Comparing Performance between different implementations of ROS for Unity
Keywords: Robot Operating System (ROS), Unity, ROS-TCP-Connector, ROS.NET, ROS#
TL;DR: We benchmark the current most popular methods of communicating between ROS and Unity.
Abstract: The Virtual and Augmented reality market has greatly expanded in the recent years with devices such as the Meta Quest and the Microsoft Hololens. Both of these devices have limited to no support on Linux distributions, which are commonly used in robotics. Instead, developers are typically running these on Windows, often with either Unity or Unreal for 3D support, and using a middleware to integrate with other systems such as ROS.
There have been several different approaches for this communication;
it can be difficult for developers of new projects to choose one that might be best for their use case. In this paper, we set out to benchmark the performance of several different Unity to ROS communication implementations. In particular we are looking at an analysis on ROS\#, Unity Technology's ROS-TCP-Connector, and ROS.NET.
Submission Number: 14
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