This tutorial will go through the steps necessary to integrate ROS with Unity, from installing the Unity Editor to creating a scene with an imported URDF to completing a pick-and-place task with known poses using MoveIt trajectory planning. Unity's robotics tools are able to support importing URDF files and sending and receiving messages between ROS and Unity. ROS (Robot Operating System) provides services such as message-passing, package management, low-level device control, and hardware abstraction. But also parts already used in a design can be furnished with this property which counts then already.Unity's tools for robotic simulation enable users to integrate Unity with ROS-based workflows. Afterwards it can be saved to the data base. In order to get that, you can add the property: "IS_SMD" and set its value "TRUE" to the properties of a part. In consequence in the pick and place list it would not appear in the row of the SMD ones which nevertheless might be wanted. Through holes or vias, or mounting holes within a SMD package make TARGET think that it would be a wired one (THT).
The desired STOCKNUMBERS see in the last column. It is a simple text file, to be edited by any text editor. If you push the start button, the following entries are visible: In the Pic&Place dialog it looks like that: In the layout you for example have 5 components in use, furnished with individual stock numbers: So add to the last but one line: ,"Prop=STOCKNUMBER"- important is the comma and the quotation marks. Precondition is, that the components in question show this property and a value to this property is given. Maybe you'd like to put out a certain property of the components to the pic & place list, for example the stock number. The value of REEL_ORIENTATION is then added to the package's orientation when when the component is output via the Pick&Place dialog. The ideal method would be, if the components in the component database already had this property before you place them on the PCB. 2: Set property for several components together) The aim is to ease assembly if you know how the parts orientation on reel is: You can add a property "REEL_ORIENTATION" to every component. Component properties REEL_ORIENTATION, REEL_OFFSET_X and REEL_OFFSET_Y established.The component property "PICK_AND_PLACE" with the value "NO" ensures that the component is not output in the Pick&Place list. Until V15.9.0.1 around each center of each soldering pad a rectangle was placed. TARGET 3001! uses the coordinates of the center of each component being derived from the complete footprint image-outline.
This is because you then would insert the PCB bottom side top into your machine. If you select "Only components on bottom", then the lower right corner is the origin. Coordinates are relative to the lower left corner of the PCB. This dialog allows the creation of data on automatic "picking and placing" into a text file. Pick and Place dialog in Menu File/ Input/Output Formats/ Production/Pic-And-Place automat (pic&place). The output dialog "Pick and place" can be found in Menu File / Input/Output Formats / Production / Pic-And-Place automat (pic & place).
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