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Nov 27, 2023
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ROS 2 sourcing policy in documentation #222

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5 changes: 4 additions & 1 deletion docs/Components/ROS2/ROS2ForUnity/index.md
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Expand Up @@ -21,7 +21,10 @@ All required dependencies are installed and can be used e.g. as a complete set o
Only asset libraries and generated messages are installed therefore *ROS2* instance must be sourced.

By default, asset `R2FU` in *AWSIM* is prepared in *standalone mode*.
Thanks to this, *ROS2* instance doesn't need to be sourced - all you have to do is run the *Unity* editor.

!!! warning

To avoid internal conflicts between the standalone libraries, and sourced ones, *ROS2* instance shouldn't be sourced before running AWSIM or the *Unity* Editor.

!!! question "Can't see topics"
There are no errors but I can't see topics published by `R2FU`
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23 changes: 21 additions & 2 deletions docs/GettingStarted/SetupUnityProject/index.md
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Expand Up @@ -23,6 +23,24 @@ This page is a tutorial for setting up a AWSIM Unity project.
2. Prepare a desktop PC with Windows 10 or 11 (64 bit) installed.
3. Install [git](https://git-scm.com/).

### ROS 2

AWSIM comes with a *standalone* flavor of [`Ros2ForUnity`](../../Components/ROS2/ROS2ForUnity/index.md). This means that, to avoid internal conflicts between different ROS 2 versions, you shouldn't run the Editor or AWSIM binary with ROS 2 sourced.

!!! warning

Do not run the AWSIM, Unity Hub, or the Editor with ROS 2 sourced.

=== "Ubuntu 22"
- Make sure that the terminal which you are using to run Unity Hub, Editor, or AWSIM doesn't have ROS 2 sourced.
- It is common to have ROS 2 sourced automatically with `~/.bashrc` or `~/.profile`. Make sure it is not obscuring your working environment:
- Running Unity Hub from the Ubuntu GUI menu takes the environment configuration from `~/.profile`.
- Running Unity Hub from the terminal uses the current terminal configuration from `~/.profile` and `~/.bashrc`.
- Running Unity Editor from the UnityHub inherits the environment setup from the Unity Hub.

=== "Windows"
- Make sure your Windows environment variables are ROS 2 free.

### Unity installation

!!! info
Expand Down Expand Up @@ -56,7 +74,8 @@ Follow the steps below to install Unity on your machine:
### Open AWSIM project

To open the Unity AWSIM project in Unity Editor:
1. Make sure you have the AWSIM repository cloned

1. Make sure you have the AWSIM repository cloned and ROS 2 is not sourced.
```
git clone [email protected]:tier4/AWSIM.git
```
Expand All @@ -66,7 +85,7 @@ To open the Unity AWSIM project in Unity Editor:
./UnityHub.AppImage
```

3. Open the project in UnityHub
3. Open the project in UnityHub.
- Click the `Open` button
![](image_6.png)

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