Installation Guide

You can install this project in two ways: locally or using Docker.

• For Docker installation, refer to the Docker README.

• If you do not wish to use Docker, follow the steps outlined below.

Note: The first two steps are required for both installation methods (UnityHub & Unity Editor installation, and the Floor Segmentation submodule).

Install UnityHub and Unity Editor

• Refer to the UnityHub and Unity Editor Installation Guide and follow the provided steps.
• Review the troubleshooting section for potential errors before proceeding with the installation.

Floor Segmentation submodule

• Before building the project work space, ensure you install the required submodule. Follow the steps below:

    cd autonomous-navigation-sim-Unity # Go to main project folder
    git submodule update --init --recursive

  • If prompted, create a separate access token for the submodule since it belongs to a different repository. Use the token to authenticate during the submodule update process.

PLEASE CONTACT WITH ME FOR FULL UNITY PROJECT

ROS2 Setup

• Install ROS2 Humble on Ubuntu 22.04 by following the official instructions.

Neo4j

• Neo4j is used as the database for this project.
• Refer to the Neo4j Installation Guide to download and install the appropriate version.

ROS 2 Workspace Setup

• Follow the instructions to set up the ROS 2 workspace.
• Install the three required external libraries/tools.
• Build the workspace and source the environment.

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Project Description (Briefly)

Follow the steps below to understand the project workflow and open the project.

Unity based environment​

• Runs on every plattform​
• ROS2 Interface/Bridge​
• Human avatars can be added​
• Sensor-Models are available

Hospital environment ​

• Has been bought cheaply in asset store​
• Healthcare devices
• Human avatars (dynamic&Static)

Robot ​

• Has been included (obj-files & URDF) in Unity & ROS (Ackermann steering)​
• ROS2 humble is used​

Navigation​

• Nav2-Stack is used​
• Global map is created using segmentation, voronoi analysis​
• Local costmap is used as interface to planning​
• MPPI Follower is used
• Custom dynamic costmap layer for human avatars

Graph-DB​

• Neo4J and Memgraph have been analysed (both feasible, different +/-, Neo4J)​

More Details about Sections

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Virtual Simulation Environment

Neo4j Database

Navigation

Project Story

Story Line

Describe story line, testing scenario and use cases

Opening Project

• Follow this guide to open the Unity project.

Note: The first time you open the Unity project, loading may take a significant amount of time (depending on system performance) as Unity installs all required packages. Subsequent launches will be much faster.

ROS-TCP Module Setup

• The ROS-TCP module is already installed when you clone this repository. (Both in Unity and ROS WS)
• The only action required is to update the IP address to match your local host's IP address.

Running Simulator and Algorithms

• Go this link to see how to run Unity Project

Evaluation

• To systematically assess the performance of the system, a set of automated evaluation mechanisms and quantitative metrics are integrated into the framework.

My System Specifications:

• Processor: AMD® Ryzen 9 3900x 12-core processor × 24
• Graphics: NVIDIA Corporation TU102 [GeForce RTX 2080 Ti Rev. A] - 12GB
• Memory: 32.0 GiB
• OS: Ubuntu 22.04.4 LTS 64-bit
• UnityHub 3.8.0
• Unity Editor 2020.3.11f1