CLOiSim-4.9.1

Build Environment

Linux & Windows

• Processor: AMD Ryzen 9 5950X 16-Core Processor x 32
• Memory: 128.0 GiB
• Graphics: NVIDIA Corporation [GeForce RTX 3090]
• OS: Linux/Ubuntu 22.04.5 LTS (64-bit)

Changes

Major

• Upgrade Unity editor version: 2022.3.53f1 (LTS)
• Update Package:
  • com.unity.splines: 2.7.1 -> 2.7.2

Minor

• Device.Module: Move DifferentialDrive.IsZero() into MathUtil.IsZero() and modify epsilon value in IsZero()

Bug fix

• UI: Fix initial body rotation in ModelImporter
• Device.Laser: Fix calculation anglestep in case of 360 angle in LaserData
  • Modify default HFOV unit angle for 3D-Lidar: 10 -> 90
• Device.Contact: Fix updating information of Bumper sensor
• Device.Sensor: Fix wrong value in Segmentation Camera
  • Disable PostProcessig in SegmentationRenderer -> cause wrong pixel info
  • Remove Encode16BitsToRG() and Encode16BitsToGR() in ColorEncoding
  • Store classId value only in MPB for SegmentationShader
  • Modify SegmentationShader to handle class id value and
    encode class id value to 16bits and store R/G value in little-endian order
  • Modify SegmentationCamera Device
    • targetColorFormat, GraphicsFormat.R8G8_UNorm -> R8G8B8A8_UNorm
• Device.Micom: Fix null mowingBlade object in MicomCommand
• CLOiSimPlugin: Bug fix in MowingPlugin
  • null(_mowingBlade) reference accessing in StartMowing()
  • Punching grass within blade height max
  • wrong scope of finding SDF.Helper.Visual in CreateTempColliderInVisuals()
  • isTrigger set to false for generating temporary meshcollider
  • fix target object in FindMeshFiltersToPunching() for finding mesh filters
• SDF.Implement: Fix wrong property accessing in ConvertToSpeedTree()
• SDF.Implement Bug fix inertia tensor handling
  • remove UpdateInertiaTensorRotation()
• SDF.Import: Util.SpecifyPose()
  • Wrong Pose(rotation/position) calculation

Version matching for this release

• ros2 jazzy

  • cloisim_ros: jazzy-4.6.0

• ros2 humble

  • cloisim_ros: humble-3.11.0

• ros2 foxy

  • foxy will not support the latest version of CLOiSim, backporting is not planned

• cloi_common_interfaces is included in cloisim_ros as a git submodule

• resources

  • samples_resource: v3.2.1
  • cloi_resources: 5.0, only for LGE internal user

What's Changed

• Fix calculation anglestep in case of 360 angle in LaserData by @hyunseok-yang in #323
• Fix updating information of Bumper sensor by @hyunseok-yang in #324
• Merge from 'develop' into 'main' for CLOiSim-4.9.1 by @hyunseok-yang in #325

Full Changelog: 4.9.0...4.9.1