CLOiSim-3.0.4

Build Environment

Linux & Windows

• Processor: AMD® Ryzen 9 3900x 12-core processor × 24
• Memory: 62.7 GiB
• Graphics: NVIDIA Corporation [GeForce RTX 3090]
• OS: Linux/Ubuntu 20.04.5 LTS (64-bit)

Changes

Major

• Upgrade Unity editor version: 2021.3.14f1 (LTS)
• Upgrade plugin libraries
  • protobuf-net: 3.1.17 -> 3.1.22
• Upgrade plugin libraries
  • NetMQ: 4.0.1.9 -> 4.0.1.10
• Update package version
  • com.unity.render-pipelines.universal: 12.1.7 -> 12.1.8

Minor

• Update Dockerfile
• add new packages
  • com.unity.performance.profile-analyzer

Bug fix

What's Changed

• CLOiSim-3.0.4: Squash merge 'main-to-develop(merged from develop)' into main by @hyunseok-yang in #227

Full Changelog: 3.0.3...3.0.4

Version matching for this release

• ros2-foxy
  • cloisim_ros: foxy-2.13.0
  • cloi_common_interfaces: foxy-2.0.0
• ros2-humble
  • cloisim_ros: humble-3.1.0
  • cloi_common_interfaces: humble-3.0.0
• resources
  • samples_resource: v1.7.1
  • cloi_resources: cloi_resources - 2.6 <- Currently only for private member
  • world_resources_yangjae_city: world_resources(yangjae city) - 1.0 <- Currently only for private member

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

CLOiSim-3.0.3

Build Environment

Linux & Windows

• Processor: AMD® Ryzen 9 3900x 12-core processor × 24
• Memory: 62.7 GiB
• Graphics: NVIDIA Corporation [GeForce RTX 3090]
• OS: Linux/Ubuntu 20.04.4 LTS (64-bit)

Changes

Major

Minor

Bug fix

• SensorDevice: Clock
  • issue: after reset, clock was not published.

What's Changed

• CLOiSim-3.0.3: Squash merge 'main-to-develop(merged from develop)' into main by @hyunseok-yang in #224

Full Changelog: 3.0.2...3.0.3

Version matching for this release

• cloisim_ros: foxy-2.12.2
• cloi_common_interfaces: foxy-2.0.0
• cloisim_ros: humble-3.0.0
• cloi_common_interfaces: humble-3.0.0
• samples_resource: v1.7.1
• cloi_resources: cloi_resources - 2.6 <- Currently only for private member
• world_resources_yangjae_city: world_resources(yangjae city) - 1.0 <- Currently only for private member

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

CLOiSim-3.0.2

Build Environment

Linux & Windows

• Processor: AMD® Ryzen 9 3900x 12-core processor × 24
• Memory: 62.7 GiB
• Graphics: NVIDIA Corporation [GeForce RTX 3090]
• OS: Linux/Ubuntu 20.04.4 LTS (64-bit)

Changes

Major

• General: Upgrade Unity editor version -> 2021.3.8f1 (LTS)
• General: Upgrade plugin libraries
  • NetMQ: 4.0.1.8 -> 4.0.1.9

Minor

• General: update package version
  • com.unity.burst": 1.6.6 -> 1.7.3

Bug fix

• SensorDevice: Lidar
• Bug fix in handling LaserData
  • filter min range after scale depth data by max range
• Fix for Lidar Sensor
  • copy depth range data to output data
  • clip near(min) size
  • size of depth buffer

What's Changed

• CLOiSim-3.0.2: Squash merge 'main-to-develop(merged from develop)' into main by @hyunseok-yang in #221

Full Changelog: 3.0.1...3.0.2

Version matching for this release

• cloisim_ros: foxy-2.12.2
• cloi_common_interfaces: foxy-2.0.0
• cloisim_ros: humble-3.0.0
• cloi_common_interfaces: humble-3.0.0
• samples_resource: v1.7.0
• cloi_resources: cloi_resources - 2.6 <- Currently only for private member
• world_resources_yangjae_city: world_resources(yangjae city) - 1.0 <- Currently only for private member

