CLOiSim-3.1.2

[Major Changes] - Upgrade Unity editor version: 2021.3.23f1 (LTS) [Minor Changes] - Service: suppress log print when 'device_list' is requested - General: Upgrade plugin library - protobuf-net: 3.2.8 -> 3.2.16 - NetMQ: 4.0.1.10 -> 4.0.1.11 [Bug fix] - Sensor.Device: Fix Lidar::OnVisualize(), consider rmodel rotation
lge-ros2 · Apr 21, 2023 · 5449ab4 · 5449ab4
1 parent 27e2f7e
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diff --git a/Assets/Plugins/NetMQ.4.0.1.10/.signature.p7s b/Assets/Plugins/NetMQ.4.0.1.10/.signature.p7s
diff --git a/Assets/Plugins/NetMQ.4.0.1.10/NetMQ.4.0.1.10.nupkg b/Assets/Plugins/NetMQ.4.0.1.10/NetMQ.4.0.1.10.nupkg
diff --git a/Assets/Plugins/NetMQ.4.0.1.10.meta → Assets/Plugins/NetMQ.4.0.1.11.meta b/Assets/Plugins/NetMQ.4.0.1.10.meta → Assets/Plugins/NetMQ.4.0.1.11.meta
diff --git a/Assets/Plugins/NetMQ.4.0.1.11/.signature.p7s b/Assets/Plugins/NetMQ.4.0.1.11/.signature.p7s
diff --git a/Assets/Plugins/NetMQ.4.0.1.11/NetMQ.4.0.1.11.nupkg b/Assets/Plugins/NetMQ.4.0.1.11/NetMQ.4.0.1.11.nupkg
diff --git a/...f-net.3.2.8/protobuf-net.3.2.8.nupkg.meta → .../NetMQ.4.0.1.11/NetMQ.4.0.1.11.nupkg.meta b/...f-net.3.2.8/protobuf-net.3.2.8.nupkg.meta → .../NetMQ.4.0.1.11/NetMQ.4.0.1.11.nupkg.meta
diff --git a/.../NetMQ.4.0.1.10/NetMQLogoSquare-256px.png → .../NetMQ.4.0.1.11/NetMQLogoSquare-256px.png b/.../NetMQ.4.0.1.10/NetMQLogoSquare-256px.png → .../NetMQ.4.0.1.11/NetMQLogoSquare-256px.png
diff --git a/...Q.4.0.1.10/NetMQLogoSquare-256px.png.meta → ...Q.4.0.1.11/NetMQLogoSquare-256px.png.meta b/...Q.4.0.1.10/NetMQLogoSquare-256px.png.meta → ...Q.4.0.1.11/NetMQLogoSquare-256px.png.meta
diff --git a/Assets/Plugins/protobuf-net.3.2.8/lib.meta → Assets/Plugins/NetMQ.4.0.1.11/lib.meta b/Assets/Plugins/protobuf-net.3.2.8/lib.meta → Assets/Plugins/NetMQ.4.0.1.11/lib.meta
diff --git a/Assets/Plugins/NetMQ.4.0.1.10/lib/net47.meta → Assets/Plugins/NetMQ.4.0.1.11/lib/net47.meta b/Assets/Plugins/NetMQ.4.0.1.10/lib/net47.meta → Assets/Plugins/NetMQ.4.0.1.11/lib/net47.meta
diff --git a/...lugins/NetMQ.4.0.1.10/lib/net47/NetMQ.dll → ...lugins/NetMQ.4.0.1.11/lib/net47/NetMQ.dll b/...lugins/NetMQ.4.0.1.10/lib/net47/NetMQ.dll → ...lugins/NetMQ.4.0.1.11/lib/net47/NetMQ.dll
diff --git a/...s/NetMQ.4.0.1.10/lib/net47/NetMQ.dll.meta → ...s/NetMQ.4.0.1.11/lib/net47/NetMQ.dll.meta b/...s/NetMQ.4.0.1.10/lib/net47/NetMQ.dll.meta → ...s/NetMQ.4.0.1.11/lib/net47/NetMQ.dll.meta
diff --git a/...lugins/NetMQ.4.0.1.10/lib/net47/NetMQ.xml → ...lugins/NetMQ.4.0.1.11/lib/net47/NetMQ.xml b/...lugins/NetMQ.4.0.1.10/lib/net47/NetMQ.xml → ...lugins/NetMQ.4.0.1.11/lib/net47/NetMQ.xml
diff --git a/...s/NetMQ.4.0.1.10/lib/net47/NetMQ.xml.meta → ...s/NetMQ.4.0.1.11/lib/net47/NetMQ.xml.meta b/...s/NetMQ.4.0.1.10/lib/net47/NetMQ.xml.meta → ...s/NetMQ.4.0.1.11/lib/net47/NetMQ.xml.meta
