（四）Unity3d-ROS联合仿真：turtlebot在Unity3d中仿真

运行环境Ubuntu20.04Unity3d1.下载运行1项目下载地址Robotics-Nav2-SLAM-Example最好执行下面命令能将子模块也下载gitclone --recurse-submodule gitgithub.com:Unity-Technologies/Robotics-Nav2-SLAM-Example.gitgit submodule update --init --recursive以上两个都失败直接进入github界面https://github.com/Unity-Technologies/Robotics-Nav2-SLAM-Example然后点ROS-TCP-Endpoint目录。手动下载解压2配置好unity3d环境Ubuntu20.04Unity3d环境配置Unity3d中选择Nav2SLAMExampleProject路径打开工程打开后点下面的Scenens选择SimpleWarehouseScene如图2.启动ros2端进入colcon_ws目录编译cdcolcon_ws colcon buildsourceinstall/setup.bashsource/opt/ros/foxy/setup.bash ros2 launch unity_slam_example unity_slam_example.py执行出现错误LookupError: Could not find the resource ‘nav2_bringup’ of type ‘packages’解决方法sudoaptinstallros-foxy-navigation2 ros-foxy-nav2-bringup再次运行成功后在unity3d中点击play按钮就可以控制机器人运动了。给机器人设置目标位置方法如run_example.md中介绍其他错误解决1导入错误NavMeshSurface’ does not contain a definition for ‘IsPartOfPrefab’解决方法更新到官方 com.unity.ai.navigation 包移除旧版 NavMeshComponents 文件Assets 中的 NavMeshComponents 文件夹。通过 Unity Package Manager 安装官方包菜单栏 → Window Package Manager点击 → Add package by name输入com.unity.ai.navigation版本选择 1.1.5 或更高兼容 Unity 2019.4