From 54b8d318f911387907c4c2126e129ecf52357f8f Mon Sep 17 00:00:00 2001 From: Hyunseok Yang Date: Thu, 14 Jan 2021 14:12:22 +0900 Subject: [PATCH 01/14] Upgrade Unity editor version -> 2019.4.18f1(LTS) --- ProjectSettings/ProjectVersion.txt | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ProjectSettings/ProjectVersion.txt b/ProjectSettings/ProjectVersion.txt index 88062e3b..d8ee6b5a 100644 --- a/ProjectSettings/ProjectVersion.txt +++ b/ProjectSettings/ProjectVersion.txt @@ -1,2 +1,2 @@ -m_EditorVersion: 2019.4.17f1 -m_EditorVersionWithRevision: 2019.4.17f1 (667c8606c536) +m_EditorVersion: 2019.4.18f1 +m_EditorVersionWithRevision: 2019.4.18f1 (3310a4d4f880) From ac528607d02e89a2b8f815584593add10eb8795f Mon Sep 17 00:00:00 2001 From: Hyunseok Yang Date: Thu, 14 Jan 2021 14:18:50 +0900 Subject: [PATCH 02/14] Update package version - Core RP Library: 7.3.1 -> 7.5.2 --- Packages/manifest.json | 2 +- Packages/packages-lock.json | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/Packages/manifest.json b/Packages/manifest.json index 7282de67..465f1667 100644 --- a/Packages/manifest.json +++ b/Packages/manifest.json @@ -2,7 +2,7 @@ "dependencies": { "com.unity.ide.vscode": "1.2.3", "com.unity.mathematics": "1.2.1", - "com.unity.render-pipelines.core": "7.3.1", + "com.unity.render-pipelines.core": "7.5.2", "com.unity.searcher": "4.3.1", "com.unity.textmeshpro": "2.1.3", "com.unity.ugui": "1.0.0", diff --git a/Packages/packages-lock.json b/Packages/packages-lock.json index 0b515eb1..9f27a07f 100644 --- a/Packages/packages-lock.json +++ b/Packages/packages-lock.json @@ -15,7 +15,7 @@ "url": "https://packages.unity.com" }, "com.unity.render-pipelines.core": { - "version": "7.3.1", + "version": "7.5.2", "depth": 0, "source": "registry", "dependencies": { From efe6d3b7b6f2c4a75acd22d1d74dfc2eba397efd Mon Sep 17 00:00:00 2001 From: Hyunseok Yang Date: Thu, 14 Jan 2021 16:46:23 +0900 Subject: [PATCH 03/14] Change namespace of protobuf message - package gazebo.msgs -> cloisim.msgs --- .../Scripts/DevicePlugins/DevicePlugin.InfoService.cs | 4 ++-- Assets/Scripts/DevicePlugins/ElevatorSystem.cs | 4 ++-- Assets/Scripts/DevicePlugins/MicomPlugin.cs | 4 ++-- Assets/Scripts/DevicePlugins/MultiCameraPlugin.cs | 4 ++-- Assets/Scripts/DevicePlugins/RealSensePlugin.cs | 4 ++-- Assets/Scripts/Devices/Camera.cs | 4 ++-- Assets/Scripts/Devices/Clock.cs | 4 ++-- Assets/Scripts/Devices/Contact.cs | 2 +- Assets/Scripts/Devices/DeviceHelper.Camera.cs | 2 +- Assets/Scripts/Devices/DeviceHelper.cs | 10 +++++----- Assets/Scripts/Devices/GPS.cs | 4 ++-- Assets/Scripts/Devices/IMU.cs | 2 +- Assets/Scripts/Devices/Lidar.cs | 2 +- Assets/Scripts/Devices/MicomInput.cs | 2 +- Assets/Scripts/Devices/MicomSensor.Odometry.cs | 2 +- Assets/Scripts/Devices/MicomSensor.cs | 2 +- Assets/Scripts/Devices/MultiCamera.cs | 2 +- Assets/Scripts/Devices/Sonar.cs | 2 +- Assets/Scripts/Tools/ProtobufMessages/any.cs | 6 +++--- Assets/Scripts/Tools/ProtobufMessages/battery.cs | 6 +++--- Assets/Scripts/Tools/ProtobufMessages/camera_lens.cs | 6 +++--- Assets/Scripts/Tools/ProtobufMessages/camerasensor.cs | 6 +++--- Assets/Scripts/Tools/ProtobufMessages/color.cs | 6 +++--- Assets/Scripts/Tools/ProtobufMessages/contact.cs | 6 +++--- Assets/Scripts/Tools/ProtobufMessages/contacts.cs | 6 +++--- Assets/Scripts/Tools/ProtobufMessages/contactsensor.cs | 6 +++--- Assets/Scripts/Tools/ProtobufMessages/distortion.cs | 6 +++--- Assets/Scripts/Tools/ProtobufMessages/gps.cs | 6 +++--- Assets/Scripts/Tools/ProtobufMessages/gps_sensor.cs | 6 +++--- Assets/Scripts/Tools/ProtobufMessages/header.cs | 6 +++--- Assets/Scripts/Tools/ProtobufMessages/image.cs | 6 +++--- Assets/Scripts/Tools/ProtobufMessages/image_stamped.cs | 6 +++--- .../Scripts/Tools/ProtobufMessages/images_stamped.cs | 6 +++--- Assets/Scripts/Tools/ProtobufMessages/imu.cs | 6 +++--- Assets/Scripts/Tools/ProtobufMessages/imu_sensor.cs | 6 +++--- Assets/Scripts/Tools/ProtobufMessages/joint_wrench.cs | 6 +++--- Assets/Scripts/Tools/ProtobufMessages/laserscan.cs | 6 +++--- .../Tools/ProtobufMessages/laserscan_stamped.cs | 6 +++--- Assets/Scripts/Tools/ProtobufMessages/micom.cs | 6 +++--- Assets/Scripts/Tools/ProtobufMessages/param.cs | 6 +++--- Assets/Scripts/Tools/ProtobufMessages/param_v.cs | 6 +++--- Assets/Scripts/Tools/ProtobufMessages/pointcloud.cs | 6 +++--- Assets/Scripts/Tools/ProtobufMessages/pose.cs | 6 +++--- Assets/Scripts/Tools/ProtobufMessages/pose_v.cs | 6 +++--- Assets/Scripts/Tools/ProtobufMessages/poses_stamped.cs | 6 +++--- Assets/Scripts/Tools/ProtobufMessages/quaternion.cs | 6 +++--- Assets/Scripts/Tools/ProtobufMessages/raysensor.cs | 6 +++--- Assets/Scripts/Tools/ProtobufMessages/sensor_noise.cs | 6 +++--- Assets/Scripts/Tools/ProtobufMessages/sonar.cs | 6 +++--- Assets/Scripts/Tools/ProtobufMessages/sonar_stamped.cs | 6 +++--- Assets/Scripts/Tools/ProtobufMessages/time.cs | 6 +++--- Assets/Scripts/Tools/ProtobufMessages/vector2d.cs | 6 +++--- Assets/Scripts/Tools/ProtobufMessages/vector3d.cs | 6 +++--- Assets/Scripts/Tools/ProtobufMessages/wrench.cs | 6 +++--- .../Scripts/Tools/ProtobufMessages/wrench_stamped.cs | 6 +++--- Assets/Scripts/Tools/SDF/World.cs | 3 +-- Assets/Scripts/Tools/SDFImporter/SDF2Unity.Mesh.cs | 2 +- Assets/Scripts/Tools/gen_proto_code.sh | 6 ++---- 58 files changed, 145 insertions(+), 148 deletions(-) diff --git a/Assets/Scripts/DevicePlugins/DevicePlugin.InfoService.cs b/Assets/Scripts/DevicePlugins/DevicePlugin.InfoService.cs index 43744abb..c4451853 100644 --- a/Assets/Scripts/DevicePlugins/DevicePlugin.InfoService.cs +++ b/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 { diff --git a/Assets/Scripts/DevicePlugins/ElevatorSystem.cs b/Assets/Scripts/DevicePlugins/ElevatorSystem.cs index e2b00a41..1cb77344 100644 --- a/Assets/Scripts/DevicePlugins/ElevatorSystem.cs +++ b/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 { diff --git a/Assets/Scripts/DevicePlugins/MicomPlugin.cs b/Assets/Scripts/DevicePlugins/MicomPlugin.cs index 15511bdd..5febce5a 100644 --- a/Assets/Scripts/DevicePlugins/MicomPlugin.cs +++ b/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 { diff --git a/Assets/Scripts/DevicePlugins/MultiCameraPlugin.cs b/Assets/Scripts/DevicePlugins/MultiCameraPlugin.cs