diff --git a/...tem.Threading.Tasks.Extensions.4.5.4.meta → Assets/Plugins/protobuf-net.3.2.16.meta b/...tem.Threading.Tasks.Extensions.4.5.4.meta → Assets/Plugins/protobuf-net.3.2.16.meta
diff --git a/...Plugins/protobuf-net.3.2.8/.signature.p7s → ...lugins/protobuf-net.3.2.16/.signature.p7s b/...Plugins/protobuf-net.3.2.8/.signature.p7s → ...lugins/protobuf-net.3.2.16/.signature.p7s
diff --git a/Assets/Plugins/NetMQ.4.0.1.10/lib.meta → Assets/Plugins/protobuf-net.3.2.16/lib.meta b/Assets/Plugins/NetMQ.4.0.1.10/lib.meta → Assets/Plugins/protobuf-net.3.2.16/lib.meta
diff --git a/...lugins/protobuf-net.3.2.8/lib/net462.meta → ...ugins/protobuf-net.3.2.16/lib/net462.meta b/...lugins/protobuf-net.3.2.8/lib/net462.meta → ...ugins/protobuf-net.3.2.16/lib/net462.meta
diff --git a/Assets/Plugins/protobuf-net.3.2.16/lib/net462/protobuf-net.dll b/Assets/Plugins/protobuf-net.3.2.16/lib/net462/protobuf-net.dll
diff --git a/...et.3.2.8/lib/net462/protobuf-net.dll.meta → ...t.3.2.16/lib/net462/protobuf-net.dll.meta b/...et.3.2.8/lib/net462/protobuf-net.dll.meta → ...t.3.2.16/lib/net462/protobuf-net.dll.meta
diff --git a/...buf-net.3.2.8/lib/net462/protobuf-net.xml → ...uf-net.3.2.16/lib/net462/protobuf-net.xml b/...buf-net.3.2.8/lib/net462/protobuf-net.xml → ...uf-net.3.2.16/lib/net462/protobuf-net.xml
diff --git a/...et.3.2.8/lib/net462/protobuf-net.xml.meta → ...t.3.2.16/lib/net462/protobuf-net.xml.meta b/...et.3.2.8/lib/net462/protobuf-net.xml.meta → ...t.3.2.16/lib/net462/protobuf-net.xml.meta
diff --git a/Assets/Plugins/protobuf-net.3.2.16/protobuf-net.3.2.16.nupkg b/Assets/Plugins/protobuf-net.3.2.16/protobuf-net.3.2.16.nupkg
diff --git a/....3.2.8/protobuf-net.Core.3.2.8.nupkg.meta → ...net.3.2.16/protobuf-net.3.2.16.nupkg.meta b/....3.2.8/protobuf-net.Core.3.2.8.nupkg.meta → ...net.3.2.16/protobuf-net.3.2.16.nupkg.meta
diff --git a/...ugins/protobuf-net.3.2.8/protobuf-net.png → ...gins/protobuf-net.3.2.16/protobuf-net.png b/...ugins/protobuf-net.3.2.8/protobuf-net.png → ...gins/protobuf-net.3.2.16/protobuf-net.png
diff --git a/.../protobuf-net.3.2.8/protobuf-net.png.meta → ...protobuf-net.3.2.16/protobuf-net.png.meta b/.../protobuf-net.3.2.8/protobuf-net.png.meta → ...protobuf-net.3.2.16/protobuf-net.png.meta
diff --git a/Assets/Plugins/protobuf-net.3.2.8/lib/net462/protobuf-net.dll b/Assets/Plugins/protobuf-net.3.2.8/lib/net462/protobuf-net.dll
diff --git a/Assets/Plugins/protobuf-net.3.2.8/protobuf-net.3.2.8.nupkg b/Assets/Plugins/protobuf-net.3.2.8/protobuf-net.3.2.8.nupkg
diff --git a/Assets/Plugins/protobuf-net.3.2.8.meta → Assets/Plugins/protobuf-net.Core.3.2.16.meta b/Assets/Plugins/protobuf-net.3.2.8.meta → Assets/Plugins/protobuf-net.Core.3.2.16.meta
diff --git a/...ns/protobuf-net.Core.3.2.8/.signature.p7s → ...s/protobuf-net.Core.3.2.16/.signature.p7s b/...ns/protobuf-net.Core.3.2.8/.signature.p7s → ...s/protobuf-net.Core.3.2.16/.signature.p7s
