Unity ROS Environmental Simulation Needed

I’m looking to stand up a Unity-based environmental simulation that plugs cleanly into ROS so I can test navigation and mapping algorithms in real time. The goal is to drop a robot model into a believable indoor-or-outdoor scene, stream sensor data (camera, LiDAR, odometry) through ROS topics, and watch how well the stack handles SLAM and path-planning under different terrain, lighting, and obstacle layouts.

You’ll handle the Unity side—building or adapting the scene, wiring sensors with ROS-TCP Connector (or your preferred bridge), and exposing all the usual /cmd_vel, /scan, /odom, TF frames and a map topic so my existing Python nodes can subscribe immediately. If ROS 2 is easier for you, that’s fine; a launch file or simple README that shows me how to bring everything up is essential.

Because I need to start experimenting right away, speed is important. Once I can spawn the robot and see live sensor topics flowing, we can polish visuals or add extra scenarios, but the first functional drop is needed ASAP.

Deliverables
• Unity project (2020 LTS or later) with compiled build settings
• ROS bridge scripts / launch files ready to run on Ubuntu
• Brief setup guide and any custom shader or asset licences

If this sounds straightforward for you and you’re ready to move fast, let’s get started today.