If you want to use custom message in AWSIM, you need to generate the appropriate files, to do this you have to build ROS2ForUnity yourself - please follow the steps below. Remember to start with prerequisities though.
ROS2ForUnity role
+For a better understanding of the role of ROS2ForUnity and the messages used, we encourage you to read this section.
custom_msgs
+In order to simplify this tutorial, the name of the package containing the custom message is assumed to be custom_msgs - remember to replace it with the name of your package.
ROS2ForUnity depends on a ros2cs - a C# .NET library for ROS2.
+This library is already included so you don't need to install it, but there are a few prerequisites that must be resolved first.
Please select your system and resolve all prerequisites:
+ros2cs prerequisites for Ubuntuhumble and is located in /opt/ros/humble~/custom_msgs or is hosted on git repository.bash shell ros2cs prerequisites for Windows
Question
+Tests are not working ('charmap' codec can't decode byte) on Windows - look at troubleshooting here
ROS2 version is humble and is located in C:\ros2_humble
C:\custom_msgs or is hosted on git repository.powershell shellClone ROS2ForUnity repository by execute command:
git clone https://github.com/RobotecAI/ros2-for-unity ~/
+Warning
+The cloned ROS 2 For Unity repository must be located in the home directory ~/.
git clone https://github.com/RobotecAI/ros2-for-unity /C
+Warning
+The cloned ROS 2 For Unity repository must be located in the home directory C:\.
Pull dependent repositories by execute commands:
+cd ~/ros2-for-unity
+. /opt/ros/humble/setup.bash
+./pull_repositories.sh
+cd C:\ros2-for-unity
+C:\ros2_humble\local_setup.ps1
+.\pull_repositories.ps1
+custom_msgs packageThe method to add a custom package to build depends on where it is located. The package can be on your local machine or just be hosted on a git repository.
+Please, choose the appropriate option and follow the instructions.
Copy the custom_msgs package with custom message to the folder to src/ros2cs/custom_messages directory
cp -r ~/custom_msgs ~/ros2-for-unity/src/ros2cs/custom_messages/
+Copy-Item 'C:\custom_msgs' -Destination 'C:\ros2-for-unity\src\custom_messages'
+ros2-for-unity/ros2_for_unity_custom_messages.repos file in editor.Modify the contents of the file shown below, uncomment and set:
+<package_name> - to your package name - so in this case custom_msgs,<repo_url> - to repository address, <repo_branch> - to desired branch.
+repositories:
+# src/ros2cs/custom_messages/<package_name>:
+# type: git
+# url: <repo_url>
+# version: <repo_branch>
+Example
+Below is an example of a file configured to pull 2 packages (custom_msgs,autoware_auto_msgs) of messages hosted on a git repository.
+
# NOTE: Use this file if you want to build with custom messages that reside in a separate remote repo.
+# NOTE: use the following format
+
+repositories:
+ src/ros2cs/custom_messages/custom_msgs:
+ type: git
+ url: https://github.com/tier4/custom_msgs.git
+ version: main
+ src/ros2cs/custom_messages/autoware_auto_msgs:
+ type: git
+ url: https://github.com/tier4/autoware_auto_msgs.git
+ version: tier4/main
+Now pull the repositories again (also the custom_msgs package repository)
cd ~/ros2-for-unity
+./pull_repositories.sh
+cd C:\ros2-for-unity
+.\pull_repositories.ps1
+Build ROS2ForUnity with custom message packages using the following commands:
cd ~/ros2-for-unity
+./build.sh --standalone
+cd C:\ros2-for-unity
+.\build.ps1 -standalone
+custom_msgs to AWSIMNew ROS2ForUnity build, which you just made in step 3, contains multiple libraries that already exist in the AWSIM.
+To install custom_msgs and not copy all other unnecessary files, you should get the custom_msgs related libraries only.
You can find them in following directories and simply copy to the analogous directories in AWSIM/Assets/Ros2ForUnity folder, or use the script described here.
ros2-for-unity/install/asset/Ros2ForUnity/Plugins which names matches custom_msgs_*ros2-for-unity/install/asset/Ros2ForUnity/Plugins/Linux/x86_64/ which names matches libcustom_msgs_*ros2-for-unity/install/asset/Ros2ForUnity/Plugins which names matches custom_msgs_*ros2-for-unity/install/asset/Ros2ForUnity/Plugins/Windows/x86_64/ which names matches custom_msgs_*To automate the process, you can use a script that copies all files related to your custom_msgs package.
copy_custom_msgs.sh in directory ~/ros2-for-unity/ and paste the following content into it.
