Merge pull request #52 from lge-ros2/develop

Merge 'develop' branch into 'main'

Assets/Scenes/MainScene.unity

@@ -777,10 +777,10 @@ MonoBehaviour:
   m_GameObject: {fileID: 249819585}
   m_Enabled: 1
   m_EditorHideFlags: 0
-  m_Script: {fileID: 11500000, guid: c6aaa9474a43dce5a9841e90e5846a04, type: 3}
+  m_Script: {fileID: 11500000, guid: a6319b2d05cfd18189eb02f180656d91, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
-  defaultPipeAddress: 127.0.0.1
+  bridgeAddress: 127.0.0.1
 --- !u!114 &249819589
 MonoBehaviour:
   m_ObjectHideFlags: 0
@@ -811,7 +811,7 @@ MonoBehaviour:
   m_Name: 
   m_EditorClassIdentifier: 
   defaultWebSocketAddress: 127.0.0.1
-  defaultWebSocketPort: 8080
+  defaultWebSocketServicePort: 8080
 --- !u!114 &249819592
 MonoBehaviour:
   m_ObjectHideFlags: 0
@@ -3085,9 +3085,9 @@ MonoBehaviour:
   m_Name: 
   m_EditorClassIdentifier: 
   blockControl: 0
-  mainSpeed: 12
-  shiftAdd: 10
-  maxShift: 100
+  mainSpeed: 3
+  shiftAdd: 5
+  maxShift: 50
   camSens: 0.25
   edgeWidth: 30
   edgeSens: 0.05

Assets/Scripts/Connection/DeviceTransporter.cs

@@ -12,19 +12,17 @@ public partial class DeviceTransporter : MonoBehaviour
 {
 	public const bool isTCP = true; // Currently, NetMQ does not support UDP protocol
 	private ushort tagSize = 8;
-	public string defaultPipeAddress = "127.0.0.1";
+	public string bridgeAddress = "127.0.0.1";
 	private int highwatermark = 1000;
 
 	protected void InitializeTransporter()
 	{
-		var enviromentPipeAddress = Environment.GetEnvironmentVariable("SIM_BRIDGE_IP");
+		var enviromentBridgeAddress = Environment.GetEnvironmentVariable("CLOISIM_BRIDGE_IP");
 
-		if (!string.IsNullOrEmpty(enviromentPipeAddress))
+		if (!string.IsNullOrEmpty(enviromentBridgeAddress))
 		{
-			defaultPipeAddress = enviromentPipeAddress;
+			SetPipeAddress(enviromentBridgeAddress);
 		}
-
-		SetPipeAddress(defaultPipeAddress);
 	}
 
 	protected void DestroyTransporter()
@@ -45,14 +43,14 @@ public void SetTagSize(in ushort value)
 		tagSize = value;
 	}
 
-	public void SetPipeAddress(in string pipeAddress)
+	public void SetPipeAddress(in string address)
 	{
-		defaultPipeAddress = pipeAddress;
+		bridgeAddress = address;
 	}
 
 	private string GetAddress(in ushort port)
 	{
-		return ((isTCP)?"tcp":"udp") + "://" + defaultPipeAddress + ":" + port;
+		return ((isTCP)?"tcp":"udp") + "://" + bridgeAddress + ":" + port;
 	}
 
 	private bool StoreTag(ref byte[] targetBuffer, in byte[] targetTag)

Assets/Scripts/Connection/SimulationService.cs

@@ -16,14 +16,14 @@ public class SimulationService : MonoBehaviour
 	public const string Delimiter = "!%!";
 
 	public string defaultWebSocketAddress = "127.0.0.1";
-	public int defaultWebSocketPort = 8080;
+	public int defaultWebSocketServicePort = 8080;
 
 	private WebSocketServer wsServer = null;
 
 	void Awake()
 	{
 		var wsAddress = IPAddress.Parse(defaultWebSocketAddress);
-		wsServer = new WebSocketServer(wsAddress, defaultWebSocketPort);
+		wsServer = new WebSocketServer(wsAddress, defaultWebSocketServicePort);
 	}
 
 	// Start is called before the first frame update
@@ -57,12 +57,16 @@ private void InitializeServices()
 
 		wsServer.AddWebSocketService<SimulationControlService>("/control", () => new SimulationControlService()
 		{
+			IgnoreExtensions = true,
 			modelLoader = modelLoaderComponent,
 			bridgeManager = bridgeManagerComponent
 		});
 
 		var markerVisualizer = gameObject.GetComponent<MarkerVisualizer>();
-		wsServer.AddWebSocketService<MarkerVisualizerService>("/markers", () => new MarkerVisualizerService(markerVisualizer));
+		wsServer.AddWebSocketService<MarkerVisualizerService>("/markers", () => new MarkerVisualizerService(markerVisualizer)
+		{
+			IgnoreExtensions = true
+		});
 	}
 
 	void OnDestroy()