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

CLOiSim-3.0.1

Build Environment

Linux & Windows

• Processor: AMD® Ryzen 9 3900x 12-core processor × 24
• Memory: 62.7 GiB
• Graphics: NVIDIA Corporation [GeForce RTX 3090]
• OS: Linux/Ubuntu 20.04.4 LTS (64-bit)

Changes

Major

• General: Upgrade Unity editor version -> 2021.3.5f1 (LTS)
• General: Upgrade plugin libraries
  • protobuf-net: 3.0.101 -> 3.1.17
  • protobuf-net.Core: 3.0.101 -> 3.1.17

Minor

• General: update package version
  • com.unity.render-pipelines.universal: 12.1.6 -> 12.1.7
• Sensor.Device: Modify color for 3d lidar visualization
• General: Modify ObjectSpawaning
  • add different mass by scale size
  • add more drag value

Bug fix

• SensorDevice: Lidar for 3D point cloud
  • add parameter validation check for LaserPlugin
  • Modify log print for RandomNumberGenerator
  • Fix copy length in GeneratorMessage() for Lidar
  • Modify Vertical FOV for Lidar(Camera)
  • fix for handling vertical data
• SDF.Parser: Modfiy default value for SDF.Link elements

What's Changed

• CLOiSim-3.0.1: Squash merge 'main-to-develop(merged from develop)' into main by @hyunseok-yang in #217

Full Changelog: 2.7.7...3.0.1

Version matching for this release

• samples_resource: v1.7.0
• cloisim_ros: foxy-2.12.2
• cloi_common_interfaces: foxy-2.0.0
• cloi_resources: cloi_resources - 2.6 <- Currently only for private member
• world_resources_yangjae_city: world_resources(yangjae city) - 1.0 <- Currently only for private member

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

CLOiSim-2.7.7

Build Environment

Linux & Windows

• Processor: AMD® Ryzen 9 3900x 12-core processor × 24
• Memory: 62.7 GiB
• Graphics: NVIDIA Corporation [GeForce RTX 3090]
• OS: Linux/Ubuntu 20.04.3 LTS (64-bit)

Changes

Major

Minor

Bug fix

• General: Fix Shader problem -> add Shader Variants and modify GraphicsSettings

What's Changed

• CLOiSim-2.7.7: Squash merge 'main-to-develop(merged from develop)' into main by @hyunseok-yang in #212

Full Changelog: 2.7.6...2.7.7

Version matching for this release

• samples_resource: v1.7.0
• cloisim_ros: foxy-2.12.2
• cloi_common_interfaces: foxy-2.0.0
• cloi_resources: cloi_resources - 2.6 <- Currently only for private member
• world_resources_yangjae_city: world_resources(yangjae city) - 1.0 <- Currently only for private member

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

CLOiSim-2.7.6

Build Environment

Linux & Windows

• Processor: AMD® Ryzen 9 3900x 12-core processor × 24
• Memory: 62.7 GiB
• Graphics: NVIDIA Corporation [GeForce RTX 3090]
• OS: Linux/Ubuntu 20.04.3 LTS (64-bit)

Changes

Major

• General: Upgrade Unity editor version -> 2020.3.30f1 (LTS)

Minor

• General: update package version, com.unity.ide.vscode: 1.2.4 -> 1.2.5
• UI: add WaitForEndOfFrame() before start importing model from model list
• UI: Determine model-deploying-yoffset from bounding box of model when deploy it from AddModel List
• SensorDevice: Modify Clock class -> Change sequence of retrieving time for real time and sim time
• SDF.Implement: Change default image format for depth camera when implement sensor
• Sensor.Device: Modify declaration of variables for Parallel.For code in Lidar sensor
• Sensor.Device: Set StopNaN=true for Camera sensor device
• SDF.Importer/Parser/Implement: Modify and Update SDF.Parser, SDF.Importer And SDF.Implement
  • SDF.Root class
    • <pose>, <world>, <sensor>, <geometry>, <material>, <collision> and <joint>
  • Possible to parse only for SDF elements
    • <scene>, <state>