+#!/bin/bash
+echo "CUSTOM_MSGS_PACKAGE_NAME: $1"
+echo "AWSIM_DIR_PATH: $2"
+find ./install/asset/Ros2ForUnity/Plugins -maxdepth 1 -name "$1*" -type f -exec cp {} $2/Assets/Ros2ForUnity/Plugins \;
+find ./install/asset/Ros2ForUnity/Plugins/Linux/x86_64 -maxdepth 1 -name "lib$1*" -type f -exec cp {} $2/Assets/Ros2ForUnity/Plugins/Linux/x86_64 \;
+chmod a+x copy_msgs.sh
+Run the script with two arguments: +
./copy_custom_msgs.sh <CUSTOM_MSGS_PACKAGE_NAME> <AWSIM_DIR_PATH>
+<CUSTOM_MSGS_PACKAGE_NAME> - the first one which is the name of the package with messages - in this case custom_msgs,
<AWSIM_DIR_PATH> - the second which is the path to the cloned AWSIM repository.Example
+./copy_custom_msgs.sh custom_msgs ~/unity/AWSIM/
+To automate the process, you can use these commands with changed:
+<CUSTOM_MSGS_PACKAGE_NAME> - the name of your package with messages - in this case custom_msgs,<AWSIM_DIR_PATH> - to path to the cloned AWSIM repository
+Get-ChildItem C:\ros2-for-unity\install\asset\Ros2ForUnity\Plugins\* -Include @('<CUSTOM_MSGS_PACKAGE_NAME>*') | Copy-Item -Destination <AWSIM_DIR_PATH>\Assets\Ros2ForUnity\Plugins
+Get-ChildItem C:\ros2-for-unity\install\asset\Ros2ForUnity\Plugins\Windows\x86_64\* -Include @('<CUSTOM_MSGS_PACKAGE_NAME>*') | Copy-Item -Destination <AWSIM_DIR_PATH>\Assets\Ros2ForUnity\Plugins\Windows\x86_64
+Example
+Get-ChildItem C:\ros2-for-unity\install\asset\Ros2ForUnity\Plugins\* -Include @('custom_msgs*') | Copy-Item -Destination C:\unity\AWSIM\Assets\Ros2ForUnity\Plugins
+Get-ChildItem C:\ros2-for-unity\install\asset\Ros2ForUnity\Plugins\Windows\x86_64\* -Include @('custom_msgs*') | Copy-Item -Destination C:\unity\AWSIM\Assets\Ros2ForUnity\Plugins\Windows\x86_64
+Make sure that the package files custom_msgs have been properly copied to the AWSIM/Assets/Ros2ForUnity.
+Then try to create a message object as described in this section and check in the console of Unity Editor if it compiles without errors.
