Human Navigation Project

This is a Unity project for the competition of Human Navigation task of the RoboCup@Home Simulation.

Please prepare a common unitypackage and a dll file for text-to-speech (TTS) in advance, and import them to this project.

For details of using the common unitypackage, please see an instruction in the following repository:
https://github.com/RoboCupatHomeSim/common-unity.git

For details of creating the dll for TTS, please see the following repository:
https://github.com/RoboCupatHomeSim/console-simple-tts

Prerequisites

Same as below for OS and Unity version. https://github.com/RoboCupatHomeSim/documents/blob/master/SoftwareManual/Environment.md#windows-pc

Please install Steam and SteamVR on your PC. Download the installer from the official website and install it.
And please install Oculus Software to use Oculus Headsets. Oculus Link is also required.

How to Build

Import unitypackages

1. Download SteamVR Unity Plugin v2.7.3 from the following link.
   https://github.com/ValveSoftware/steamvr_unity_plugin/releases/download/2.7.3/steamvr_2_7_3.unitypackage
2. Open this project with Unity.
3. Click [Continue] in the [Unity Package Manager Error] window.
4. Click [Ignore] in the [Enter Safe Mode?] window.
5. Click [Assets]-[Import Package]-[Custom Package...].
6. Select a common unitypackage (e.g. robocup-common.unitypackage) and open the file.
7. Click [Import] button.
8. Click [Assets]-[Import Package]-[Custom Package...].
9. Select the steamvr_2_7_3.unitypackage and open the file.
10. Click [Import] button.
11. Click [Assets]-[Reimport All].
12. Click [Reimport] button.
13. Click [Edit]-[Project Settings...].
14. Check [XR Plug-in Management]-[Initialize XR on Startup].
15. Check [XR Plug-in Management]-[Plug-in Providers]-[OpenVR Loader].
16. Close [Project Settings] Window.
17. Please confirm that no error occurred in Console window.

Import executable file and dll for TTS

1. Prepare "ConsoleSimpleTTS.exe" and "Interop.SpeechLib.dll".
2. Copy those files to the [TTS] folder in the same directory as README.md.

Build

1. Create a "Build" folder in this project folder.
2. Open this project with Unity.
3. Click [File]-[Build Settings].
4. Click [Build].
5. Select the "Build" folder.
6. Type a file name (e.g. HumanNavigation) and save the file.
7. Copy the "TTS" folder under the "Build" folder.

How to Set Up

Modify Configuration

1. Open this project with Unity.
2. Click [SIGVerse]-[SIGVerse Settings].
   SIGVerse window will be opened.
3. Type the IP address of ROS to "Rosbridge IP" in SIGVerse window.

How to Execute Human Navigation

Please start the ROS side application beforehand.
See human-navigation-ros for an example application.

On the Windows side, launch Oculus Software and connect the VR headset to the PC via Oculus Link (Oculus Air Link), and also launch SteamVR and set the VR headset to standby.

Execute on Unity Editor

1. Click [SIGVerse]-[Set Default GameView Size].
2. Double click "Assets/Competition/HumanNavi/HumanNavi(.unity)" in Project window.
3. Click the Play button at the top of the Unity editor.

Execute the Executable file

1. Double Click the "HumanNavigation.exe" in the "Build" folder.

Notes

• If you want to use the translation feature, see below.
  https://github.com/RoboCupatHomeSim/human-navigation-ros/wiki/RosMessage#guidance-message
  https://github.com/RoboCupatHomeSim/translation-library-for-human-navi/wiki

License

This project is licensed under the SIGVerse License - see the LICENSE.txt file for details.