RenderTexture2ROS2Image

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Bridge between RenderTexture (Unity) object and sensor_msgs/Image (ROS2).

// repository documentation

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# RenderTexture2ROS2Image

Bridge between RenderTexture (Unity) object and sensor_msgs/Image (ROS2).

The size of the image to be published depends on the value set in RenderTexture.

![](https://raw.githubusercontent.com/Ar-Ray-code/RenderTexture2ROS2Image/main/images_for_readme/unity-demo.gif)

## Requirements

- ROS2 Foxy
- Unity 2020
- [ros2-for-unity](https://github.com/RobotecAI/ros2-for-unity)

### Run on Unity

1. Create Project (3D World)
2. Add Assets from this repository

![](https://raw.githubusercontent.com/Ar-Ray-code/RenderTexture2ROS2Image/main/images_for_readme/addAssets.png)

3. Add Components
4. Setting "TargetTexture" to "Camera2Texture"

![](https://raw.githubusercontent.com/Ar-Ray-code/RenderTexture2ROS2Image/main/images_for_readme/SettingComponent.png)

5. Push Play button

### Check image topic using ROS2

```
source /opt/ros/foxy/setup.bash
ros2 run rqt_image_view rqt_image_view
```

![](https://raw.githubusercontent.com/Ar-Ray-code/RenderTexture2ROS2Image/main/images_for_readme/rqt_image_view.png)

## About writer
- Ar-Ray : Japanese student.
- Blog (Japanese) : https://ar-ray.hatenablog.com/
- Twitter : https://twitter.com/Ray255Ar

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