Ros2ForUnity（R2FU）モジュールは、UnityとROS2エコシステムを効果的に接続するコミュニケーションソリューションで、強力な統合を維持します。
+他のソリューションとは異なり、通信をブリッジングに依存せず、むしろROS2ミドルウェアスタック（特にrclレイヤーおよびそれ以下）を利用して、Unityシミュレーション内でROS2ノードを含めることができます。
R2FUは多くの理由でCoRE.SIMで使用されています。
+まず第一に、UnityとROS2間の高性能な統合を提供し、ブリッジングソリューションと比較してスループットが向上し、レイテンシが低くなります。
+Unity内のシミュレーションエンティティに対して実際のROS2機能を提供し、標準およびカスタムメッセージをサポートし、Unityアセットとしてラップされた便利な抽象化とツールを含んでいます。
+詳細な説明については、READMEをご覧ください。
このアセットは、2つの異なるモードで準備できます：
+デフォルトでは、CoRE.SIM のアセット R2FU は スタンドアロンモード で準備されています。
+これにより、ROS2 のインスタンスをソース化する必要がなく、Unity エディタを実行するだけで済みます。
トピックが表示されない
+エラーは表示されませんが、R2FU によって発行されたトピックが表示されません。
強制的に停止してみてください（pkill -9 ros2_daemon） そして再起動してください（ros2 daemon start）。
「CoRE.SIM」内で「R2FU」の概念を説明する際、以下の点を区別します：
+RuntimeInitializeOnLoadMethod マークを使用して初期化されます。「SimulatorROS2Node」の実装は、「R2FU」の使用により、任意の Unity コンポーネントに対して ROS2 を介した通信を追加することができます。例えば、他の ROS2 ノードから制御コマンドを受信し、Ego の現在の状態（環境内の位置など）を発行することができます。
+シミュレーション時間
+Unity の時間の代わりにシステム時間（ROS2 時間）を使用したい場合は、SimulatorROS2Node クラスで UnityTimeSource の代わりに ROS2TimeSource を使用してください。
Ros2ForUnity アセットには以下が含まれています：
*.dll および *.so ファイル)。
+必要なライブラリに加えて、ROS2 メッセージの種類を生成した結果として作成されたライブラリも含まれています。これらは通信に使用されます。R2FU を Unity で使用するためのスクリプト - 詳細は以下の 下記 をご覧ください。R2FU を CoRE.SIM で使用するためのスクリプト。単一のメイン Node の抽象化とインタフェースの簡略化を提供します - 詳細は以下の 下記 をご覧ください。これらのスクリプトはライブラリ自体ではなく、直接ディレクトリ Assets/CoRE.SIM/Scripts/ROS/** にあります。ROS2UnityCore - ROS2 ノードと実行可能なアクションの処理を行うための主要なクラス。専用スレッドで回転し、アクションを実行します（例：クロック、センサーのパブリッシュトリガーなど）。ROS2UnityComponent - Unity コンポーネントとして動作するように適応された ROS2UnityCore。ROS2Node - ROS2 ノードを表すクラスで、ROS2UnityComponent クラスを介して構築する必要があり、回転もこのクラスで処理されます。ROS2ForUnity - ROS2 通信の確認、適切な初期化、シャットダウンを処理する内部クラス。ROS2ListenerExample - 基本的な ROS2->Unity 通信のテスト用に提供される例類クラス。ROS2TalkerExample - 基本的な Unity->ROS2 通信のテスト用に提供される例類クラス。ROS2PerformanceTest - ROS2<->Unity 通信のパフォーマンステスト用に提供される例類クラス。Sensor - ROS2 対応のセンサーの抽象基本クラス。Transformations - Unity と ROS2 の座標系間の変換関数のセット。PostInstall - R2FU メタデータファイルのインストールを処理する内部クラス。Time スクリプト - 異なる時間源を使用できるようにする一連のクラス：ROS2Clock - Unity または ROS2 システム時間と ROS2 メッセージ間のインタフェースを提供する ROS2 クロッククラス。ROS2TimeSource - ROS2 時間を取得します（デフォルトではシステム時間）。UnityTimeSource - Unity 時間を取得します。DotnetTimeSource - Stopwatch を使用して解像度を高めた Unity DateTime ベースのクロックを取得します。ITimeSource - 任意のソースからの一般的な時間の取得用のインタフェース。TimeUtils - 時間変換用のユーティリティ。拡張スクリプト
+さらに、CoRE.SIMをR2FUの使用に適応させるために、以下のスクリプトが使用されています。
SimulatorROS2Node - これはCoRE.SIM<->ROS2の通信に直接責任を持つクラスです。ClockPublisher - SimulatorROS2Nodeで実行されているクロックからのシミュレーション時間の発行を可能にします。
+シーンにコンポーネントとして追加する必要があり、シーンが実行されると現在の時間を発行します。
QoSSettings - これはCoRE.SIM内のサブスクライバーとパブリッシャーのQoSを指定するROS2の相当です。
+Ros2csライブラリからQualityOfServiceProfileの実装を使用しています。
ROS2Utility - これは、例えば、ROS2の座標系からCoRE.SIMの座標系に位置を変換するためのユーティリティを持つクラスです。DiagnosticsManager - *.yaml設定ファイルで説明されている要素に対する診断情報を出力します。The basic ROS2 msgs types that are supported in CoRE.SIM by default include:
+std_msgs.geometry_msgs,sensor_msgs,nav_msgs,diagnostic_msgs,builtin_interfaces,action_msgs,rosgraph_msgs,test_msgs.In order for the message package to be used in Unity, its *.dll and *.so libraries must be generated using R2FU.
