Merge pull request #1 from lge-ros2/develop

Merge 'develop' branch into 'master'
lge-ros2 · Apr 27, 2020 · 11309f3 · 11309f3
2 parents b0417e0 + e580877
commit 11309f3
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Showing 7 changed files with 259 additions and 22 deletions.
diff --git a/.gitignore b/.gitignore
@@ -13,6 +13,14 @@
 */[Ll]ogs/
 */[Mm]emoryCaptures/
 
+[Ll]ibrary/
+[Tt]emp/
+[Oo]bj/
+[Bb]uild/
+[Bb]uilds/
+[Ll]ogs/
+[Mm]emoryCaptures/
+
 # Never ignore Asset meta data
 !*/[Aa]ssets/**/*.meta
 
@@ -22,6 +30,9 @@
 # TextMesh Pro files
 */[Aa]ssets/TextMesh*Pro/
 */[Aa]ssets/TextMesh*Pro.meta
+[Aa]ssets/TextMesh*Pro/
+[Aa]ssets/TextMesh*Pro.meta
+
 
 # Autogenerated Jetbrains Rider plugin
 */[Aa]ssets/Plugins/Editor/JetBrains*
@@ -58,6 +69,8 @@
 *.pdb.meta
 *.mdb.meta
 
+README.md.meta
+
 # Unity3D generated file on crash reports
 sysinfo.txt
 

diff --git a/Assets/Scenes/MainScene.unity b/Assets/Scenes/MainScene.unity
@@ -860,7 +860,7 @@ RectTransform:
   m_AnchorMin: {x: 0, y: 0.5}
   m_AnchorMax: {x: 1, y: 0.5}
   m_AnchoredPosition: {x: -7.5, y: -0.5}
-  m_SizeDelta: {x: -35, y: 15}
+  m_SizeDelta: {x: 200, y: 50}
   m_Pivot: {x: 0.5, y: 0.5}
 --- !u!114 &387521880
 MonoBehaviour:
@@ -877,6 +877,7 @@ MonoBehaviour:
   m_Material: {fileID: 0}
   m_Color: {r: 1, g: 1, b: 1, a: 1}
   m_RaycastTarget: 1
+  m_Maskable: 1
   m_OnCullStateChanged:
     m_PersistentCalls:
       m_Calls: []
@@ -915,14 +916,14 @@ MonoBehaviour:
   m_fontSizeMin: 18
   m_fontSizeMax: 72
   m_fontStyle: 1
-  m_textAlignment: 513
+  m_textAlignment: 514
   m_characterSpacing: 0
   m_wordSpacing: 0
   m_lineSpacing: 0
   m_lineSpacingMax: 0
   m_paragraphSpacing: 0
   m_charWidthMaxAdj: 0
-  m_enableWordWrapping: 0
+  m_enableWordWrapping: 1
   m_wordWrappingRatios: 0.4
   m_overflowMode: 1
   m_firstOverflowCharacterIndex: -1
@@ -1376,12 +1377,13 @@ MonoBehaviour:
   m_Material: {fileID: 0}
   m_Color: {r: 1, g: 1, b: 1, a: 1}
   m_RaycastTarget: 1
+  m_Maskable: 1
   m_OnCullStateChanged:
     m_PersistentCalls:
       m_Calls: []
   m_text: Option A
   m_isRightToLeft: 0
-  m_fontAsset: {fileID: 11400000, guid: 8f586378b4e144a9851e7b34d9b748ee, type: 2}
+  m_fontAsset: {fileID: 0}
   m_sharedMaterial: {fileID: 2180264, guid: 8f586378b4e144a9851e7b34d9b748ee, type: 2}
   m_fontSharedMaterials: []
   m_fontMaterial: {fileID: 0}
@@ -1531,6 +1533,7 @@ MonoBehaviour:
   m_Material: {fileID: 0}
   m_Color: {r: 1, g: 1, b: 1, a: 1}
   m_RaycastTarget: 1
+  m_Maskable: 1
   m_OnCullStateChanged:
     m_PersistentCalls:
       m_Calls: []
@@ -1940,6 +1943,7 @@ MonoBehaviour:
   m_Material: {fileID: 0}
   m_Color: {r: 1, g: 1, b: 1, a: 1}
   m_RaycastTarget: 1
+  m_Maskable: 1
   m_OnCullStateChanged:
     m_PersistentCalls:
       m_Calls: []
@@ -2377,6 +2381,7 @@ MonoBehaviour:
   m_Material: {fileID: 0}
   m_Color: {r: 1, g: 1, b: 1, a: 1}
   m_RaycastTarget: 1
+  m_Maskable: 1
   m_OnCullStateChanged:
     m_PersistentCalls:
       m_Calls: []
@@ -3671,6 +3676,7 @@ MonoBehaviour:
   m_Material: {fileID: 0}
   m_Color: {r: 1, g: 1, b: 1, a: 1}
   m_RaycastTarget: 1
+  m_Maskable: 1
   m_OnCullStateChanged:
     m_PersistentCalls:
       m_Calls: []
@@ -3807,6 +3813,7 @@ MonoBehaviour:
   m_Material: {fileID: 0}
   m_Color: {r: 1, g: 1, b: 1, a: 1}
   m_RaycastTarget: 1
+  m_Maskable: 1
   m_OnCullStateChanged:
     m_PersistentCalls:
       m_Calls: []
@@ -5537,6 +5544,7 @@ MonoBehaviour:
   m_Material: {fileID: 0}
   m_Color: {r: 1, g: 1, b: 1, a: 1}
   m_RaycastTarget: 1
+  m_Maskable: 1
   m_OnCullStateChanged:
     m_PersistentCalls:
       m_Calls: []
@@ -5643,6 +5651,7 @@ MonoBehaviour:
   m_Material: {fileID: 0}
   m_Color: {r: 1, g: 1, b: 1, a: 1}
   m_RaycastTarget: 1
+  m_Maskable: 1
   m_OnCullStateChanged:
     m_PersistentCalls:
       m_Calls: []
@@ -5922,6 +5931,7 @@ MonoBehaviour:
   m_Material: {fileID: 0}
   m_Color: {r: 1, g: 1, b: 1, a: 1}
   m_RaycastTarget: 1
+  m_Maskable: 1
   m_OnCullStateChanged:
     m_PersistentCalls:
       m_Calls: []
@@ -6782,6 +6792,7 @@ MonoBehaviour:
   m_Material: {fileID: 0}
   m_Color: {r: 0.9607843, g: 0.9607843, b: 0.9607843, a: 1}
   m_RaycastTarget: 1
+  m_Maskable: 1
   m_OnCullStateChanged:
     m_PersistentCalls:
       m_Calls: []
@@ -6855,6 +6866,7 @@ MonoBehaviour:
   m_Material: {fileID: 0}
   m_Color: {r: 1, g: 1, b: 1, a: 1}
   m_RaycastTarget: 1
+  m_Maskable: 1
   m_OnCullStateChanged:
     m_PersistentCalls:
       m_Calls: []