diff --git a/.../Plugins/protobuf-net.Core.3.2.8/lib.meta → ...Plugins/protobuf-net.Core.3.2.16/lib.meta b/.../Plugins/protobuf-net.Core.3.2.8/lib.meta → ...Plugins/protobuf-net.Core.3.2.16/lib.meta
diff --git a/...s/protobuf-net.Core.3.2.8/lib/net462.meta → .../protobuf-net.Core.3.2.16/lib/net462.meta b/...s/protobuf-net.Core.3.2.8/lib/net462.meta → .../protobuf-net.Core.3.2.16/lib/net462.meta
diff --git a/Assets/Plugins/protobuf-net.Core.3.2.16/lib/net462/protobuf-net.Core.dll b/Assets/Plugins/protobuf-net.Core.3.2.16/lib/net462/protobuf-net.Core.dll
diff --git a/...2.8/lib/net462/protobuf-net.Core.dll.meta → ....16/lib/net462/protobuf-net.Core.dll.meta b/...2.8/lib/net462/protobuf-net.Core.dll.meta → ....16/lib/net462/protobuf-net.Core.dll.meta
diff --git a/...re.3.2.8/lib/net462/protobuf-net.Core.xml → ...e.3.2.16/lib/net462/protobuf-net.Core.xml b/...re.3.2.8/lib/net462/protobuf-net.Core.xml → ...e.3.2.16/lib/net462/protobuf-net.Core.xml
diff --git a/...2.8/lib/net462/protobuf-net.Core.xml.meta → ....16/lib/net462/protobuf-net.Core.xml.meta b/...2.8/lib/net462/protobuf-net.Core.xml.meta → ....16/lib/net462/protobuf-net.Core.xml.meta
diff --git a/Assets/Plugins/protobuf-net.Core.3.2.16/protobuf-net.Core.3.2.16.nupkg b/Assets/Plugins/protobuf-net.Core.3.2.16/protobuf-net.Core.3.2.16.nupkg
diff --git a/.../NetMQ.4.0.1.10/NetMQ.4.0.1.10.nupkg.meta → ....2.16/protobuf-net.Core.3.2.16.nupkg.meta b/.../NetMQ.4.0.1.10/NetMQ.4.0.1.10.nupkg.meta → ....2.16/protobuf-net.Core.3.2.16.nupkg.meta
diff --git a/.../protobuf-net.Core.3.2.8/protobuf-net.png → ...protobuf-net.Core.3.2.16/protobuf-net.png b/.../protobuf-net.Core.3.2.8/protobuf-net.png → ...protobuf-net.Core.3.2.16/protobuf-net.png
diff --git a/...obuf-net.Core.3.2.8/protobuf-net.png.meta → ...buf-net.Core.3.2.16/protobuf-net.png.meta b/...obuf-net.Core.3.2.8/protobuf-net.png.meta → ...buf-net.Core.3.2.16/protobuf-net.png.meta
diff --git a/Assets/Plugins/protobuf-net.Core.3.2.8.meta b/Assets/Plugins/protobuf-net.Core.3.2.8.meta
diff --git a/Assets/Plugins/protobuf-net.Core.3.2.8/lib/net462/protobuf-net.Core.dll b/Assets/Plugins/protobuf-net.Core.3.2.8/lib/net462/protobuf-net.Core.dll
diff --git a/Assets/Plugins/protobuf-net.Core.3.2.8/protobuf-net.Core.3.2.8.nupkg b/Assets/Plugins/protobuf-net.Core.3.2.8/protobuf-net.Core.3.2.8.nupkg
diff --git a/Assets/Scripts/CLOiSimPlugins/GroundTruthPlugin.cs b/Assets/Scripts/CLOiSimPlugins/GroundTruthPlugin.cs
@@ -285,7 +285,7 @@ IEnumerator DoUpdateFootprint()
 			}
 			catch
 			{
-				UE.Debug.LogWarning(trackingId + " is wrong object to get");
+				UE.Debug.LogWarning(trackingId + "(" + perception.ClassId + ") is wrong object to get");
 				// foreach (var track in trackingObjectList)
 				// {
 				// 	UE.Debug.Log(track.Key + ", " + track.Value.GetGameObject().name);