Assets/Scripts/DevicePlugins/UnityRosWorld.cs → Assets/Scripts/DevicePlugins/CLOiSimWorld.cs

@@ -6,7 +6,7 @@
 
 using UnityEngine;
 
-public class UnityRosWorld : DevicePlugin
+public class CLOiSimWorld : DevicePlugin
 {
 	private Clock clock = null;
 
@@ -18,7 +18,7 @@ protected override void OnAwake()
 		clock = gameObject.AddComponent<Clock>();
 
 		modelName = "World";
-		partName = "unity_ros";
+		partName = "cloisim_ros";
 	}
 
 	protected override void OnStart()

Assets/Scripts/DevicePlugins/DevicePlugin.InfoService.cs

@@ -8,8 +8,8 @@
 using System.IO;
 using UnityEngine;
 using ProtoBuf;
-using messages = gazebo.msgs;
-using Any = gazebo.msgs.Any;
+using messages = cloisim.msgs;
+using Any = cloisim.msgs.Any;
 
 public abstract partial class DevicePlugin : DeviceTransporter, IDevicePlugin
 {

Assets/Scripts/DevicePlugins/ElevatorSystem.cs

@@ -10,8 +10,8 @@
 using System.IO;
 using UnityEngine;
 using ProtoBuf;
-using Param = gazebo.msgs.Param;
-using Any = gazebo.msgs.Any;
+using Param = cloisim.msgs.Param;
+using Any = cloisim.msgs.Any;
 
 public partial class ElevatorSystem : DevicePlugin
 {

Assets/Scripts/DevicePlugins/MicomPlugin.cs

@@ -7,8 +7,8 @@
 using System.IO;
 using ProtoBuf;
 using Stopwatch = System.Diagnostics.Stopwatch;
-using messages = gazebo.msgs;
-using Any = gazebo.msgs.Any;
+using messages = cloisim.msgs;
+using Any = cloisim.msgs.Any;
 
 public class MicomPlugin : DevicePlugin
 {

Assets/Scripts/DevicePlugins/MultiCameraPlugin.cs

@@ -8,8 +8,8 @@
 using System.IO;
 using ProtoBuf;
 using Stopwatch = System.Diagnostics.Stopwatch;
-using messages = gazebo.msgs;
-using Any = gazebo.msgs.Any;
+using messages = cloisim.msgs;
+using Any = cloisim.msgs.Any;
 
 public class MultiCameraPlugin : DevicePlugin
 {

Assets/Scripts/DevicePlugins/RealSensePlugin.cs

@@ -8,8 +8,8 @@
 using System.IO;
 using UnityEngine;
 using ProtoBuf;
-using messages = gazebo.msgs;
-using Any = gazebo.msgs.Any;
+using messages = cloisim.msgs;
+using Any = cloisim.msgs.Any;
 
 public class RealSensePlugin : DevicesPlugin
 {

Assets/Scripts/Devices/Camera.cs

@@ -8,7 +8,7 @@
 using UnityEngine;
 using UnityEngine.Rendering;
 using Stopwatch = System.Diagnostics.Stopwatch;
-using messages = gazebo.msgs;
+using messages = cloisim.msgs;
 
 namespace SensorDevices
 {
@@ -167,7 +167,7 @@ private void SetupCamera()
 			var camVFov = DeviceHelper.HorizontalToVerticalFOV(camHFov, cam.aspect);
 			cam.fieldOfView = camVFov;
 
-			// Invert projection matrix for gazebo msg
+			// Invert projection matrix for cloisim msg
 			var projMatrix = DeviceHelper.MakeCustomProjectionMatrix(camHFov, camVFov, cam.nearClipPlane, cam.farClipPlane);
 			var invertMatrix = Matrix4x4.Scale(new Vector3(1, -1, 1));
 			cam.projectionMatrix = projMatrix * invertMatrix;

Assets/Scripts/Devices/Clock.cs

@@ -6,8 +6,8 @@
 
 using System.Collections;
 using UnityEngine;
-using messages = gazebo.msgs;
-using Any = gazebo.msgs.Any;
+using messages = cloisim.msgs;
+using Any = cloisim.msgs.Any;
 
 public class Clock : Device
 {
@@ -22,7 +22,7 @@ public class Clock : Device
 
 	protected override void OnAwake()
 	{
-		deviceName = "Unity Clock";
+		deviceName = "World Clock";
 	}
 
 	protected override void OnStart()

