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前言

本项目介绍通过Unity3D仿真Panda机械臂，为研究机械臂的控制算法、控制效果和构建复杂仿真环境提供虚拟化平台。

2025-5-18	2025-6-2

要点：

• PandaArmUnity3D：Unity3D项目
• ros2_docker_ws：ros2项目
• matlab：包含了验证机械臂位置正逆运动学的算法分析

video:

• 2025-6-2：YOLO机械臂丨使用unity搭建仿真环境，YOLO算法识别，Moveit2控制
• 2025-5-18: 机械臂位置正逆运动学原理与代码
• 2025-4-13: ros2-rviz2控制unity仿真的6关节机械臂，探索从仿真到实际应用的过程

搭建开发环境

• Unity:2022
• Ubuntu:24.04
• Ros2:jazzy

在window中安装Unity

先安装Unityhuyb，然后再安装Unity

https://unity.cn/releases

创建Docker容器，并安装相关软件

❇️创建Docker容器

docker run -it -p 6080:80 -p 10000:10000 -v /tmp/.X11-unix:/tmp/.X11-unix -e DISPLAY=host.docker.internal:0.0 -e PULSE_SERVER=host.docker.internal --name=DockerUnityRos2Arm docker.1ms.run/ubuntu:24.04  /bin/bash

❇️安装相关软件

# 按照鱼香ros一键安装ros2
apt-get update
apt install wget -y
wget http://fishros.com/install -O fishros && bash fishros# 安装远程显示服务程序
sudo apt-get install x11-xserver-utils
sudo apt install libxcb* -y
sudo apt-get install x11-apps -y# 安装moveit
# 重新打开一个终端
sudo apt install ros-${ROS_DISTRO}-moveit* -y# 安装ros2的控制功能包
sudo apt install ros-${ROS_DISTRO}-controller-manager -y
sudo apt install ros-${ROS_DISTRO}-joint-trajectory-controller -y
sudo apt install ros-${ROS_DISTRO}-joint-state-broadcaster -y
sudo apt install ros-${ROS_DISTRO}-diff-drive-controller -y# 安装运行`graph_executer_controller`相关的Python包
sudo apt update
sudo apt install python3-pip -y
sudo apt-get install portaudio19-dev -y
sudo apt install espeak -y# 安装音频
apt-get update && apt-get install -y alsa-utils pulseaudio
aplay -L  # 列出音频设备
# speaker-test -t wav  # 测试播放# 使用清华源下载
cd src/graph_executer_controller/
pip install -r requirements.txt -i https://pypi.tuna.tsinghua.edu.cn/simple --break-system-packages
pip install pyqtgraph ultralytics --break-system-packages# 调试工具
python3 -m pip install ipykernel -U --user --force-reinstall -i https://pypi.tuna.tsinghua.edu.cn/simple --break-system-packages# 配置Ubuntu支持中文
sudo apt-get install language-pack-zh-hans -y
apt install vim -yvim /etc/environment
# 添加内容
LANG="zh_CN.UTF-8"
LANGUAGE="zh_CN:zh:en_US:en"vim /var/lib/locales/supported.d/local
# 添加内容
en_US.UTF-8 UTF-8
zh_CN.UTF-8 UTF-8
zh_CN.GBK GBK
zh_CN GB2312sudo locale-gen# 安装中文字体
sudo apt-get install fonts-droid-fallback ttf-wqy-zenhei ttf-wqy-microhei fonts-arphic-ukai fonts-arphic-uming -y# 安装支持playsound的库
apt-get install libgstrtspserver-1.0-dev gstreamer1.0-rtsp -y

运行测试

❇️在windows上运行PulseAudio服务

❇️启动Unity

❇️编译项目

colcon build

❇️启动tcp，用于ros2与unity连接

source install/setup.bash 
ros2 launch ros_tcp_endpoint endpoint.launch.py

❇️运行moveitpy_controller

# 打开新的终端
source install/setup.bash
ros2 launch control_server arm_control.launch.py

❇️运行graph_executer_controller

# 打开新的终端
source install/setup.bash
cd src/graph_executer_controller
python3 main.py

❇️运行panda_moveit_config的demo.launch.py

# 打开新的终端
source install/setup.bash
ros2 launch panda_moveit_config demo.launch.py

启动rviz2后，可以看到机械臂会有干涉，现手动调整到不干涉的位置，然后才使用moveitpy控制机械臂，否则无法控制机械臂。

改进

添加删除节点前的函数调用

问题描述：由于nodegraphqt没有删除节点的操作，这里为其添加。

在/usr/local/lib/python3.12/dist-packages/NodeGraphQt/base/graph.py的NodeGraph类的delete_node(self, node, push_undo=True)函数中添加以下内容：

if hasattr(node, '_del_node'):node._del_node()

