---
# System prepended metadata

title: Instructions for getting Lidar Data into ROS

---

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