Custom message
+If you want to generate a custom message to allow it to be used in CoRE.SIM please read this tutorial.
+Each message type is composed of other types - which can also be a complex type.
+All of them are based on built-in C# types.
+The most common built-in types in messages are bool, int, double and string.
+These types have their communication equivalents using ROS2.
A good example of a complex type that is added to other complex types in order to specify a reference - in the form of a timestamp and a frame - is std_msgs/Header. +This message has the following form:
+builtin_interfaces/msg/Time stamp
+string frame_id
+ROS2 directive
+In order to work with ROS2 in Unity, remember to add the directive using ROS2; at the top of the file to import types from this namespace.
The simplest way to create an object of Header type is:
var header = new std_msgs.msg.Header()
+{
+ Frame_id = "map"
+}
+It is not required to define the value of each field.
+As you can see, it creates an object, filling only frame_id field - and left the field of complex builtin_interfaces/msg/Time type initialized by default.
+Time is an important element of any message, how to fill it is written here.
As you might have noticed in the previous example, a ROS2 message in Unity is just a structure containing the same fields - keep the same names and types. +Access to its fields for reading and filling is the same as for any C# structure.
+var header2 = new std_msgs.msg.Header();
+header2.Frame_id = "map";
+header2.Stamp.sec = "1234567";
+Debug.Log($"StampSec: {header2.Stamp.sec} and Frame: {header2.Frame_id}");
+Field names
+There is one always-present difference in field names. +The first letter of each message field in Unity is always uppercase - even if the base ROS2 message from which it is generated is lowercase.
+In order to complete the time field of the Header message, we recommend the following methods in CoRE.SIM:
When the message has no Header but only the Time type:
var header2 = new std_msgs.msg.Header();
+header2.Stamp = SimulatorROS2Node.GetCurrentRosTime();
+When the message has a Header - like for example autoware_auto_vehicle_msgs/VelocityReport:
velocityReportMsg = new autoware_auto_vehicle_msgs.msg.VelocityReport()
+{
+ Header = new std_msgs.msg.Header()
+ {
+ Frame_id = "map",
+ }
+};
+var velocityReportMsgHeader = velocityReportMsg as MessageWithHeader;
+SimulatorROS2Node.UpdateROSTimestamp(ref velocityReportMsgHeader);
+These methods allow to fill the Time field in the message object with the simulation time - from ROS2Clock
Some message types contain an array of some type.
+An example of such a message is nav_msgs/Path, which has a PoseStamped array.
+In order to fill such an array, you must first create a List<T>, fill it and then convert it to a raw array.
var posesList = new List<geometry_msgs.msg.PoseStamped>();
+for(int i=0; i<=5;++i)
+{
+ var poseStampedMsg = new geometry_msgs.msg.PoseStamped();
+ poseStampedMsg.Pose.Position.X = i;
+ poseStampedMsg.Pose.Position.Y = 5-i;
+ var poseStampedMsgHeader = poseStampedMsg as MessageWithHeader;
+ SimulatorROS2Node.UpdateROSTimestamp(ref poseStampedMsgHeader);
+ posesList.Add(poseStampedMsg);
+}
+var pathMsg = new nav_msgs.msg.Path(){Poses=posesList.ToArray()};
+var pathMsgHeader = pathMsg as MessageWithHeader;
+SimulatorROS2Node.UpdateROSTimestamp(ref pathMsgHeader);
+// pathMsg is ready
+In order to publish messages, a publisher object must be created.
+The static method CreatePublisher of the SimulatorROS2Node makes it easy.
+You must specify the type of message, the topic on which it will be published and the QoS profile.