index 4c4651f1..cd758a39 100644 --- a/Assets/Scripts/DevicePlugins/MultiCameraPlugin.cs +++ b/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 { diff --git a/Assets/Scripts/DevicePlugins/RealSensePlugin.cs b/Assets/Scripts/DevicePlugins/RealSensePlugin.cs index 5773dc71..37b7f747 100644 --- a/Assets/Scripts/DevicePlugins/RealSensePlugin.cs +++ b/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 { diff --git a/Assets/Scripts/Devices/Camera.cs b/Assets/Scripts/Devices/Camera.cs index 9094f7b8..a580c8ac 100644 --- a/Assets/Scripts/Devices/Camera.cs +++ b/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; diff --git a/Assets/Scripts/Devices/Clock.cs b/Assets/Scripts/Devices/Clock.cs index d1680ecf..85f4b5c6 100644 --- a/Assets/Scripts/Devices/Clock.cs +++ b/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 { diff --git a/Assets/Scripts/Devices/Contact.cs b/Assets/Scripts/Devices/Contact.cs index 310458fb..e4a59426 100644 --- a/Assets/Scripts/Devices/Contact.cs +++ b/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 { diff --git a/Assets/Scripts/Devices/DeviceHelper.Camera.cs b/Assets/Scripts/Devices/DeviceHelper.Camera.cs index 4dac0e53..ac39f3ba 100644 --- a/Assets/Scripts/Devices/DeviceHelper.Camera.cs +++ b/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 { diff --git a/Assets/Scripts/Devices/DeviceHelper.cs b/Assets/Scripts/Devices/DeviceHelper.cs index a1377573..388c2451 100644 --- a/Assets/Scripts/Devices/DeviceHelper.cs +++ b/Assets/Scripts/Devices/DeviceHelper.cs @@ -6,7 +6,7 @@ using System.Runtime.InteropServices; using UnityEngine; -using messages = gazebo.msgs; +using messages = cloisim.msgs; public partial class DeviceHelper { @@ -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 diff --git a/Assets/Scripts/Devices/GPS.cs b/Assets/Scripts/Devices/GPS.cs index 8a92347c..053c2096 100644 --- a/Assets/Scripts/Devices/GPS.cs +++ b/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 diff --git a/Assets/Scripts/Devices/IMU.cs b/Assets/Scripts/Devices/IMU.cs index 008e0726..909ea667 100644 --- a/Assets/Scripts/Devices/IMU.cs +++ b/Assets/Scripts/Devices/IMU.cs @@ -6,7 +6,7 @@ using System.Collections; using UnityEngine; -using messages = gazebo.msgs; +using messages = cloisim.msgs; namespace SensorDevices { diff --git a/Assets/Scripts/Devices/Lidar.cs b/Assets/Scripts/Devices/Lidar.cs index 2e09f45f..353d4b90 100644 --- a/Assets/Scripts/Devices/Lidar.cs +++ b/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 { diff --git a/Assets/Scripts/Devices/MicomInput.cs b/Assets/Scripts/Devices/MicomInput.cs index e7f6a705..c1afd73b 100644 --- a/Assets/Scripts/Devices/MicomInput.cs +++ b/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 { diff --git a/Assets/Scripts/Devices/MicomSensor.Odometry.cs b/Assets/Scripts/Devices/MicomSensor.Odometry.cs index 48eb83d9..0f343473 100644 --- a/Assets/Scripts/Devices/MicomSensor.Odometry.cs +++ b/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 { diff --git a/Assets/Scripts/Devices/MicomSensor.cs b/Assets/Scripts/Devices/MicomSensor.cs index 6b611d13..ee5d6171 100644 --- a/Assets/Scripts/Devices/MicomSensor.cs +++ b/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 { diff --git a/Assets/Scripts/Devices/MultiCamera.cs b/Assets/Scripts/Devices/MultiCamera.cs index 75f31910..0aa44d4d 100644 --- a/Assets/Scripts/Devices/MultiCamera.cs +++ b/Assets/Scripts/Devices/MultiCamera.cs @@ -8,7 +8,7 @@ using System.Collections.Generic; using UnityEngine; using Stopwatch = System.Diagnostics.Stopwatch; -using messages = gazebo.msgs; +using messages = cloisim.msgs; namespace SensorDevices { diff --git a/Assets/Scripts/Devices/Sonar.cs b/Assets/Scripts/Devices/Sonar.cs index ff403d43..0a71ac09 100644 --- a/Assets/Scripts/Devices/Sonar.cs +++ b/Assets/Scripts/Devices/Sonar.cs @@ -8,7 +8,7 @@ using System.Collections.Generic; using UnityEngine; using Stopwatch = System.Diagnostics.Stopwatch; -using messages = gazebo.msgs; +using messages = cloisim.msgs; namespace SensorDevices { diff --git a/Assets/Scripts/Tools/ProtobufMessages/any.cs b/Assets/Scripts/Tools/ProtobufMessages/any.cs index a71dff37..f9cc3331 100644 --- a/Assets/Scripts/Tools/ProtobufMessages/any.cs +++ b/Assets/Scripts/Tools/ProtobufMessages/any.cs @@ -5,8 +5,8 @@ // #region Designer generated code -#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 -namespace gazebo.msgs +#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +namespace cloisim.msgs { [global::ProtoBuf.ProtoContract()] @@ -104,5 +104,5 @@ public enum ValueType } -#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 #endregion diff --git a/Assets/Scripts/Tools/ProtobufMessages/battery.cs b/Assets/Scripts/Tools/ProtobufMessages/battery.cs index 49b9354e..f1fc4543 100644 --- a/Assets/Scripts/Tools/ProtobufMessages/battery.cs +++ b/Assets/Scripts/Tools/ProtobufMessages/battery.cs @@ -5,8 +5,8 @@ // #region Designer generated code -#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 -namespace gazebo.msgs +#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +namespace cloisim.msgs { [global::ProtoBuf.ProtoContract()] @@ -26,5 +26,5 @@ public partial class Battery : global::ProtoBuf.IExtensible } -#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 #endregion diff --git a/Assets/Scripts/Tools/ProtobufMessages/camera_lens.cs b/Assets/Scripts/Tools/ProtobufMessages/camera_lens.cs index ea49350e..feeb42ad 100644 --- a/Assets/Scripts/Tools/ProtobufMessages/camera_lens.cs +++ b/Assets/Scripts/Tools/ProtobufMessages/camera_lens.cs @@ -5,8 +5,8 @@ // #region Designer generated code -#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 -namespace gazebo.msgs +#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +namespace cloisim.msgs { [global::ProtoBuf.ProtoContract()] @@ -114,5 +114,5 @@ public int EnvTextureSize } -#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 #endregion diff --git a/Assets/Scripts/Tools/ProtobufMessages/camerasensor.cs b/Assets/Scripts/Tools/ProtobufMessages/camerasensor.cs index 1051cef7..3f0b1a5b 100644 --- a/Assets/Scripts/Tools/ProtobufMessages/camerasensor.cs +++ b/Assets/Scripts/Tools/ProtobufMessages/camerasensor.cs @@ -5,8 +5,8 @@ // #region Designer generated code -#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 -namespace gazebo.msgs +#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +namespace cloisim.msgs { [global::ProtoBuf.ProtoContract()] @@ -88,5 +88,5 @@ public string SavePath } -#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 #endregion diff --git a/Assets/Scripts/Tools/ProtobufMessages/color.cs b/Assets/Scripts/Tools/ProtobufMessages/color.cs index 9540724f..b6a5fdd8 100644 --- a/Assets/Scripts/Tools/ProtobufMessages/color.cs +++ b/Assets/Scripts/Tools/ProtobufMessages/color.cs @@ -5,8 +5,8 @@ // #region Designer generated code -#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 -namespace gazebo.msgs +#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +namespace cloisim.msgs { [global::ProtoBuf.ProtoContract()] @@ -40,5 +40,5 @@ public float A } -#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 #endregion diff --git a/Assets/Scripts/Tools/ProtobufMessages/contact.cs b/Assets/Scripts/Tools/ProtobufMessages/contact.cs index 86c1dd3c..65b2aa3e 100644 --- a/Assets/Scripts/Tools/ProtobufMessages/contact.cs +++ b/Assets/Scripts/Tools/ProtobufMessages/contact.cs @@ -5,8 +5,8 @@ // #region Designer generated code -#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 -namespace gazebo.msgs +#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +namespace cloisim.msgs { [global::ProtoBuf.ProtoContract()] @@ -44,5 +44,5 @@ public partial class Contact : global::ProtoBuf.IExtensible } -#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 #endregion diff --git a/Assets/Scripts/Tools/ProtobufMessages/contacts.cs b/Assets/Scripts/Tools/ProtobufMessages/contacts.cs index af99f5c9..bc8dfe15 100644 --- a/Assets/Scripts/Tools/ProtobufMessages/contacts.cs +++ b/Assets/Scripts/Tools/ProtobufMessages/contacts.cs @@ -5,8 +5,8 @@ // #region Designer generated code -#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 -namespace gazebo.msgs +#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +namespace cloisim.msgs { [global::ProtoBuf.ProtoContract()] @@ -26,5 +26,5 @@ public partial class Contacts : global::ProtoBuf.IExtensible } -#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 #endregion diff --git a/Assets/Scripts/Tools/ProtobufMessages/contactsensor.cs b/Assets/Scripts/Tools/ProtobufMessages/contactsensor.cs index ce6f81a2..4f507212 100644 --- a/Assets/Scripts/Tools/ProtobufMessages/contactsensor.cs +++ b/Assets/Scripts/Tools/ProtobufMessages/contactsensor.cs @@ -5,8 +5,8 @@ // #region Designer generated code -#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 -namespace gazebo.msgs +#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +namespace cloisim.msgs { [global::ProtoBuf.ProtoContract()] @@ -31,5 +31,5 @@ public string CollisionName } -#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 #endregion diff --git a/Assets/Scripts/Tools/ProtobufMessages/distortion.cs b/Assets/Scripts/Tools/ProtobufMessages/distortion.cs index daf4cc0e..bdcf527b 100644 --- a/Assets/Scripts/Tools/ProtobufMessages/distortion.cs +++ b/Assets/Scripts/Tools/ProtobufMessages/distortion.cs @@ -5,8 +5,8 @@ // #region Designer generated code -#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 -namespace gazebo.msgs +#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +namespace cloisim.msgs { [global::ProtoBuf.ProtoContract()] @@ -73,5 +73,5 @@ public double P2 } -#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 #endregion diff --git a/Assets/Scripts/Tools/ProtobufMessages/gps.cs b/Assets/Scripts/Tools/ProtobufMessages/gps.cs index 7efcfbde..8fae57a9 100644 --- a/Assets/Scripts/Tools/ProtobufMessages/gps.cs +++ b/Assets/Scripts/Tools/ProtobufMessages/gps.cs @@ -5,8 +5,8 @@ // #region Designer generated code -#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 -namespace gazebo.msgs +#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +namespace cloisim.msgs { [global::ProtoBuf.ProtoContract(Name = @"GPS")] @@ -65,5 +65,5 @@ public double VelocityUp } -#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 #endregion diff --git a/Assets/Scripts/Tools/ProtobufMessages/gps_sensor.cs b/Assets/Scripts/Tools/ProtobufMessages/gps_sensor.cs index 916a4992..1337bf4b 100644 --- a/Assets/Scripts/Tools/ProtobufMessages/gps_sensor.cs +++ b/Assets/Scripts/Tools/ProtobufMessages/gps_sensor.cs @@ -5,8 +5,8 @@ // #region Designer generated code -#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 -namespace gazebo.msgs +#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +namespace cloisim.msgs { [global::ProtoBuf.ProtoContract()] @@ -41,5 +41,5 @@ public partial class Sensing : global::ProtoBuf.IExtensible } -#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 #endregion diff --git a/Assets/Scripts/Tools/ProtobufMessages/header.cs b/Assets/Scripts/Tools/ProtobufMessages/header.cs index dd6522c2..7d26a722 100644 --- a/Assets/Scripts/Tools/ProtobufMessages/header.cs +++ b/Assets/Scripts/Tools/ProtobufMessages/header.cs @@ -5,8 +5,8 @@ // #region Designer generated code -#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 -namespace gazebo.msgs +#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +namespace cloisim.msgs { [global::ProtoBuf.ProtoContract()] @@ -44,5 +44,5 @@ public int Index } -#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 #endregion diff --git a/Assets/Scripts/Tools/ProtobufMessages/image.cs b/Assets/Scripts/Tools/ProtobufMessages/image.cs index 59c25915..7343a6a6 100644 --- a/Assets/Scripts/Tools/ProtobufMessages/image.cs +++ b/Assets/Scripts/Tools/ProtobufMessages/image.cs @@ -5,8 +5,8 @@ // #region Designer generated code -#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 -namespace gazebo.msgs +#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +namespace cloisim.msgs { [global::ProtoBuf.ProtoContract()] @@ -35,5 +35,5 @@ public partial class Image : global::ProtoBuf.IExtensible } -#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 #endregion diff --git a/Assets/Scripts/Tools/ProtobufMessages/image_stamped.cs b/Assets/Scripts/Tools/ProtobufMessages/image_stamped.cs index 87acb5c0..74d292e4 100644 --- a/Assets/Scripts/Tools/ProtobufMessages/image_stamped.cs +++ b/Assets/Scripts/Tools/ProtobufMessages/image_stamped.cs @@ -5,8 +5,8 @@ // #region Designer generated code -#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 -namespace gazebo.msgs +#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +namespace cloisim.msgs { [global::ProtoBuf.ProtoContract()] @@ -26,5 +26,5 @@ public partial class ImageStamped : global::ProtoBuf.IExtensible } -#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 #endregion diff --git a/Assets/Scripts/Tools/ProtobufMessages/images_stamped.cs b/Assets/Scripts/Tools/ProtobufMessages/images_stamped.cs index 854bcc25..8acdcb08 100644 --- a/Assets/Scripts/Tools/ProtobufMessages/images_stamped.cs +++ b/Assets/Scripts/Tools/ProtobufMessages/images_stamped.cs @@ -5,8 +5,8 @@ // #region Designer generated code -#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 -namespace gazebo.msgs +#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +namespace cloisim.msgs { [global::ProtoBuf.ProtoContract()] @@ -26,5 +26,5 @@ public partial class ImagesStamped : global::ProtoBuf.IExtensible } -#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 #endregion diff --git a/Assets/Scripts/Tools/ProtobufMessages/imu.cs b/Assets/Scripts/Tools/ProtobufMessages/imu.cs index 75e9b62a..7647ed6b 100644 --- a/Assets/Scripts/Tools/ProtobufMessages/imu.cs +++ b/Assets/Scripts/Tools/ProtobufMessages/imu.cs @@ -5,8 +5,8 @@ // #region Designer generated code -#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 -namespace gazebo.msgs +#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +namespace cloisim.msgs { [global::ProtoBuf.ProtoContract(Name = @"IMU")] @@ -35,5 +35,5 @@ public partial class Imu : global::ProtoBuf.IExtensible } -#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 #endregion diff --git a/Assets/Scripts/Tools/ProtobufMessages/imu_sensor.cs b/Assets/Scripts/Tools/ProtobufMessages/imu_sensor.cs index 4c6e53d2..e272fbb5 100644 --- a/Assets/Scripts/Tools/ProtobufMessages/imu_sensor.cs +++ b/Assets/Scripts/Tools/ProtobufMessages/imu_sensor.cs @@ -5,8 +5,8 @@ // #region Designer generated code -#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 -namespace gazebo.msgs +#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +namespace cloisim.msgs { [global::ProtoBuf.ProtoContract()] @@ -62,5 +62,5 @@ public partial class LinearAcceleration : global::ProtoBuf.IExtensible } -#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 #endregion diff --git a/Assets/Scripts/Tools/ProtobufMessages/joint_wrench.cs b/Assets/Scripts/Tools/ProtobufMessages/joint_wrench.cs index 2da1dd36..926867c4 100644 --- a/Assets/Scripts/Tools/ProtobufMessages/joint_wrench.cs +++ b/Assets/Scripts/Tools/ProtobufMessages/joint_wrench.cs @@ -5,8 +5,8 @@ // #region Designer generated code -#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 -namespace gazebo.msgs +#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +namespace cloisim.msgs { [global::ProtoBuf.ProtoContract()] @@ -38,5 +38,5 @@ public partial class JointWrench : global::ProtoBuf.IExtensible } -#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 #endregion diff --git a/Assets/Scripts/Tools/ProtobufMessages/laserscan.cs b/Assets/Scripts/Tools/ProtobufMessages/laserscan.cs index 1a098f94..ea45fba8 100644 --- a/Assets/Scripts/Tools/ProtobufMessages/laserscan.cs +++ b/Assets/Scripts/Tools/ProtobufMessages/laserscan.cs @@ -5,8 +5,8 @@ // #region Designer generated code -#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 -namespace gazebo.msgs +#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +namespace cloisim.msgs { [global::ProtoBuf.ProtoContract()] @@ -90,5 +90,5 @@ public uint VerticalCount } -#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 #endregion diff --git a/Assets/Scripts/Tools/ProtobufMessages/laserscan_stamped.cs b/Assets/Scripts/Tools/ProtobufMessages/laserscan_stamped.cs index b5296205..9af0a227 100644 --- a/Assets/Scripts/Tools/ProtobufMessages/laserscan_stamped.cs +++ b/Assets/Scripts/Tools/ProtobufMessages/laserscan_stamped.cs @@ -5,8 +5,8 @@ // #region Designer generated code -#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 -namespace gazebo.msgs +#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +namespace cloisim.msgs { [global::ProtoBuf.ProtoContract()] @@ -26,5 +26,5 @@ public partial class LaserScanStamped : global::ProtoBuf.IExtensible } -#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 #endregion diff --git a/Assets/Scripts/Tools/ProtobufMessages/micom.cs b/Assets/Scripts/Tools/ProtobufMessages/micom.cs index 77ecbe0d..cf2e1dbc 100644 --- a/Assets/Scripts/Tools/ProtobufMessages/micom.cs +++ b/Assets/Scripts/Tools/ProtobufMessages/micom.cs @@ -5,8 +5,8 @@ // #region Designer generated code -#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 -namespace gazebo.msgs +#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +namespace cloisim.msgs { [global::ProtoBuf.ProtoContract()] @@ -134,5 +134,5 @@ public partial class Bumper : global::ProtoBuf.IExtensible } -#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 #endregion diff --git a/Assets/Scripts/Tools/ProtobufMessages/param.cs b/Assets/Scripts/Tools/ProtobufMessages/param.cs index bce5ee32..2923a559 100644 --- a/Assets/Scripts/Tools/ProtobufMessages/param.cs +++ b/Assets/Scripts/Tools/ProtobufMessages/param.cs @@ -5,8 +5,8 @@ // #region Designer generated code -#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 -namespace gazebo.msgs +#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +namespace cloisim.msgs { [global::ProtoBuf.ProtoContract()] @@ -29,5 +29,5 @@ public partial class Param : global::ProtoBuf.IExtensible } -#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 #endregion diff --git a/Assets/Scripts/Tools/ProtobufMessages/param_v.cs b/Assets/Scripts/Tools/ProtobufMessages/param_v.cs index dbf77977..903bd2f3 100644 --- a/Assets/Scripts/Tools/ProtobufMessages/param_v.cs +++ b/Assets/Scripts/Tools/ProtobufMessages/param_v.cs @@ -5,8 +5,8 @@ // #region Designer generated code -#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 -namespace gazebo.msgs +#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +namespace cloisim.msgs { [global::ProtoBuf.ProtoContract(Name = @"Param_V")] @@ -23,5 +23,5 @@ public partial class ParamV : global::ProtoBuf.IExtensible } -#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 #endregion diff --git a/Assets/Scripts/Tools/ProtobufMessages/pointcloud.cs b/Assets/Scripts/Tools/ProtobufMessages/pointcloud.cs index 42ae64f1..125a0105 100644 --- a/Assets/Scripts/Tools/ProtobufMessages/pointcloud.cs +++ b/Assets/Scripts/Tools/ProtobufMessages/pointcloud.cs @@ -5,8 +5,8 @@ // #region Designer generated code -#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 -namespace gazebo.msgs +#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +namespace cloisim.msgs { [global::ProtoBuf.ProtoContract()] @@ -23,5 +23,5 @@ public partial class PointCloud : global::ProtoBuf.IExtensible } -#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 #endregion diff --git a/Assets/Scripts/Tools/ProtobufMessages/pose.cs b/Assets/Scripts/Tools/ProtobufMessages/pose.cs index 76ce2472..3f8d6854 100644 --- a/Assets/Scripts/Tools/ProtobufMessages/pose.cs +++ b/Assets/Scripts/Tools/ProtobufMessages/pose.cs @@ -5,8 +5,8 @@ // #region Designer generated code -#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 -namespace gazebo.msgs +#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +namespace cloisim.msgs { [global::ProtoBuf.ProtoContract()] @@ -47,5 +47,5 @@ public uint Id } -#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 #endregion diff --git a/Assets/Scripts/Tools/ProtobufMessages/pose_v.cs b/Assets/Scripts/Tools/ProtobufMessages/pose_v.cs index a3370e48..49e7e59e 100644 --- a/Assets/Scripts/Tools/ProtobufMessages/pose_v.cs +++ b/Assets/Scripts/Tools/ProtobufMessages/pose_v.cs @@ -5,8 +5,8 @@ // #region Designer generated code -#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 -namespace gazebo.msgs +#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +namespace cloisim.msgs { [global::ProtoBuf.ProtoContract(Name = @"Pose_V")] @@ -23,5 +23,5 @@ public partial class PoseV : global::ProtoBuf.IExtensible } -#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 #endregion diff --git a/Assets/Scripts/Tools/ProtobufMessages/poses_stamped.cs b/Assets/Scripts/Tools/ProtobufMessages/poses_stamped.cs index 650230a6..8b898d32 100644 --- a/Assets/Scripts/Tools/ProtobufMessages/poses_stamped.cs +++ b/Assets/Scripts/Tools/ProtobufMessages/poses_stamped.cs @@ -5,8 +5,8 @@ // #region Designer generated code -#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 -namespace gazebo.msgs +#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +namespace cloisim.msgs { [global::ProtoBuf.ProtoContract()] @@ -26,5 +26,5 @@ public partial class PosesStamped : global::ProtoBuf.IExtensible } -#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 #endregion diff --git a/Assets/Scripts/Tools/ProtobufMessages/quaternion.cs b/Assets/Scripts/Tools/ProtobufMessages/quaternion.cs index b39c0b99..352646f5 100644 --- a/Assets/Scripts/Tools/ProtobufMessages/quaternion.cs +++ b/Assets/Scripts/Tools/ProtobufMessages/quaternion.cs @@ -5,8 +5,8 @@ // #region Designer generated code -#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 -namespace gazebo.msgs +#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +namespace cloisim.msgs { [global::ProtoBuf.ProtoContract()] @@ -32,5 +32,5 @@ public partial class Quaternion : global::ProtoBuf.IExtensible } -#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 #endregion diff --git a/Assets/Scripts/Tools/ProtobufMessages/raysensor.cs b/Assets/Scripts/Tools/ProtobufMessages/raysensor.cs index e638ce9d..bc590c9f 100644 --- a/Assets/Scripts/Tools/ProtobufMessages/raysensor.cs +++ b/Assets/Scripts/Tools/ProtobufMessages/raysensor.cs @@ -5,8 +5,8 @@ // #region Designer generated code -#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 -namespace gazebo.msgs +#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +namespace cloisim.msgs { [global::ProtoBuf.ProtoContract()] @@ -140,5 +140,5 @@ public double RangeResolution } -#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 #endregion diff --git a/Assets/Scripts/Tools/ProtobufMessages/sensor_noise.cs b/Assets/Scripts/Tools/ProtobufMessages/sensor_noise.cs index 45784c75..36710003 100644 --- a/Assets/Scripts/Tools/ProtobufMessages/sensor_noise.cs +++ b/Assets/Scripts/Tools/ProtobufMessages/sensor_noise.cs @@ -5,8 +5,8 @@ // #region Designer generated code -#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 -namespace gazebo.msgs +#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +namespace cloisim.msgs { [global::ProtoBuf.ProtoContract()] @@ -84,5 +84,5 @@ public enum Type } -#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 #endregion diff --git a/Assets/Scripts/Tools/ProtobufMessages/sonar.cs b/Assets/Scripts/Tools/ProtobufMessages/sonar.cs index 95a5f185..e5cfa882 100644 --- a/Assets/Scripts/Tools/ProtobufMessages/sonar.cs +++ b/Assets/Scripts/Tools/ProtobufMessages/sonar.cs @@ -5,8 +5,8 @@ // #region Designer generated code -#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 -namespace gazebo.msgs +#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +namespace cloisim.msgs { [global::ProtoBuf.ProtoContract()] @@ -41,5 +41,5 @@ public partial class Sonar : global::ProtoBuf.IExtensible } -#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 #endregion diff --git a/Assets/Scripts/Tools/ProtobufMessages/sonar_stamped.cs b/Assets/Scripts/Tools/ProtobufMessages/sonar_stamped.cs index a351c3de..6228d0b7 100644 --- a/Assets/Scripts/Tools/ProtobufMessages/sonar_stamped.cs +++ b/Assets/Scripts/Tools/ProtobufMessages/sonar_stamped.cs @@ -5,8 +5,8 @@ // #region Designer generated code -#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 -namespace gazebo.msgs +#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +namespace cloisim.msgs { [global::ProtoBuf.ProtoContract()] @@ -26,5 +26,5 @@ public partial class SonarStamped : global::ProtoBuf.IExtensible } -#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 #endregion diff --git a/Assets/Scripts/Tools/ProtobufMessages/time.cs b/Assets/Scripts/Tools/ProtobufMessages/time.cs index d6149fef..c0dd0610 100644 --- a/Assets/Scripts/Tools/ProtobufMessages/time.cs +++ b/Assets/Scripts/Tools/ProtobufMessages/time.cs @@ -5,8 +5,8 @@ // #region Designer generated code -#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 -namespace gazebo.msgs +#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +namespace cloisim.msgs { [global::ProtoBuf.ProtoContract()] @@ -26,5 +26,5 @@ public partial class Time : global::ProtoBuf.IExtensible } -#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 #endregion diff --git a/Assets/Scripts/Tools/ProtobufMessages/vector2d.cs b/Assets/Scripts/Tools/ProtobufMessages/vector2d.cs index facfd4d5..2a1dd48b 100644 --- a/Assets/Scripts/Tools/ProtobufMessages/vector2d.cs +++ b/Assets/Scripts/Tools/ProtobufMessages/vector2d.cs @@ -5,8 +5,8 @@ // #region Designer generated code -#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 -namespace gazebo.msgs +#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +namespace cloisim.msgs { [global::ProtoBuf.ProtoContract()] @@ -26,5 +26,5 @@ public partial class Vector2d : global::ProtoBuf.IExtensible } -#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 #endregion diff --git a/Assets/Scripts/Tools/ProtobufMessages/vector3d.cs b/Assets/Scripts/Tools/ProtobufMessages/vector3d.cs index 0fe959a6..d7971dcd 100644 --- a/Assets/Scripts/Tools/ProtobufMessages/vector3d.cs +++ b/Assets/Scripts/Tools/ProtobufMessages/vector3d.cs @@ -5,8 +5,8 @@ // #region Designer generated code -#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 -namespace gazebo.msgs +#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +namespace cloisim.msgs { [global::ProtoBuf.ProtoContract()] @@ -29,5 +29,5 @@ public partial class Vector3d : global::ProtoBuf.IExtensible } -#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 #endregion diff --git a/Assets/Scripts/Tools/ProtobufMessages/wrench.cs b/Assets/Scripts/Tools/ProtobufMessages/wrench.cs index cd5e8902..48b0cd36 100644 --- a/Assets/Scripts/Tools/ProtobufMessages/wrench.cs +++ b/Assets/Scripts/Tools/ProtobufMessages/wrench.cs @@ -5,8 +5,8 @@ // #region Designer generated code -#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 -namespace gazebo.msgs +#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +namespace cloisim.msgs { [global::ProtoBuf.ProtoContract()] @@ -29,5 +29,5 @@ public partial class Wrench : global::ProtoBuf.IExtensible } -#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 #endregion diff --git a/Assets/Scripts/Tools/ProtobufMessages/wrench_stamped.cs b/Assets/Scripts/Tools/ProtobufMessages/wrench_stamped.cs index 1bf50865..41ec3ac3 100644 --- a/Assets/Scripts/Tools/ProtobufMessages/wrench_stamped.cs +++ b/Assets/Scripts/Tools/ProtobufMessages/wrench_stamped.cs @@ -5,8 +5,8 @@ // #region Designer generated code -#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 -namespace gazebo.msgs +#pragma warning disable CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +namespace cloisim.msgs { [global::ProtoBuf.ProtoContract()] @@ -26,5 +26,5 @@ public partial class WrenchStamped : global::ProtoBuf.IExtensible } -#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 +#pragma warning restore CS0612, CS0618, CS1591, CS3021, IDE0079, IDE1006, RCS1036, RCS1057, RCS1085, RCS1192 #endregion diff --git a/Assets/Scripts/Tools/SDF/World.cs b/Assets/Scripts/Tools/SDF/World.cs index 45ed1ac2..cbf04685 100644 --- a/Assets/Scripts/Tools/SDF/World.cs +++ b/Assets/Scripts/Tools/SDF/World.cs @@ -70,11 +70,10 @@ protected override void ParseElements() { var value = GetValue("gui/camera/pose").ToLower(); // Console.WriteLine(value); + // x y z roll pitch yaw string[] poseStr = value.Split(' '); - // Convert Axis - // gazebo x y z => unity x z y gui_camera_pose = new Pose(); gui_camera_pose.Pos.X = Convert.ToDouble(poseStr[0]); gui_camera_pose.Pos.Y = Convert.ToDouble(poseStr[1]); diff --git a/Assets/Scripts/Tools/SDFImporter/SDF2Unity.Mesh.cs b/Assets/Scripts/Tools/SDFImporter/SDF2Unity.Mesh.cs index 24d4fea6..22b8ee87 100644 --- a/Assets/Scripts/Tools/SDFImporter/SDF2Unity.Mesh.cs +++ b/Assets/Scripts/Tools/SDFImporter/SDF2Unity.Mesh.cs @@ -274,7 +274,7 @@ public static GameObject LoadMeshObject(in string meshPath, in Vector3 eulerRota // Create GameObjects from nodes var nodeObject = ConvertAssimpNodeToGameObject(scene.RootNode, meshMats, scale.x, scale.y, scale.z); - // Rotate meshes for Unity world since all 3D object meshes are oriented to gazebo coordinates + // Rotate meshes for Unity world since all 3D object meshes are oriented to right handed coordinates var meshRotation = Quaternion.Euler(eulerRotation.x, eulerRotation.y, eulerRotation.z); foreach (var meshFilter in nodeObject.GetComponentsInChildren()) { diff --git a/Assets/Scripts/Tools/gen_proto_code.sh b/Assets/Scripts/Tools/gen_proto_code.sh index e3d3168c..7b8acc2a 100755 --- a/Assets/Scripts/Tools/gen_proto_code.sh +++ b/Assets/Scripts/Tools/gen_proto_code.sh @@ -11,8 +11,7 @@ PROTOGEN="protogen" ## 2. check and edit here ## set the location of protobuf messages in absolute path -PROTO_MSGS_PATH="../../../../sim_device/driver_sim_interfaces/msgs/" - +PROTO_MSGS_PATH="../../../../cloi3_ws/src/cloisim_ros/cloisim_ros_protobuf_msgs/msgs/" ## 3. target protobuf message ## @@ -22,8 +21,7 @@ TARGET_PROTO_MSGS="" MSG="header any param param_v color " MSG+="time vector2d vector3d quaternion pose pose_v poses_stamped " MSG+="image images_stamped image_stamped camerasensor distortion camera_lens " -MSG+="laserscan laserscan_stamped raysensor " -MSG+="pointcloud " +MSG+="laserscan laserscan_stamped raysensor pointcloud " MSG+="micom battery " MSG+="contact contacts contactsensor wrench wrench_stamped joint_wrench " MSG+="gps gps_sensor " From c5190e65fd27f12370b9c17cf69bb025a22cd4c3 Mon Sep 17 00:00:00 2001 From: Hyunseok Yang Date: Thu, 14 Jan 2021 17:04:37 +0900 Subject: [PATCH 04/14] Change API name in SDF parser - SetByString -> FromString --- Assets/Scripts/Tools/SDF/Geometry.cs | 8 ++++---- Assets/Scripts/Tools/SDF/Joint.cs | 4 ++-- Assets/Scripts/Tools/SDF/Light.cs | 6 +++--- Assets/Scripts/Tools/SDF/Link.cs | 2 +- Assets/Scripts/Tools/SDF/Material.cs | 10 +++++----- Assets/Scripts/Tools/SDF/Pose.cs | 24 ++---------------------- Assets/Scripts/Tools/SDF/Sensor.Parse.cs | 2 +- Assets/Scripts/Tools/SDF/World.cs | 2 +- 8 files changed, 19 insertions(+), 39 deletions(-) diff --git a/Assets/Scripts/Tools/SDF/Geometry.cs b/Assets/Scripts/Tools/SDF/Geometry.cs