Migrating To URP/HDRP

Only the sensors or visualizers written with custom shaders need to be migrated to URP/HDRP. The rest of them will work without any changes.

Which means the Depth Camera, RGBD Camera, DepthBuffer Lidar and the Point Cloud Visualizers need to be migrated.

In addition to the shader, the post-processing steps are also different in URP/HDRP. In the built-in pipeline, the post-processing is applied in the OnRenderImage method of the script. In URP/HDRP, the post-processing steps are different.

‍[!NOTE]

Now only support migrating the Depth Camera and RGBD Camera to URP/HDRP.

Migrating to URP

1. Create the URP project
2. Install the ROS-TCP-Connector package
3. Copy the UnitySensors and UnitySensorsROS folders to the project

4. Update the materials from Window -> Rendering -> Render Pipeline Converter. Tick the Rendering Settings and Material Upgrade then click Initialize And Convert

   

5. Open DepthCamera Shader Graph, change Active Targets from Built-in to Univsrsal, then change the material to Fullscreen and click Save Asset

   

6. Go to the Settings folder, create a new URP Universal Render asset called URP-DepthCamera-Renderer, and add the Full Screen Pass Renderer Feture on it

7. On the Full Screen Pass Renderer Feture, select the DepthCamera Shader Graph as the Pass Material.

   

8. Add the URP-DepthCamera-Renderer to the Renderer List of Default Render Pipeline Asset, such as the URP-HighFidelity asset. And tick the Depth Texture selection

   

9. Select the DepthCamera and RGBDCamera prefabs, set their renderer to URP-DepthCamera-Renderer

   

10. The Depth Camera and RGBD Camera should work normally in URP

    

Migrating to HDRP

Migrating to HDRP is relatively simple. You need to:

1. Create the HDRP project
2. Install the ROS-TCP-Connector package
3. Copy the UnitySensors and UnitySensorsROS folders to the project

4. Update the materials from Window -> Rendering -> HDRP Wizard. Click Convert All Built-in Materials to HDRP

   

5. Open DepthCamera Shader Graph, change Active Targets from Built-in to HDRP, then change the material to Fullscreen and click Save Asset

   

6. Add a custom pass volume in the scene via Volume -> Custom Pass. Set the Modeto Camera, drag the Depth Camera or RGBD Camera in the scene to the Target Camera. Add the Full Screen Custom Pass in the Custom Passes list. Set the FullScreen Material to DepthCamera Shader Graph.

   

7. The Depth Camera and RGBD Camera should work normally in HDRP