focal-security/universe amd64 Packages [883 kB]
#7 1.892 Get:20 http://security.ubuntu.com/ubuntu focal-security/restricted amd64 Packages [1351 kB]
#7 2.371 Reading package lists...
#7 2.956 W: GPG error: http://dl.google.com/linux/chrome/deb stable InRelease: The following signatures couldn't be verified because the public key is not available: NO_PUBKEY 4EB27DB2A3B88B8B
#7 2.956 E: The repository 'http://dl.google.com/linux/chrome/deb stable InRelease' is not signed.
------
executor failed running [/bin/sh -c apt-get update -q &&     apt-get upgrade -yq &&     apt-get install -yq         wget         curl         git         build-essential         vim         sudo         gnupg2         lsb-release         locales         bash-completion         tzdata         gosu         python3-argcomplete         python3-pip     && rm -rf /var/lib/apt/lists/*]: exit code: 100

To whom it may concerned.

I followed Roboitcs-Nav2-SLAM-Example (https://github.com/Unity-Technologies/Robotics-Nav2-SLAM-Example/blob/main/readmes/run_example.md)

Everything was fine except commands "ros2 launch unity_slam_example unity_slam_example.py"

Could you let me how to solve this problem?

As you can see,an error occurred while resolving packages.It At first, it was prompted that ros-tcp-connector was missing, but now it becomes URDF-Importer.I've tried unsetting and resetting my git proxy, but to no avail.Here is my Editor log Editor.log.I used to open the project successfully but everything is green when I open the SimpleWarehouseScene as I mentioned in #57.So is this also related to the previous error? If yes, how should I solve this problem, I would be very grateful if anyone can give me some advice

As the title described，the SimpleWarehouseScene is green when I open it in the Editor,but I didn't change any configuration of the project: So does anyone know why this happens and please give me some advice

Does not run straight. If you make the robot turn left (or right) even slightly, it will not be able to go straight. It feels like it has power left. Why is this?

https://user-images.githubusercontent.com/53794593/197670431-dee0c190-457a-48db-84a1-7d7ebd2b8f22.mp4

I installed the git cli

I entered the code: git clone --recurse-submodule [email protected]:Unity-Technologies/Robotics-Nav2-SLAM-Example.git

here is the response I got git clone --recurse-submodule [email protected]:Unity-Technologies/Robotics-Nav2-SLAM-Example.git Cloning into 'Robotics-Nav2-SLAM-Example'... [email protected]: Permission denied (publickey). fatal: Could not read from remote repository.

Please make sure you have the correct access rights

Thanks for this project.

I have some trouble about AVG controller.

I made from turtlebot from this turtlebot3 model by urd fimporter. https://github.com/Unity-Technologies/Robotics-Nav2-SLAM-Example/blob/main/Nav2SLAMExampleProject/Assets/turtlebot3/model.urdf After that, I attached AGV controller and set up like this.

However, this turtlebot was not running by ros cmd_vel topic. ROS can receive /scan topic and I checked cmd_vel was received in Unity by Debug.Log function, but turtlebot3 was not running.

Could someone give me some advice? Thanks.