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User Documentation

1. Installation and Configuration

• 1.1 Unity on Windows
• 1.2 Ubuntu on Oracle VM
• 1.3 ROS on Ubuntu
• 1.4 Gazebo Setup on VM
• 1.5 TurtleBot2
• 1.6 Shadow Hand
• 1.7 Gazebo Simulation Example Setup
• 1.8 Unity Simulation Example Setup

2. Application examples with ROS communication

• 2.1 Transfer a URDF from ROS to Unity
• 2.2 Transfer a URDF from Unity to ROS
• 2.3 Gazebo Simulation Example
• 2.4 Unity Simulation Example
• 2.5 Fibonacci Action Client
• 2.6 Fibonacci Action Server

3. Application examples without ROS communication

• 3.1 Import a URDF on Windows
• 3.2 Create, Modify and Export a URDF Model
• 3.3 Animate a Robot Model in Unity

Developer Documentation

• ROS-Unity Coordinate System Conversions
• How to add new Message Types
• RosBridgeClient Protocols
• Unity Message Handling Code Map
• Action Server State Machine Model
• License Headers

General Information

• Application Showcases
• Publications
• Contributors and Acknowledgements

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© Siemens AG, 2017-2020 Author: Dr. Martin Bischoff (martin.bischoff@siemens.com)