CLOiSim-2.7.1

[Minor Changes]
* UI: preserve previous transfom type when press esc key(clear target)
* UI: Close model list UI panel pressing esc key
* SDf.Importer: Modify log messages

[Bug fix]
* Main: Fix handling arguement in Main class
* SDF.Helper.Model: Add protecttion code in SDF.Helper.Model
* UI: Add protection code in ActorControl

Assets/Scenes/MainScene.unity

@@ -1780,6 +1780,7 @@ MonoBehaviour:
   - ../lgrs_resource/assets/models/
   - ../../lgrs_resource/assets/models/
   - ../sample_resources/All
+  - ../cloi_resources
   worldRootDirectories:
   - ../sample_resources/worlds/
   - ../lgrs_resource/worlds/

Assets/Scripts/Main.cs

@@ -248,10 +248,11 @@ void Start()
 		if (string.IsNullOrEmpty(newWorldFilename))
 		{
 			newWorldFilename = GetArgument("-worldFile");
-			if (!string.IsNullOrEmpty(newWorldFilename))
-			{
-				worldFileName = newWorldFilename;
-			}
+		}
+
+		if (!string.IsNullOrEmpty(newWorldFilename))
+		{
+			worldFileName = newWorldFilename;
 		}
 
 		if (!doNotLoad && !string.IsNullOrEmpty(worldFileName))
@@ -438,12 +439,12 @@ private IEnumerator ResetSimulation()
 	/// Eg:  CLOiSim.x86_64 -worldFile lg_seocho.world
 	/// read the "-worldFile" command line argument
 	/// </summary>
-	private static string GetArgument(in string name)
+	private static string GetArgument(in string arg_name)
 	{
 		var args = Environment.GetCommandLineArgs();
 		for (var i = 0; i < args.Length; i++)
 		{
-			if (args[i] == name && args.Length > i + 1)
+			if (args[i].CompareTo(arg_name) == 0 && args.Length > i + 1)
 			{
 				return args[i + 1];
 			}

Assets/Scripts/Tools/SDF/Helper/Model.cs

@@ -71,12 +71,14 @@ private void AddNavMeshObstalceForNonRobot()
 					if (parentObject != null && parentObject.CompareTag("Collision"))
 					{
 						var navMeshObstacle = parentObject.gameObject.AddComponent<UEAI.NavMeshObstacle>();
-						navMeshObstacle.carving = true;
-						navMeshObstacle.carveOnlyStationary = true;
-						navMeshObstacle.carvingMoveThreshold = CarvingMoveThreshold;
-						navMeshObstacle.carvingTimeToStationary = CarvingTimeToStationary;
-
-						navMeshObstacle.size = transform.rotation * colliders[i].bounds.size;
+						if (navMeshObstacle != null)
+						{
+							navMeshObstacle.carving = true;
+							navMeshObstacle.carveOnlyStationary = true;
+							navMeshObstacle.carvingMoveThreshold = CarvingMoveThreshold;
+							navMeshObstacle.carvingTimeToStationary = CarvingTimeToStationary;
+							navMeshObstacle.size = transform.rotation * colliders[i].bounds.size;
+						}
 					}
 				}
 			}

Assets/Scripts/Tools/SDF/Import/Import.Sensor.cs

@@ -28,15 +28,15 @@ protected override System.Object ImportSensor(in SDF.Sensor sensor, in System.Ob
 				switch (sensorType)
 				{
 					case "ray":
-						Debug.LogWarning("It is preferred to use 'lidar' since 'ray' will be deprecated.");
+						Debug.LogWarning("[SDF.Import] It is preferred to use 'lidar' since 'ray' will be deprecated.");
 						goto case "lidar";
 
 					case "lidar":
-						Debug.LogWarning("CPU based lidar or ray does not support. It will change to GPU based sensor.");
+						Debug.LogWarning("[SDF.Import] CPU based lidar or ray does not support. It will change to GPU based sensor.");
 						goto case "gpu_lidar";
 
 					case "gpu_ray":
-						Debug.LogWarning("It is preferred to use 'gpu_lidar' since 'gpu_ray' will be deprecated.");
+						Debug.LogWarning("[SDF.Import] It is preferred to use 'gpu_lidar' since 'gpu_ray' will be deprecated.");
 						goto case "gpu_lidar";
 
 					case "gpu_lidar":

Assets/Scripts/UI/ActorControl.cs

@@ -38,14 +38,17 @@ void LateUpdate()
 	{
 		if (Input.GetMouseButton(1))
 		{
-			Main.Gizmos.GetSelectedTargets(out var list);
-
-			if (list.Count > 0)
+			if (Main.Gizmos != null)
 			{
-				var ray = Camera.main.ScreenPointToRay(Input.mousePosition);
-				if (Physics.Raycast(ray.origin, ray.direction, out m_HitInfo))
+				Main.Gizmos.GetSelectedTargets(out var list);
+
+				if (list.Count > 0)
 				{
-					ClickToMove(ref list);
+					var ray = Camera.main.ScreenPointToRay(Input.mousePosition);
+					if (Physics.Raycast(ray.origin, ray.direction, out m_HitInfo))
+					{
+						ClickToMove(ref list);
+					}
 				}
 			}
 		}

