CLOiSim-2.3.0

Build and Tested Environment

• Processor: AMD® Ryzen 9 3900x 12-core processor × 24
• Memory: 32GB
• Graphics: NVIDIA Corporation TU102 [GeForce RTX 2080 Ti]
• OS: Linux/Ubuntu 20.04.2 LTS

Changes

Major

• Upgrade Unity editor version
  -> 2020.3.7f1 (LTS)

• General

  • Change handling Clock object in DeviceHelper
    • set clock object in Main class

• Rendering

  • Apply new render pipeine and update proejct setting for URP(universal render pipeline)
    • Update UniversalRenderPipelineAsset settings
    • Update Graphic settings and URP pipeline
    • Change Anti aliasing quality(MSAA) -> 2X
  • Apply new shader(universal RP) as a material
  • Modify Code for applying URP
  • Modify the code that apply materials for transparent and opaque mesh
  • Update materials and drawing in RuntimeGizmo for URP
  • Change the order of calling mesh optimization in ProceduralMesh

• Sensor Device related

  • Camera & DepthCamera
    • Apply Compute Shading for depth buffer scaling in R16 data format(used in realsense)
    • Modify rendering part for Camera Sensor device (+depth sensor)
    • Destroy and release compute shader in Camera sensor device
    • Change member variable name in Camera modules
    • Modify the code that applies depth buffer handling for laser sensor device after change UniversalRP
  • Lidar
    • Modify Lidar Sensor device to support Vertical lidar data
    • calculate the total samples considering Vertical samples in laser scan
    • Remove adjusting waitingPeriodRatio in Lidar Sensor device
    • Change Array.Copy to Buffer.BlockCopy in Lidar Sensor Device
    • Change batchsize for JobSchedule in Lidar
    • Modfiy Sensor device to enhance performance: remove Array.Reverse() -> handling depth shader
  • Micom
    • Modify the interface in Micom Device: MicomInput -> use Twist msg , move 'reset_odometry' handling into MicomSensor
      • Add new protobuf message: Twist, Empty
    • Add protection code for finding wheel motor in MicomSensor device
    • Remove unused method in Motor modules
  • Add new Device Mode using System.Thread in Device Class: new Mode (TX_THREAD, RX_THREAD)
    • Change device mode type(TX -> TX_THREAD) for Camera, GPS, Lidar, MicomInput, MicomSensor, IMU, Clock
    • Change default update rate(100 -> 50) for Clock
    • remove calling ProcessDeviceCoroutine() method in DeviceThreadTx() and DeviceThreadRx()

• SDF related

  • Change the order of calling SDF importing method
    • call "ImportJoints" and "ImportPlugins" methods after call "AfterImportModel()" method
  • Remove convex handling in Import.Link() method
  • Modify SDF parser for lidar vertical element

• Physics related

  • make it convex false for Plane collision
  • Modify code that handling convex for articulation body

Minor

• Versions

  • Update app version info in Project settings
    • 2.2.1 -> 2.3.0
  • Update package version
    • textmeshpro: 3.0.5 -> 3.0.6

• Sensor Device

  • Handling thread and coroutine after object destroy or stop
  • renaming variables in DepthCamera
  • Modify Reset() method in IMU
  • Code refactoring
    • Lidar sensor device
      • Change member variable naming in Lidar class
        • Do not use a prefix for member variables (, m, s_, etc.).
    • Lidar Sensor device to enable vertical lidar data
    • supporting vertical lidar in Lidar Sensor Device

• SDF related

  • Parse and implement gravity value in Import.World
  • Code refactoring and code clean-up
    • SDF.Helpler.Link, Implement.Joint, Import.Joint
  • code refactoring for SDF.Implement collision and visual
    • Combine redundancy method -> MergeMeshes() method
  • Add new method in SDF2Unity

• General

  • Change script execution Order
    • Simulationworld and Main
  • Change class name
    • CLOiSimWorld -> SimulationWorld
  • Apply coding style -> Do not use a prefix for member variables (, m, s_, etc.).
    : Devices, Device.Camera, UI and Tools/SDF
  • Call Resources.UnloadUnusedAssets() when destroy TransformGizmo

• Services

  • Set color for Text Marekrs

• GUI

  • Change properties in TransformGizmo
  • Apply random color for props deploying
  • Apply TransformGizmo drawing for only MainCamera
  • Move Materials in RuntimeGizmo
  • Add simulationDisplay in BridgeManager to print error message
  • Code refactoring for UI and enhance styling GUISkin
  • make it reusable variables for UI simulation display
  • Separate SimulationDisplay Class
    • Change color for FPS display
    • Separate the GUI part in Object spawning class
    • Change the position of FPS info in simulation display
    • Minor adjustment for UI position
    • Add new Help Menu: new UI button for help menu
    • add mouse wheelblocking flag and change amount of weel movement in CameraControl

Bug fix

• UI

  • add null protection in UI Gizmo
  • Fix Gizmo manipulation for actor object

• Services

  • Fix null object handling in simulation service for 'markers'

• Sensor device

  • Bug fix in Lidar Sensor Device
  • Fix setting intial parts pose in MicomSensor

• SDF related

  • Bug fix in SDF.Entity parser
  • (crash issue)Bug fix: Change the order of importing SDF elements
    • before: Models -> Links -> visual -> collision -> joint -> plugin
    • after: Models -> Links -> visual -> collision -> joint(store only information) -> plugin
      import and implements joints after all models are loaded.

Version matching for this release

• samples_resource: v1.3.0
• cloisim_ros: foxy-2.8.2
• sim_device: dashing version does not support anymore since dashing was end-of-support.

For binary release version, just run './run.sh' script after extract compressed file.