报错

❌框选节点的时候报错

  File "/usr/local/lib/python3.12/dist-packages/NodeGraphQt/widgets/viewer.py", line 619, in mouseMoveEventself.scene().setSelectionArea(
TypeError: 'PySide6.QtWidgets.QGraphicsScene.setSelectionArea' called with wrong argument types:PySide6.QtWidgets.QGraphicsScene.setSelectionArea(QPainterPath, ItemSelectionMode)
Supported signatures:PySide6.QtWidgets.QGraphicsScene.setSelectionArea(path: PySide6.QtGui.QPainterPath, /, selectionOperation: PySide6.QtCore.Qt.ItemSelectionOperation = Instance(Qt.ReplaceSelection), mode: PySide6.QtCore.Qt.ItemSelectionMode = Instance(Qt.IntersectsItemShape), deviceTransform: PySide6.QtGui.QTransform = Default(QTransform))PySide6.QtWidgets.QGraphicsScene.setSelectionArea(path: PySide6.QtGui.QPainterPath, deviceTransform: PySide6.QtGui.QTransform, /)
Error calling Python override of QGraphicsView::mouseMoveEvent(): Traceback (most recent call last):File "/usr/local/lib/python3.12/dist-packages/NodeGraphQt/widgets/viewer.py", line 619, in mouseMoveEventself.scene().setSelectionArea(
TypeError: 'PySide6.QtWidgets.QGraphicsScene.setSelectionArea' called with wrong argument types:PySide6.QtWidgets.QGraphicsScene.setSelectionArea(QPainterPath, ItemSelectionMode)
Supported signatures:PySide6.QtWidgets.QGraphicsScene.setSelectionArea(path: PySide6.QtGui.QPainterPath, /, selectionOperation: PySide6.QtCore.Qt.ItemSelectionOperation = Instance(Qt.ReplaceSelection), mode: PySide6.QtCore.Qt.ItemSelectionMode = Instance(Qt.IntersectsItemShape), deviceTransform: PySide6.QtGui.QTransform = Default(QTransform))PySide6.QtWidgets.QGraphicsScene.setSelectionArea(path: PySide6.QtGui.QPainterPath, deviceTransform: PySide6.QtGui.QTransform, /)

✔️Pyside6和nodegraphqt版本不适配导致，更改viewer.py以下位置即可：

# "/usr/local/lib/python3.12/dist-packages/NodeGraphQt/widgets/viewer.py"# self.scene().setSelectionArea(
#     path, QtCore.Qt.IntersectsItemShape
# )
self.scene().setSelectionArea(path,selectionOperation=QtCore.Qt.ItemSelectionOperation.ReplaceSelection,mode=QtCore.Qt.ItemSelectionMode.IntersectsItemShape
)

❌如果无法控制机械臂，查看rviz2的终端，应该会有

[move_group-3] [ERROR] [1748613208.480924749] [move_group.moveit.moveit.ros.check_start_state_bounds]: Joint 'panda_joint2' from the starting state is outside bounds by: [1.76294 ] should be in the range [-1.7628 ], [1.7628 ].
[move_group-3] [ERROR] [1748613208.480986559] [move_group]: PlanningRequestAdapter 'CheckStartStateBounds' failed, because 'Start state out of bounds.'. Aborting planning pipeline.

✔️:重新启动rviz2即可

❌规划路径超出范围

[ERROR] [1742603349.012384448] [moveit_3836862178.moveit.ros.check_start_state_bounds]: Joint 'panda_finger_joint1' from the starting state is outside bounds by: [-6.61565e-14 ] should be in the range [0 ], [0.04 ].
[ERROR] [1742603349.012503158] [moveit_py]: PlanningRequestAdapter 'CheckStartStateBounds' failed, because 'Start state out of bounds.'. Aborting planning pipeline.
[ERROR] [1742603349.013678982] [moveit_py.pose_goal]: Planning failed

✔️修改joint_limits.yaml，限制关节的最大最小位置

参考

• docker-ros2-unity-tcp-endpoint
• Robotics-Nav2-SLAM-Example
• unity坐赛车游戏，简单三分钟了解一下
• How to Setup Unity and ROS2 in less than 5 minutes!
• ros2-for-unity
• moveit2_yolobb_ws
• Unity-Robotics-Hub
• JSON Output
• DeepSeek提示库
• Binary Installation on Ubuntu
• Docs / Gazebo Harmonic
• ros_gz branch jazzy
• Binary Installation on Ubuntu
• Docs / Gazebo Harmonic
• ros_gz branch jazzy

关注👇👇，发送：DockerRos2UnityArm，方便获取仿真代码。