index 459a97c5..33ec1b98 100644 --- a/Assets/Scripts/Tools/SDF/Geometry.cs +++ b/Assets/Scripts/Tools/SDF/Geometry.cs @@ -37,7 +37,7 @@ protected override void ParseElements() Type = "box"; shape = new Box(); string sizeStr = GetValue("box/size"); - (shape as Box).size.SetByString(sizeStr); + (shape as Box).size.FromString(sizeStr); } else if (IsValidNode("mesh")) { @@ -49,7 +49,7 @@ protected override void ParseElements() if (string.IsNullOrEmpty(scale)) (shape as Mesh).scale.Set(1.0f, 1.0f, 1.0f); else - (shape as Mesh).scale.SetByString(scale); + (shape as Mesh).scale.FromString(scale); // Console.WriteLine("mesh uri : " + (shape as Mesh).uri + ", scale:" + scale); } @@ -71,10 +71,10 @@ protected override void ParseElements() Type = "plane"; shape = new Plane(); string normal = GetValue("plane/normal"); - (shape as Plane).normal.SetByString(normal); + (shape as Plane).normal.FromString(normal); string size = GetValue("plane/size"); - (shape as Plane).size.SetByString(size); + (shape as Plane).size.FromString(size); } else if (IsValidNode("height") || IsValidNode("image") || diff --git a/Assets/Scripts/Tools/SDF/Joint.cs b/Assets/Scripts/Tools/SDF/Joint.cs index 8dc3acc3..e0fc200b 100644 --- a/Assets/Scripts/Tools/SDF/Joint.cs +++ b/Assets/Scripts/Tools/SDF/Joint.cs @@ -110,7 +110,7 @@ protected override void ParseElements() case "prismatic": axis = new Axis(); var xyzStr = GetValue("axis/xyz"); - axis.xyz.SetByString(xyzStr); + axis.xyz.FromString(xyzStr); if (IsValidNode("axis/limit")) { @@ -128,7 +128,7 @@ protected override void ParseElements() { axis2 = new Axis(); xyzStr = GetValue("axis2/xyz"); - axis2.xyz.SetByString(xyzStr); + axis2.xyz.FromString(xyzStr); if (IsValidNode("axis2/limit")) { diff --git a/Assets/Scripts/Tools/SDF/Light.cs b/Assets/Scripts/Tools/SDF/Light.cs index 1e71ee68..7e68bbdc 100644 --- a/Assets/Scripts/Tools/SDF/Light.cs +++ b/Assets/Scripts/Tools/SDF/Light.cs @@ -35,13 +35,13 @@ protected override void ParseElements() cast_shadow = GetValue("cast_shadows"); if (IsValidNode("diffuse")) - diffuse.SetByString(GetValue("diffuse")); + diffuse.FromString(GetValue("diffuse")); if (IsValidNode("specular")) - diffuse.SetByString(GetValue("specular")); + diffuse.FromString(GetValue("specular")); if (IsValidNode("direction")) - direction.SetByString(GetValue("direction")); + direction.FromString(GetValue("direction")); } } } \ No newline at end of file diff --git a/Assets/Scripts/Tools/SDF/Link.cs b/Assets/Scripts/Tools/SDF/Link.cs index 5cce4388..730bdbfc 100644 --- a/Assets/Scripts/Tools/SDF/Link.cs +++ b/Assets/Scripts/Tools/SDF/Link.cs @@ -112,7 +112,7 @@ protected override void ParseElements() inertial.iyz = GetValue("inertial/inertia/iyz"); inertial.izz = GetValue("inertial/inertia/izz"); var poseStr = GetValue("inertial/pose"); - inertial.pose.SetByString(poseStr); + inertial.pose.FromString(poseStr); // Console.WriteLine("Link Mass: " + inertial.mass); } } diff --git a/Assets/Scripts/Tools/SDF/Material.cs b/Assets/Scripts/Tools/SDF/Material.cs index 55026848..01ac1a35 100644 --- a/Assets/Scripts/Tools/SDF/Material.cs +++ b/Assets/Scripts/Tools/SDF/Material.cs @@ -16,7 +16,7 @@ public class Color public double B = 0.0; public double A = 1.0; - public void SetByString(string value) + public void FromString(string value) { if (string.IsNullOrEmpty(value)) return; @@ -71,25 +71,25 @@ protected override void ParseElements() if (IsValidNode("ambient")) { ambient = new Color(); - ambient.SetByString(GetValue("ambient")); + ambient.FromString(GetValue("ambient")); } if (IsValidNode("diffuse")) { diffuse = new Color(); - diffuse.SetByString(GetValue("diffuse")); + diffuse.FromString(GetValue("diffuse")); } if (IsValidNode("specular")) { specular = new Color(); - specular.SetByString(GetValue("specular")); + specular.FromString(GetValue("specular")); } if (IsValidNode("emissive")) { emissive = new Color(); - emissive.SetByString(GetValue("emissive")); + emissive.FromString(GetValue("emissive")); } } } diff --git a/Assets/Scripts/Tools/SDF/Pose.cs b/Assets/Scripts/Tools/SDF/Pose.cs index e1578eb3..474075a8 100644 --- a/Assets/Scripts/Tools/SDF/Pose.cs +++ b/Assets/Scripts/Tools/SDF/Pose.cs @@ -43,11 +43,6 @@ public void Set(T _x, T _y) } public void FromString(in string value) - { - SetByString(value); - } - - public void SetByString(in string value) { if (string.IsNullOrEmpty(value)) { @@ -108,11 +103,6 @@ public void Set(T _x, T _y, T _z) } public void FromString(in string value) - { - SetByString(value); - } - - public void SetByString(in string value) { if (string.IsNullOrEmpty(value)) { @@ -184,11 +174,6 @@ public T Yaw } public void FromString(in string value) - { - SetByString(value); - } - - public void SetByString(in string value) { if (string.IsNullOrEmpty(value)) { @@ -245,11 +230,6 @@ public Quaternion Rot } public void FromString(in string value) - { - SetByString(value); - } - - public void SetByString(in string value) { if (string.IsNullOrEmpty(value)) { @@ -259,8 +239,8 @@ public void SetByString(in string value) var tmp = value.Trim().Split(' '); if (tmp.Length == 6) { - pos.SetByString(tmp[0] + " " + tmp[1] + " " + tmp[2]); - rot.SetByString(tmp[3] + " " + tmp[4] + " " + tmp[5]); + pos.FromString(tmp[0] + " " + tmp[1] + " " + tmp[2]); + rot.FromString(tmp[3] + " " + tmp[4] + " " + tmp[5]); } } diff --git a/Assets/Scripts/Tools/SDF/Sensor.Parse.cs b/Assets/Scripts/Tools/SDF/Sensor.Parse.cs index e31a72a2..9aca59ed 100644 --- a/Assets/Scripts/Tools/SDF/Sensor.Parse.cs +++ b/Assets/Scripts/Tools/SDF/Sensor.Parse.cs @@ -113,7 +113,7 @@ private Camera ParseCamera(in int index = 1) camera.distortion.k3 = GetValue(cameraElement + "/distortion/k3"); camera.distortion.p1 = GetValue(cameraElement + "/distortion/p1"); camera.distortion.p2 = GetValue(cameraElement + "/distortion/p2"); - camera.distortion.center.SetByString(GetValue(cameraElement + "/distortion/center")); + camera.distortion.center.FromString(GetValue(cameraElement + "/distortion/center")); } if (IsValidNode(cameraElement + "/lens")) diff --git a/Assets/Scripts/Tools/SDF/World.cs b/Assets/Scripts/Tools/SDF/World.cs index cbf04685..df442c62 100644 --- a/Assets/Scripts/Tools/SDF/World.cs +++ b/Assets/Scripts/Tools/SDF/World.cs @@ -55,7 +55,7 @@ protected override void ParseElements() var gravityStr = GetValue("static"); gravity = new Vector3(); - gravity.SetByString(gravityStr); + gravity.FromString(gravityStr); // Console.WriteLine("{0}", GetType().Name); From 00b8114c2865fe4928dfb66e63e8a18a7378ee41 Mon Sep 17 00:00:00 2001 From: Hyunseok Yang Date: Thu, 14 Jan 2021 17:11:39 +0900 Subject: [PATCH 05/14] Bug fix: Remove visual object for collision area. --- .../Tools/SDFImporter/SDFImplement.Collision.cs | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/Assets/Scripts/Tools/SDFImporter/SDFImplement.Collision.cs b/Assets/Scripts/Tools/SDFImporter/SDFImplement.Collision.cs index 26e51f52..b2034ff0 100644 --- a/Assets/Scripts/Tools/SDFImporter/SDFImplement.Collision.cs +++ b/Assets/Scripts/Tools/SDFImporter/SDFImplement.Collision.cs @@ -94,6 +94,18 @@ public static void Make(GameObject targetObject) { GameObject.Destroy(childTransform.gameObject); } + else + { + if (targetObject.TryGetComponent(out var meshRenderer)) + { + GameObject.Destroy(meshRenderer); + } + + if (targetObject.TryGetComponent(out var meshFilter)) + { + GameObject.Destroy(meshFilter); + } + } mergedMesh.name = targetObject.name; From f21848a811b116a0c2ca86478f222833daf9fa57 Mon Sep 17 00:00:00 2001 From: Hyunseok Yang Date: Tue, 19 Jan 2021 15:23:25 +0900 Subject: [PATCH 06/14] Change name of environment variable - SIM_BRIDGE_IP -> CLOISIM_BRIDGE_IP change name of variable - unity_ros -> cloisim_ros --- Assets/Scripts/Connection/DeviceTransporter.cs | 16 +++++++--------- Assets/Scripts/Connection/SimulationService.cs | 10 +++++++--- .../{UnityRosWorld.cs => CLOiSimWorld.cs} | 4 ++-- Assets/Scripts/Devices/Clock.cs | 2 +- Assets/Scripts/Devices/DeviceHelper.cs | 2 +- Assets/Scripts/ModelLoader.cs | 2 +- .../Scripts/Services/SimulationControlService.cs | 1 + 7 files changed, 20 insertions(+), 17 deletions(-) rename Assets/Scripts/DevicePlugins/{UnityRosWorld.cs => CLOiSimWorld.cs} (89%) diff --git a/Assets/Scripts/Connection/DeviceTransporter.cs b/Assets/Scripts/Connection/DeviceTransporter.cs index 44a37da5..fae521b1 100644 --- a/Assets/Scripts/Connection/DeviceTransporter.cs +++ b/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) diff --git a/Assets/Scripts/Connection/SimulationService.cs b/Assets/Scripts/Connection/SimulationService.cs index e023606e..3d418194 100644 --- a/Assets/Scripts/Connection/SimulationService.cs +++ b/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("/control", () => new SimulationControlService() { + IgnoreExtensions = true, modelLoader = modelLoaderComponent, bridgeManager = bridgeManagerComponent }); var markerVisualizer = gameObject.GetComponent(); - wsServer.AddWebSocketService("/markers", () => new MarkerVisualizerService(markerVisualizer)); + wsServer.AddWebSocketService("/markers", () => new MarkerVisualizerService(markerVisualizer) + { + IgnoreExtensions = true + }); } void OnDestroy() diff --git a/Assets/Scripts/DevicePlugins/UnityRosWorld.cs b/Assets/Scripts/DevicePlugins/CLOiSimWorld.cs similarity index 89% rename from Assets/Scripts/DevicePlugins/UnityRosWorld.cs rename to Assets/Scripts/DevicePlugins/CLOiSimWorld.cs index 0f906a84..a36761f7 100644 --- a/Assets/Scripts/DevicePlugins/UnityRosWorld.cs +++ b/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(); modelName = "World"; - partName = "unity_ros"; + partName = "cloisim_ros"; } protected override void OnStart() diff --git a/Assets/Scripts/Devices/Clock.cs b/Assets/Scripts/Devices/Clock.cs index 85f4b5c6..6cb2814b 100644 --- a/Assets/Scripts/Devices/Clock.cs +++ b/Assets/Scripts/Devices/Clock.cs @@ -54,7 +54,7 @@ protected override void InitializeMessages() realTimeParam.Value = new Any { Type = Any.ValueType.Time, TimeValue = realTime }; timeInfo.Childrens.Add(realTimeParam); } - + protected override IEnumerator MainDeviceWorker() { var waitForSeconds = new WaitForSeconds(UpdatePeriod); diff --git a/Assets/Scripts/Devices/DeviceHelper.cs b/Assets/Scripts/Devices/DeviceHelper.cs index 388c2451..59f89a7f 100644 --- a/Assets/Scripts/Devices/DeviceHelper.cs +++ b/Assets/Scripts/Devices/DeviceHelper.cs @@ -10,7 +10,7 @@ public partial class DeviceHelper { - static Clock clock = null; + private static Clock clock = null; public static Clock GetGlobalClock() { diff --git a/Assets/Scripts/ModelLoader.cs b/Assets/Scripts/ModelLoader.cs index 1af4e75b..d2c765df 100644 --- a/Assets/Scripts/ModelLoader.cs +++ b/Assets/Scripts/ModelLoader.cs @@ -222,7 +222,7 @@ private IEnumerator ResetSimulation() } /// - /// Eg: CLOiSim.x86_64 -worldFile gazebo.world + /// Eg: CLOiSim.x86_64 -worldFile lg_seocho.world /// read the "-worldFile" command line argument /// private static string GetArgument(in string name) diff --git a/Assets/Scripts/Services/SimulationControlService.cs b/Assets/Scripts/Services/SimulationControlService.cs index 73cea082..5acd3935 100644 --- a/Assets/Scripts/Services/SimulationControlService.cs +++ b/Assets/Scripts/Services/SimulationControlService.cs @@ -78,6 +78,7 @@ public class SimulationControlService : WebSocketBehavior protected override void OnOpen() { + Log.Level = LogLevel.Fatal; Debug.Log("Open SimulationControlService"); } From 0cceb0a51c84ee2ce6870ecccb32bfa815684a30 Mon Sep 17 00:00:00 2001 From: Hyunseok Yang Date: Tue, 19 Jan 2021 15:45:31 +0900 Subject: [PATCH 07/14] Update README.md file --- README.md | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/README.md b/README.md index 97792bdf..89017c5b 100644 --- a/README.md +++ b/README.md @@ -15,7 +15,7 @@ This project consists of - Network modules -> Module for transporting sensor data or control signal - Web service -> Module for controling simulation through a web interface -[![unity_multirobot](https://user-images.githubusercontent.com/21001946/104274319-e159cc00-54e3-11eb-907d-6ae49f3ed8af.png)](https://user-images.githubusercontent.com/21001946/104274159-96d84f80-54e3-11eb-9975-9d4bbbbdd586.mp4) +[![cloisim](https://user-images.githubusercontent.com/21001946/104274319-e159cc00-54e3-11eb-907d-6ae49f3ed8af.png)](https://user-images.githubusercontent.com/21001946/104274159-96d84f80-54e3-11eb-9975-9d4bbbbdd586.mp4) ## Features @@ -46,7 +46,7 @@ It does not support optional elmenets like ``, `