Assets/Scripts/Devices/Contact.cs

@@ -9,7 +9,7 @@
 using System;
 using UnityEngine;
 using Stopwatch = System.Diagnostics.Stopwatch;
-using messages = gazebo.msgs;
+using messages = cloisim.msgs;
 
 namespace SensorDevices
 {

Assets/Scripts/Devices/DeviceHelper.Camera.cs

@@ -6,7 +6,7 @@
 
 using System.Runtime.InteropServices;
 using UnityEngine;
-using messages = gazebo.msgs;
+using messages = cloisim.msgs;
 
 public partial class DeviceHelper
 {

Assets/Scripts/Devices/DeviceHelper.cs

@@ -6,11 +6,11 @@
 
 using System.Runtime.InteropServices;
 using UnityEngine;
-using messages = gazebo.msgs;
+using messages = cloisim.msgs;
 
 public partial class DeviceHelper
 {
-	static Clock clock = null;
+	private static Clock clock = null;
 
 	public static Clock GetGlobalClock()
 	{
@@ -59,11 +59,11 @@ public static string GetPartName(in GameObject targetObject)
 	[DllImport("StdHash")]
 	public static extern ulong GetStringHashCode(string value);
 
-	public static void SetCurrentTime(in messages.Time gazeboMsgsTime, in bool useRealTime = false)
+	public static void SetCurrentTime(in messages.Time msgTime, in bool useRealTime = false)
 	{
 		try
 		{
-			if (gazeboMsgsTime != null)
+			if (msgTime != null)
 			{
 				if (clock == null)
 				{
@@ -78,8 +78,8 @@ public static void SetCurrentTime(in messages.Time gazeboMsgsTime, in bool useRe
 				var realTime = (clock == null) ? Time.realtimeSinceStartup : clock.GetRealTime();
 
 				var timeNow = (useRealTime) ? realTime : simTime;
-				gazeboMsgsTime.Sec = (int)timeNow;
-				gazeboMsgsTime.Nsec = (int)((timeNow - (float)gazeboMsgsTime.Sec) * (float)1e+9);
+				msgTime.Sec = (int)timeNow;
+				msgTime.Nsec = (int)((timeNow - (float)msgTime.Sec) * (float)1e+9);
 			}
 		}
 		catch

Assets/Scripts/Devices/GPS.cs

@@ -7,7 +7,7 @@
 using System.Collections;
 using UnityEngine;
 using Stopwatch = System.Diagnostics.Stopwatch;
-using messages = gazebo.msgs;
+using messages = cloisim.msgs;
 
 namespace SensorDevices
 {
@@ -85,7 +85,7 @@ protected override void GenerateMessage()
 		{
 			DeviceHelper.SetCurrentTime(gps.Time);
 
-			// Get postion in Cartesian gazebo frame
+			// Get postion in Cartesian frame
 			var worldPosition = gpsLink.position;
 
 			// Apply position noise before converting to global frame

Assets/Scripts/Devices/IMU.cs

@@ -6,7 +6,7 @@
 
 using System.Collections;
 using UnityEngine;
-using messages = gazebo.msgs;
+using messages = cloisim.msgs;
 
 namespace SensorDevices
 {

Assets/Scripts/Devices/Lidar.cs

@@ -9,7 +9,7 @@
 using UnityEngine;
 using UnityEngine.Rendering;
 using Stopwatch = System.Diagnostics.Stopwatch;
-using messages = gazebo.msgs;
+using messages = cloisim.msgs;
 
 namespace SensorDevices
 {

Assets/Scripts/Devices/MicomInput.cs

@@ -6,7 +6,7 @@
 
 using System.Collections;
 using UnityEngine;
-using messages = gazebo.msgs;
+using messages = cloisim.msgs;
 
 public class MicomInput : Device
 {

Assets/Scripts/Devices/MicomSensor.Odometry.cs

@@ -7,7 +7,7 @@
 using System.Collections.Generic;
 using System.Collections;
 using UnityEngine;
-using messages = gazebo.msgs;
+using messages = cloisim.msgs;
 
 public partial class MicomSensor : Device
 {

Assets/Scripts/Devices/MicomSensor.cs

@@ -8,7 +8,7 @@
 using System.Collections;
 using UnityEngine;
 using Stopwatch = System.Diagnostics.Stopwatch;
-using messages = gazebo.msgs;
+using messages = cloisim.msgs;
 
 public partial class MicomSensor : Device
 {