Description

The PR introduces an update to the Ros2ForUnity version. With the latest version of R2FU, a ROS2 service implementation is available and the functionality is also provided to AWSIM.

Details

The PR introduces new Ros2ForUnity asset both on Windows and Ubuntu. It required extending the SimulatorRos2Node script with new functions:

• CreateService
• RemoveService
• CreateClient
• RemoveClient

The versions which were used for asset generation can be found below:

• ros2-for-unity branch develop (commit sha: bd086275e6c740550d7eb16dd91172dce6998ae6)
• ros2cs branch develop (commit sha: 6a4203124f5cc07ecaba5f50185bcc5144118f64)

For given AWSIM version, the following messages were generated using R2FU:

• autoware_auto_msgs branch tier4/main (commit sha: 624aae9feb142eb2a4e16069ed06bf4050ccc3ea)
• autoware_msgs tag 1.1.0 (commit sha: 4c3a1939520cd8ac9d05b0addf7286a0534de024)
• tier4_autoware_msgs branch tier4/universe (commit sha: 8c7cd262381014ef02b2736914aba5060631bfb0)
  • From this package only tier4_control_msgsand tier4_vehicle_msgs were generated for AWSIM, since only they are used in simulation

Evidence

The following videos show AWSIM reacting to ROS2 services. The video below shows registering a service in Unity and calling it from PS terminal on Windows.

The video below shows registering a service in Unity and calling it from the terminal in Ubuntu

The video below presents how Ros2 service and client can interact inside Unity (Ubuntu platform)