Digital Twin Project

Digital Twin & CPS Development for UR5e Robotic Arm | ROS2 + Unity 3D GitHub Link YouTube Link

Developed a real-time digital twin framework for the UR5e 6-axis robotic arm using ROS2 Humble, Gazebo, RViz, and Unity 3D. The Unity scene mirrors live joint states from Gazebo via ROS-TCP-Connector bridge, with a custom UI overlay displaying live joint angles, machine status, and labeled world axes. Key achievements include bidirectional control from Unity UI sliders to Gazebo, a multi-machine virtual lab with UR5e arm and conveyor belt synchronized simultaneously, ML-based anomaly detection on joint states with live Unity alerts, latency measurement and analysis, and rosbag2 motion recording with verified replay. Reinforcement learning-based control is currently under development.

Tech Stack: ROS2 Humble, Ubuntu 22.04, Unity 2022, Python, C#, URDF, Gazebo, RViz, ROS-TCP-Connector, scikit-learn

System Architecture: Base

System Architecture: Bidirectional ROS2–Unity Communication Pipeline

UR5e 6-axis arm in RViz with live joint states .

UR5e spawned in Gazebo physics simulation

UR5e 3D model in Unity scene and ROS-TCP Bridge Connection

Digital Twin Demo: ROS2 → Unity real-time sync

Unity Digital Twin — Live Status Panel, Joint Monitoring and ROS2 Connection

Unity 3D Scene — UR5e Robot Arm and Conveyor Belt Virtual Lab

Unity Inspector — Full System Components

Multi-Machine Gazebo Simulation — UR5e Arm and Conveyor Belt

Complete Digital Twin — Gazebo + Unity Real-time Sync

Unity→ROS2 Bidirectional Control — Joint Commands via Terminal

Bidirectional Control — Unity Sliders Controlling Gazebo Robot Arm

Conveyor Belt Speed Control from Unity UI

Multi-Machine Virtual Lab — Robot Arm + Conveyor Belt

ML-Based Anomaly Detection — Normal vs Abnormal Joint Motion

Anomaly Detector — Joint Deviation Warning in ROS2 Terminal

ML Anomaly Detection — Live Red Alert in Unity UI

ROS2–Unity Latency Analysis — Message Interval Distribution (Avg: 104.3ms)

Unity Console — Live Latency Measurement

ROS2–Unity TCP Bridge — All Topics Successfully Registered

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