Instructions for getting Lidar Data into ROS === ### Open this webpage [Open This Page and clone the Repo](https://github.com/Unity-Technologies/Unity-Robotics-Hub) Navigate to tutorials/ros_unity_integration in the downloaded repo. ```bash docker build -t melodic -f ros_docker/Dockerfile . ``` After building, run the container. ```bash docker run -it --rm --net ros -p 10000:10000 melodic /bin/bash ``` Inside this docker run this command **roscore** Copy the ROS_MASTER_URI , which will appear after the command !! ```bash SUMMARY ======== PARAMETERS * /rosdistro: melodic * /rosversion: 1.14.13 NODES auto-starting new master process[master]: started with pid [69] ROS_MASTER_URI=http://5199050c4b88:11311/ setting /run_id to 56442d4e-0dc0-11ed-b2c2-0242ac120002 process[rosout-1]: started with pid [80] started core service [/rosout] ``` I have given data in bagfiles , bring it inside the container. I have mapped my present working directory to home inside the container. In another terminal open another docker container ```bash docker run -it --rm --net ros --volume=/tmp/.X11-unix:/tmp/.X11-unix --volume=/home/${USER}/:/mnt/data --volume=/tmp/compositor:/tmp/compositor/ --volume=$(pwd):/home -p 10001:10000 --env ROS_MASTER_URI=http://ebf3a4b978f8:11311/ melodic /bin/bash ``` **Replace the ROS_MASTER_URI in above command with your own** command ```bash source devel/setup.bash roslaunch ros_tcp_endpoint endpoint.launch ``` Third Terminal 3 **Replace the ROS_MASTER_URI in above command with your own** ```bash docker run -it --rm --net ros --volume=/tmp/.X11-unix:/tmp/.X11-unix --volume=/home/${USER}/:/mnt/data --volume=/tmp/compositor:/tmp/compositor/ --volume=$(pwd):/home -p 10002:10000 --env ROS_MASTER_URI=http://ebf3a4b978f8:11311/ melodic /bin/bash ``` Now navigate to folder inside bagfiles. it contains lidar.bag , which is lidar data. ```bash rosbag play -l lidar.bag ``` [Now Follow this page](https://github.com/Unity-Technologies/Unity-Robotics-Hub/blob/main/tutorials/ros_unity_integration/setup.md) And Look at Unity Setup !! Pls use Unity