+Below is an example of autoware_auto_vehicle_msgs.msg.VelocityReport type message publication with a frequency of 30Hz on /vehicle/status/velocity_status topic, the QoS profile is (Reliability=Reliable, Durability=Volatile, History=Keep last, Depth=1):
using UnityEngine;
+using ROS2;
+
+namespace CoRE.SIM
+{
+ public class VehicleReportRos2Publisher : MonoBehaviour
+ {
+ float timer = 0;
+ int publishHz = 30;
+ QoSSettings qosSettings = new QoSSettings()
+ {
+ ReliabilityPolicy = ReliabilityPolicy.QOS_POLICY_RELIABILITY_RELIABLE,
+ DurabilityPolicy = DurabilityPolicy.QOS_POLICY_DURABILITY_VOLATILE,
+ HistoryPolicy = HistoryPolicy.QOS_POLICY_HISTORY_KEEP_LAST,
+ Depth = 1,
+ };
+ string velocityReportTopic = "/vehicle/status/velocity_status";
+ autoware_auto_vehicle_msgs.msg.VelocityReport velocityReportMsg;
+ IPublisher<autoware_auto_vehicle_msgs.msg.VelocityReport> velocityReportPublisher;
+
+ void Start()
+ {
+ // Create a message object and fill in the constant fields
+ velocityReportMsg = new autoware_auto_vehicle_msgs.msg.VelocityReport()
+ {
+ Header = new std_msgs.msg.Header()
+ {
+ Frame_id = "map",
+ }
+ };
+
+ // Create publisher with specific topic and QoS profile
+ velocityReportPublisher = SimulatorROS2Node.CreatePublisher<autoware_auto_vehicle_msgs.msg.VelocityReport>(velocityReportTopic, qosSettings.GetQoSProfile());
+ }
+
+ bool NeedToPublish()
+ {
+ timer += Time.deltaTime;
+ var interval = 1.0f / publishHz;
+ interval -= 0.00001f;
+ if (timer < interval)
+ return false;
+ timer = 0;
+ return true;
+ }
+
+ void FixedUpdate()
+ {
+ // Provide publications with a given frequency
+ if (NeedToPublish())
+ {
+ // Fill in non-constant fields
+ velocityReportMsg.Longitudinal_velocity = 1.00f;
+ velocityReportMsg.Lateral_velocity = 0.00f;
+ velocityReportMsg.Heading_rate = 0.00f;
+
+ // Update Stamp
+ var velocityReportMsgHeader = velocityReportMsg as MessageWithHeader;
+ SimulatorROS2Node.UpdateROSTimestamp(ref velocityReportMsgHeader);
+
+ // Publish
+ velocityReportPublisher.Publish(velocityReportMsg);
+ }
+ }
+ }
+}
+In order to subscribe messages, a subscriber object must be created.
+The static method CreateSubscription of the SimulatorROS2Node makes it easy.
+You must specify the type of message, the topic from which it will be subscribed and the QoS profile.
+In addition, the callback must be defined, which will be called when the message is received - in particular, it can be defined as a lambda expression.
+Below is an example of std_msgs.msg.Bool type message subscription on /vehicle/is_vehicle_stopped topic, the QoS profile is “system default”:
+
using UnityEngine;
+using ROS2;
+
+namespace CoRE.SIM
+{
+ public class VehicleStoppedSubscriber : MonoBehaviour
+ {
+ QoSSettings qosSettings = new QoSSettings();
+ string isVehicleStoppedTopic = "/vehicle/is_vehicle_stopped";
+ bool isVehicleStopped = false;
+ ISubscription<std_msgs.msg.Bool> isVehicleStoppedSubscriber;
+
+ void Start()
+ {
+ isVehicleStoppedSubscriber = SimulatorROS2Node.CreateSubscription<std_msgs.msg.Bool>(isVehicleStoppedTopic, VehicleStoppedCallback, qosSettings.GetQoSProfile());
+ }
+
+ void VehicleStoppedCallback(std_msgs.msg.Bool msg)
+ {
+ isVehicleStopped = msg.Data;
+ }
+
+ void OnDestroy()
+ {
+ SimulatorROS2Node.RemoveSubscription<std_msgs.msg.Bool>(isVehicleStoppedSubscriber);
+ }
+ }
+}
+The following is a summary of the ROS2 topics that the AWSIM node subscribes to and publishes on.
+Ros2ForUnity
+AWSIM works with ROS2 thanks to the use of Ros2ForUnity - read the details here.
