Are you looking to delve into the exciting world of robotics simulations using ZeroSim? This guide provides an easy-to-follow approach for setting up and getting started with ZeroSim, the powerful robotics simulation engine built on the Unity 3D platform and the Robotics Operating System (ROS).

What is ZeroSim?

ZeroSim is a robust simulation engine designed for a myriad of robotics applications, from mobile robots to robotic arms, and much more. Its open-source nature, developed by FS Studios, ensures that it’s a collaborative tool for roboticists and engineers alike.

Setting Up ZeroSim

Recommended System Requirements

• Ubuntu 18.04 or 20.04 (MacOS or Windows is untested)
• Unity 2020.x LTS (Avoid 2021.x for now)
• Git LFS
• ROS Melodic (or Noetic, and ROS2 with certain limitations)

Creating a New Unity Project

1. In Unity Hub, create a new project using Unity 2020.x.
2. Add ZeroSim via Unity Packages:
• Ensure Git LFS is installed.
• Navigate to Unity Menu: Window – Package Manager.
• Select the + dropdown and add the package from Git URL: git@github.com:fsstudio-team/ZeroSimROSUnity.git.
3. Import ZeroSim Samples.
4. Adjust Unity Physics and Timestep settings under Project Settings as per ZeroSim requirements.

Using Docker with ZeroSim

Getting ZeroSim ROS Docker Container

You can fetch the ZeroSim Docker container using:

docker pull zerodog/zerosim_ros_vnc:latest

Running Your First Test Scene

Follow these instructions for the TurtleBot Test Scene:

1. Ensure ZeroSim samples and Docker are properly set up.
2. Open the Turtlebot3_Waffle_test.scene in Unity.
3. Launch the Docker by running:
   docker run -it --rm --publish=... --name my_zerosim_vnc_docker zerodog/zerosim_ros_vnc:latest roslaunch zero_sim_ros basic_unity_editor.launch
4. Control your TurtleBot using the ROS teleop console.

Visualizing with RViz

To visualize the TurtleBot in RViz, ensure the Docker is launched and follow the steps to open a noVNC connection:

1. Open a browser and navigate to localhost:8083vnc.html.
2. Run RViz in the terminal that appears in the VNC window.

Running Image Segmentation Test

Similar to the previous setup, you can run an image segmentation test scene by prepping your Docker and starting the scene in Unity. Use:

docker run -it --rm --publish=... --name my_zerosim_vnc_docker zerodog/zerosim_ros_vnc:latest roslaunch zero_sim_ros basic_unity_editor.launch

Understanding ZeroSim API Interactions: An Analogy

Imagine you’re at a theme park. The rides, food stalls, and games represent different functionalities of ZeroSim. To enjoy these attractions (or features), you need a ticket (the API). Each entry point, be it a rollercoaster (dynamics simulation), or a funhouse (ML tools), has its unique ticketing requirement. Just like you need to know which ticket to use for which ride, understanding the appropriate commands for ZeroSim’s APIs is crucial for creating smooth, efficient simulations.

Troubleshooting

If you encounter issues during setup, consider the following:

• Ensure all system requirements are met and dependencies (like Git LFS) are installed.
• Check your internet connection if packages fail to download.
• If Unity shows multiple errors with the latest version, revert to Unity 2020.x LTS.
• Visit the API Documentation for in-depth insights.
• For more insights, updates, or to collaborate on AI development projects, stay connected with fxis.ai.

Conclusion

At fxis.ai, we believe that such advancements are crucial for the future of AI, as they enable more comprehensive and effective solutions. Our team is continually exploring new methodologies to push the envelope in artificial intelligence, ensuring that our clients benefit from the latest technological innovations.

Ready to Explore!

Now that you’re equipped with the basics of ZeroSim, dive in and start creating your own robotics simulation ventures!