diff --git a/Assets/Scripts/CLOiSimPlugins/Modules/Base/CLOiSimPlugin.cs b/Assets/Scripts/CLOiSimPlugins/Modules/Base/CLOiSimPlugin.cs
@@ -9,7 +9,7 @@
 
 public interface ICLOiSimPlugin
 {
-	enum Type {WORLD, GROUNDTRUTH, ELEVATOR, ACTOR, MICOM, JOINTCONTROL, GPS, IMU, LASER, CAMERA, DEPTHCAMERA, MULTICAMERA, REALSENSE};
+	enum Type { WORLD, GROUNDTRUTH, ELEVATOR, ACTOR, MICOM, JOINTCONTROL, GPS, IMU, LASER, CAMERA, DEPTHCAMERA, MULTICAMERA, REALSENSE };
 	void SetPluginParameters(in SDF.Plugin node);
 	SDF.Plugin GetPluginParameters();
 	void Reset();
@@ -35,7 +35,7 @@ public abstract partial class CLOiSimPlugin : MonoBehaviour, ICLOiSimPlugin
 
 	protected abstract void OnAwake();
 	protected abstract void OnStart();
-	protected virtual void OnReset() {}
+	protected virtual void OnReset() { }
 
 	protected void OnDestroy()
 	{

diff --git a/Assets/Scripts/Core/Services/SimulationControlService.cs b/Assets/Scripts/Core/Services/SimulationControlService.cs
@@ -104,7 +104,8 @@ protected override void OnMessage(MessageEventArgs e)
 			return;
 		}
 
-		request.Print();
+		if (request.command.CompareTo("device_list") != 0)
+			request.Print();
 
 		SimulationControlResponseBase output = null;
 

diff --git a/Assets/Scripts/Devices/Lidar.cs b/Assets/Scripts/Devices/Lidar.cs
@@ -539,7 +539,8 @@ protected override IEnumerator OnVisualize()
 
 			while (true)
 			{
-				var rayStart = lidarLink.position + lidarSensorInitPose.position;
+				var lidarModel = lidarLink.parent;
+				var rayStart = lidarLink.position + lidarModel.rotation * lidarSensorInitPose.position;
 				var rangeData = GetRangeData();
 
 				if (rangeData != null)

diff --git a/Assets/Scripts/Main.cs b/Assets/Scripts/Main.cs
@@ -338,14 +338,14 @@ private IEnumerator LoadModel(string modelPath, string modelFileName)
 			// Debug.Log("Parsed: " + item.Key + ", " + item.Value.Item1 + ", " +  item.Value.Item2);
 			model.Name = GetClonedModelName(model.Name);
 