Assets/Scripts/UI/AddModel.cs

@@ -116,5 +116,13 @@ void LateUpdate()
 		{
 			HandlingAddedObject();
 		}
+		else
+		{
+			// close ADd model list
+			if (Input.GetKey(KeyCode.Escape))
+			{
+				modelList.SetActive(false);
+			}
+		}
 	}
 }

Assets/Scripts/UI/RuntimeGizmo/TransformGizmo.cs

@@ -145,7 +145,6 @@ void Update()
 			// Clear Tagets when ESC
 			if (Input.GetKey(KeyCode.Escape))
 			{
-				transformType = TransformType.Move;
 				ClearTargets();
 			}
 		}
@@ -223,7 +222,7 @@ void SetSpaceAndType()
 		{
 			// avoid pressing left control
 			if (!Input.GetKey(KeyCode.LeftControl))
-				{
+			{
 				if (Input.GetKeyUp(SetMoveType))
 				{
 					transformType = TransformType.Move;

ProjectSettings/ProjectSettings.asset

@@ -12,7 +12,7 @@ PlayerSettings:
   targetDevice: 2
   useOnDemandResources: 0
   accelerometerFrequency: 60
-  companyName: lge-arlab
+  companyName: LGE.CTO.ARLab
   productName: CLOiSim
   defaultCursor: {fileID: 2800000, guid: 8c59cc8e2487aff97b53248ea15b74c0, type: 3}
   cursorHotspot: {x: 3, y: 3}
@@ -134,7 +134,7 @@ PlayerSettings:
     16:10: 1
     16:9: 1
     Others: 1
-  bundleVersion: 2.7.0
+  bundleVersion: 2.7.1
   preloadedAssets: []
   metroInputSource: 0
   wsaTransparentSwapchain: 0
@@ -153,7 +153,7 @@ PlayerSettings:
   androidSupportedAspectRatio: 1
   androidMaxAspectRatio: 2.1
   applicationIdentifier:
-    Standalone: com.lge-arlab.CLOiSim
+    Standalone: com.LGE.CTO.ARLab.CLOiSim
   buildNumber:
     Standalone: 0
     iPhone: 0

README.md

@@ -58,7 +58,7 @@ Here are the list of items that is implemented(marked) or planned to be implemen
     - [ ] supporting `<specular>`, `<attenuation/linear>`, `<attenuation/contant>`, `<attenuation/quadratic>`, `<spot/falloff>`
   - [X] Spherical Coordinates
 
-Plus, [SDF](http://sdformat.org/spec?ver=1.7) works on the essential elements such as `<model>`, `<link>`, `<visual>`, `<collision>`, `<joint>`,  etc.
+Plus, [SDF](http://sdformat.org/spec?ver=1.6) works on the essential elements such as `<model>`, `<link>`, `<visual>`, `<collision>`, `<joint>`,  etc.
 It does not support optional elmenets like `<wind>`, `<audio>`, `<state>`, `<atmosphere>`, `<magnetic_field>`, `<scene>`, `<road>`, `<population>`.
 
 Currently, geometry mesh type is supporting only 'Wavefront(.obj) with material', 'Collada(.dae) including animation' and 'STL(.stl)'.
@@ -128,12 +128,12 @@ if `<name>` element of `<script>` element in `<material>` element contains "tree
 
 ### Tested environement
 
-- Latest Unity Editor Version: *'2020.3.17f1 (LTS)'*.
+- Latest Unity Editor Version: *'2020.3.25f1 (LTS)'*.
 
 - Linux Machine
-  - OS: Ubuntu 20.04.2 LTS
+  - OS: Ubuntu 20.04.3 LTS
   - Processor: AMD® Ryzen 9 3900x 12-core processor × 24
-  - Memory: 32GB
+  - Memory: 64 GB
   - Graphics: NVIDIA Corporation [GeForce RTX 3090]
 
 - Windows Machine
@@ -200,14 +200,16 @@ You can add markers like line, text, box, or sphere point and reset simulation b
 
 Read [detail guide](https://github.com/lge-ros2/cloisim/wiki/Usage#control-service)
 
+### CLOiSim + nav2
+
 ![cloisim_nav2_ros2](https://user-images.githubusercontent.com/21001946/107105530-37fbc100-686a-11eb-9ff8-f3cf45012d9b.gif)
 [video link](https://user-images.githubusercontent.com/21001946/103973626-2f549400-51b3-11eb-8d1f-0945d40c700b.mp4)
 
 ## Future Plan
 
 New features or functions shall be developed on demand.
 
-- Fully support to keep up with 'SDF specifiaction version 1.8'
+- Fully support to keep up with 'SDF specifiaction version 1.9'
 
 - Add new sensor models and enhance sensor performance