diff --git a/Assets/Scripts/CustomPlugins/ElevatorSystem.Elevator.cs b/Assets/Scripts/CustomPlugins/ElevatorSystem.Elevator.cs
@@ -138,16 +138,6 @@ private bool GetCalledElevator(in string currentFloor, in string targetFloor, ou
 	{
 		elevatorIndex = NON_ELEVATOR_INDEX;
 
-		// Try to find in task queue
-		foreach (var task in elevatorTaskQueue)
-		{
-			if (task.toFloor.Equals(currentFloor) && task.state.Equals(ElevatorTaskState.PROCESSING))
-			{
-				elevatorIndex = task.elevatorIndex;
-				return true;
-			}
-		}
-
 		var currentFloorHeight = GetFloorHeight(currentFloor);
 		// If not, try to find in stopped elevator
 		foreach (var elevatorItem in elevatorList)
@@ -156,6 +146,18 @@ private bool GetCalledElevator(in string currentFloor, in string targetFloor, ou
 			if (elevator.State.Equals(ElevatorState.STOP) && elevator.IsArrived(currentFloorHeight))
 			{
 				elevatorIndex = elevatorItem.Key;
+				Debug.Log("Already elevator is stopped " + elevatorIndex);
+				return true;
+			}
+		}
+
+		// Try to find in task queue
+		foreach (var task in elevatorTaskQueue)
+		{
+			if (task.toFloor.Equals(currentFloor) && task.state.Equals(ElevatorTaskState.PROCESSING))
+			{
+				elevatorIndex = task.elevatorIndex;
+				Debug.Log("Calling elevator " + elevatorIndex);
 				return true;
 			}
 		}

diff --git a/Assets/Scripts/CustomPlugins/README.md b/Assets/Scripts/CustomPlugins/README.md
@@ -0,0 +1,34 @@
+# CustomPlugins
+
+These plugin scripts are for sensor connection.
+
+Each class name is important to load plugin in SDF.
+
+For example, if it describes a name with 'RobotControl' in `<plugin>` attributesm, SDF Parser will start to find a plugin named 'RobotControl' in Unity project.
+
+Unlink gazebo, 'filename' attribute shall not be used anywhere on current project.
+
+```
+<model>
+  ...
+  ...
+  <plugin name='RobotControl' filename=''>
+    <PID>
+      <kp>3.0</kp>
+      <ki>0.2</ki>
+      <kd>0.0</kd>
+    </PID>
+    <wheel>
+      <base>449</base>
+      <radius>95.5</radius>
+      <location type="left">LeftWheel</location>
+      <location type="right">RightWheel</location>
+      <friction>
+        <motor>0.06</motor>
+        <brake>13.0</brake>
+      </friction>
+    </wheel>
+    <update_rate>20</update_rate>
+  </plugin>
+</model>
+```
diff --git a/Assets/Scripts/ModelLoader.cs b/Assets/Scripts/ModelLoader.cs
@@ -71,9 +71,9 @@ private void ResetTransform()
 	void Awake()
 	{
 #if UNITY_EDITOR
- 		filesRootDirectory = "../../../SimulatorInstance/gazebo/gazebo/build/Installed/Release/share/gazebo-9/";
-		modelRootDirectories.Add("../../../lgrs_resource/assets/models/");
-		worldRootDirectories.Add("../../../lgrs_resource/worlds");
+ 		filesRootDirectory = "/usr/share/gazebo-9/";
+		modelRootDirectories.Add("../sample-resources/models/");
+		worldRootDirectories.Add("../sample-resources/worlds/");
 #else
 		var separator = new char[] {':'};
 		filesRootDirectory = Environment.GetEnvironmentVariable("CLOISIM_FILES_PATH");

diff --git a/ProjectSettings/ProjectSettings.asset b/ProjectSettings/ProjectSettings.asset
@@ -119,7 +119,7 @@ PlayerSettings:
     16:10: 1
     16:9: 1
     Others: 1
-  bundleVersion: 1.2.2
+  bundleVersion: 1.0.1
   preloadedAssets: []
   metroInputSource: 0
   wsaTransparentSwapchain: 0