-			yield return new WaitForEndOfFrame();
 			yield return StartCoroutine(sdfLoader.StartImport(model));
 
 			var targetObject = worldRoot.transform.Find(model.Name);
 
 			var addingModel = uiMainCanvasRoot.GetComponentInChildren<AddModel>();
 			addingModel.SetAddingModelForDeploy(targetObject);
 
+			// Debug.Log("Model Loaded:" + targetObject.name);
 			yield return new WaitForEndOfFrame();
 
 			// for GUI

diff --git a/Assets/Scripts/Tools/SDF/Parser/World.cs b/Assets/Scripts/Tools/SDF/Parser/World.cs
@@ -73,7 +73,7 @@ public class TrackVisual
 				public string view_controller = "orbit";
 
 				// Description: Set the type of projection for the camera. Valid values are "perspective" and "orthographic".
-				public string projection_type= "perspective";
+				public string projection_type = "perspective";
 
 				public TrackVisual track_visual = null;
 
@@ -104,7 +104,7 @@ public class Road
 			// Description: Name of the road
 			public string name = "__default__";
 
- 			// Description: Width of the road
+			// Description: Width of the road
 			public double width = 1;
 
 			// Required: +
@@ -223,13 +223,13 @@ protected override void ParseElements()
 			lights = new Lights(root);
 			plugins = new Plugins(root);
 
-			var gravityStr = (IsValidNode("gravity"))? GetValue<string>("gravity"): "0 0 -9.8";
+			var gravityStr = (IsValidNode("gravity")) ? GetValue<string>("gravity") : "0 0 -9.8";
 			gravity.FromString(gravityStr);
 
 			// Console.WriteLine("{0}", GetType().Name);
 
 			// Console.WriteLine("[{0}] {1} {2} {3} {4}", GetType().Name,
-				// isStatic, isSelfCollide, allowAutoDisable, enableWind);
+			// isStatic, isSelfCollide, allowAutoDisable, enableWind);
 
 			if (IsValidNode("gui"))
 			{

diff --git a/Assets/Scripts/UI/RuntimeGizmo/TransformGizmo.drawing.cs b/Assets/Scripts/UI/RuntimeGizmo/TransformGizmo.drawing.cs
@@ -139,7 +139,7 @@ void SetHandleLines()
 		}
 		int AxisDirectionMultiplier(Vector3 direction, Vector3 otherDirection)
 		{
-			return ExtVector3.IsInDirection(direction, otherDirection)? 1 : -1;
+			return ExtVector3.IsInDirection(direction, otherDirection) ? 1 : -1;
 		}
 
 		void SetHandlePlanes()
@@ -428,7 +428,7 @@ void GetTargetRenderers(in Transform target, List<Renderer> renderers)
 
 		void ClearAllHighlightedRenderers()
 		{
-			foreach(var target in targetRoots)
+			foreach (var target in targetRoots)
 			{
 				RemoveTargetHighlightedRenderers(target.Key);
 			}

diff --git a/Packages/manifest.json b/Packages/manifest.json
@@ -4,10 +4,10 @@
     "com.unity.ide.vscode": "1.2.5",
     "com.unity.mathematics": "1.2.6",
     "com.unity.performance.profile-analyzer": "1.2.2",
-    "com.unity.render-pipelines.universal": "12.1.10",
+    "com.unity.render-pipelines.universal": "12.1.11",
     "com.unity.searcher": "4.9.2",
     "com.unity.textmeshpro": "3.0.6",
-    "com.unity.toolchain.linux-x86_64": "1.0.0",
+    "com.unity.toolchain.linux-x86_64": "2.0.4",
     "com.unity.ugui": "1.0.0",
     "com.unity.modules.ai": "1.0.0",
     "com.unity.modules.animation": "1.0.0",