Unity ROS Integration for simulation of differential drive robots

Under Prof. Rakesh Warier.
Code: [SLAM], [UnityROS], [LiDAR Simulation].

Designed a simulator for robot interaction in complex environments using Unity Game Engine and integrated with ROS. Benchmarked the performance of Unity and baseline simulator (Gazebo) in terms of accuracy, precision and physics. Set up SLAM(Simultaneous Localization and Mapping) and visualization of obstacles from Unity in RViZ. Implemented Dijkstra’s algorithm on the map for autonomous traversal of the bot.