+If you want to generate a custom message to allow it to be used in AWSIM please read this tutorial.
| Category | +Topic | +Message type | +frame_id |
+Hz |
+QoS |
+
|---|---|---|---|---|---|
Control |
++ | + | + | + | + |
| Ackermann Control | +/control/command/control_cmd |
+autoware_auto_control_msgs/AckermannControlCommand |
+- | +60 |
+Reliable,TransientLocal,KeepLast/1 |
+
| Gear | +/control/command/gear_cmd |
+autoware_auto_vehicle_msgs/GearCommand |
+- | +10 |
+Reliable,TransientLocal,KeepLast/1 |
+
| Turn Indicators | +/control/command/turn_indicators_cmd |
+autoware_auto_vehicle_msgs/TurnIndicatorsCommand |
+- | +10 |
+Reliable,TransientLocal,KeepLast/1 |
+
| Hazard Lights | +/control/command/hazard_lights_cmd |
+autoware_auto_vehicle_msgs/HazardLightsCommand |
+- | +10 |
+Reliable,TransientLocal,KeepLast/1 |
+
| Emergency | +/control/command/emergency_cmd |
+tier4_vehicle_msgs/msg/VehicleEmergencyStamped |
+- | +60 |
+Reliable,TransientLocal,KeepLast/1 |
+
| Category | +Topic | +Message type | +frame_id |
+Hz |
+QoS |
+
|---|---|---|---|---|---|
Clock |
+/clock |
+rosgraph_msgs/Clock |
+- | +100 |
+Best effort,Volatile,Keep last/1 |
+
Sensors |
++ | + | + | + | + |
| Camera | +/sensing/camera/traffic_light/camera_info |
+sensor_msgs/CameraInfo |
+traffic_light_left_camera/camera_link |
+10 |
+Best effort,Volatile,Keep last/1 |
+
| Camera | +/sensing/camera/traffic_light/image_raw |
+sensor_msgs/Image |
+traffic_light_left_camera/camera_link |
+10 |
+Best effort,Volatile,Keep last/1 |
+
| GNSS | +/sensing/gnss/pose |
+geometry_msgs/Pose |
+gnss_link |
+1 |
+Reliable,Volatile,Keep last/1 |
+
| GNSS | +/sensing/gnss/pose_with_covariance |
+geometry_msgs/PoseWithCovarianceStamped |
+gnss_link |
+1 |
+Reliable,Volatile,Keep last/1 |
+
| IMU | +/sensing/imu/tamagawa/imu_raw |
+sensor_msgs/Imu |
+tamagawa/imu_link |
+30 |
+Reliable,Volatile,Keep last/1000 |
+
| Top LiDAR | +/sensing/lidar/top/pointcloud_raw |
+sensor_msgs/PointCloud2 |
+sensor_kit_base_link |
+10 |
+Best effort,Volatile,Keep last/5 |
+
| Top LiDAR | +/sensing/lidar/top/pointcloud_raw_ex |
+sensor_msgs/PointCloud2 |
+sensor_kit_base_link |
+10 |
+Best effort,Volatile,Keep last/5 |
+
Vehicle Status |
++ | + | + | + | + |
| Velocity | +/vehicle/status/velocity_status |
+autoware_auto_vehicle_msgs/VelocityReport |
+base_line |
+30 |
+Reliable,Volatile,Keep last/1 |
+
| Steering | +/vehicle/status/steering_status |
+autoware_auto_vehicle_msgs/SteeringReport |
+- | +30 |
+Reliable,Volatile,Keep last/1 |
+
| Control Mode | +/vehicle/status/control_mode |
+autoware_auto_vehicle_msgs/ControlModeReport |
+- | +30 |
+Reliable,Volatile,Keep last/1 |
+
| Gear | +/vehicle/status/gear_status |
+autoware_auto_vehicle_msgs/GearReport |
+- | +30 |
+Reliable,Volatile,Keep last/1 |
+
| Turn Indicators | +/vehicle/status/turn_indicators_status |
+autoware_auto_vehicle_msgs/TurnIndicatorsReport |
+- | +30 |
+Reliable,Volatile,Keep last/1 |
+
| Hazard Lights | +/vehicle/status/hazard_lights_status |
+autoware_auto_vehicle_msgs/HazardLightsReport |
+- | +30 |
+Reliable,Volatile,Keep last/1 |
+
Ground Truth |
++ | + | + | + | + |
| Pose | +/awsim/ground_truth/vehicle/pose |
+geometry_msgs/PoseStamped |
+base_link |
+100 |
+Reliable,Volatile,Keep last/1 |
+