⌚ Time to complete: 15 min

Planned outcomes

After completing this guide, you will be able to use IVAR Lab’s ROS integration packages in your Unity project.

Prerequisites

Before you start, make sure that you have installed Unity version 2021.3.0f1 or newer.

Steps

1. Open a Unity project.
2. Add the IVAR Lab registry to the project settings.

   1. In the Project tab (Edit → Project Settings), open the Package Manager.

   2. Add the registry with the following configuration to Scoped Registries:

      

      You can copy the values from here for convenience:

      TalTech IVAR Lab Registry
      
      <https://npm.dev.ivar.taltech.ee>
      
      ee.taltech
      io.extendreality
      com.cysharp
      com.jsteinhauer
      com.darrentsung
      games.nosoysauce
      

   3. Once the registry information is added, click Save/Apply.

3. Add required packages to the project.

   1. Open Package Manager window (Window → Package Manager).

   2. In the window that opened, switch to My Registries:

      

   3. Find the following packages in the list and install them:

      • Unity ROS-Industrial Integration
      • Unity MoveIt Integration
      • ROS Robot Programming
      • Unity URDF Importer

   4. Install the following packages from Git (guide):

      • STL importer (https://github.com/karl-/pb_Stl)
      • ROS TCP Connector (https://github.com/Unity-Technologies/ROS-TCP-Connector.git?path=/com.unity.robotics.ros-tcp-connector)
4. Done! 🎉