Bug fix

• SensorDevice: modify CommandBuffer for DepthCamera -> prevent potential application freezing

What's Changed

• CLOiSim-2.7.6: Squash merge 'main-to-develop(merged from develop)' into main by @hyunseok-yang in #209

Full Changelog: 2.7.5...2.7.6

Version matching for this release

• samples_resource: v1.7.0
• cloisim_ros: foxy-2.12.2
• cloi_common_interfaces: foxy-2.0.0
• cloi_resources: cloi_resources - 2.6 <- Currently only for private member
• world_resources_yangjae_city: world_resources(yangjae city) - 1.0 <- Currently only for private member

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

CLOiSim-2.7.5

Build Environment

Linux & Windows

• Processor: AMD® Ryzen 9 3900x 12-core processor × 24
• Memory: 62.7 GiB
• Graphics: NVIDIA Corporation [GeForce RTX 3090]
• OS: Linux/Ubuntu 20.04.3 LTS (64-bit)

Changes

Major

• General: Upgrade Unity editor version -> 2020.3.27f1 (LTS)
• General: Change Graphic settings -> Turn Off bill board face camera position
• General: Upgrade plugin libraries -> NetMQ(4.0.1.6 -> 4.0.1.8)
• SDF.Implement.Visual: Change default shader, URP/Lit -> URP/Simple Lit
• SDF.Implement: Set intertia tensor automatically by calling ResetInertiaTensor() if inertial.inertia element is empty
• CLOiSimPlugin: Change topic_name whether to add parts_name in prefix by new attribute(add_parts_name_prefix='true')
• CLOiSimPlugin: Add new plugin -> ImuPlugin
• CLOiSimPlugin: Modify RealsensePlugin Support IMU sensor in Realsense like D455 sensor

Minor

• General: Change default model root directories for editor mode in MainScene.unity
• General: Modify Log print when model/world is loaded
• General: Remove yield return WaitOfEndFrame() after add model from model list
• General: Set default application setting
  • QualitySettings.vSyncCount = 0
  • Application.targetFrameRate = 60
  • OnDemandRendering.renderFrameInaterval = 1
• UI: Change scroll properties for AddModel UI List in MainScene.unity
• UI: Block or Unblock CameraWheelControl as addModel List is opend or not
• UI: Add protection to avoid null object accessing in TransformGizmo
• UI: Modify MakeImmovableBodyTransformSelected() method to handle a rigidbody also.
• UI: modify condition for MakeImmovableBodyTransformSelected() in gizmo transform -> distinguish props and static object
• UI: Protected deploying Model twice by double-click
• SDF.Implement.Visual: Modify SpeedTree8 shader for Tree visual object -> Set Billboard option
• SensorDevice: Add protection code in MicomSensor -> null object accessing
• SensorDevice: Set multisample antialiasing level for RTHandle in Camera/Lidar

Bug fix

• General: Important! disable managed stripping level in ProjectSettings
• General: Add protection code to check if SimulationService is started
• General: Change sequeunce of calling GetComponents() for UI
• SensorDevice: Fix Copy length in handling Laser Data
• SensorDevice: Bug fix wrong vertical laser samples if vertical element with 1 samples in sensor/ray/scan exists.
• CLOiSimPlugins: Fix TF info for axis of joint

What's Changed

• CLOiSim-2.7.5: Squash merge 'main-to-develop(merged from develop)' into main by @hyunseok-yang in #205

Full Changelog: 2.7.4...2.7.5

Version matching for this release

• samples_resource: v1.7.0
• cloisim_ros: foxy-2.12.2
• cloi_common_interfaces: foxy-2.0.0
• cloi_resources: cloi_resources - 2.5 <- Currently only for private member
• world_resources_yangjae_city: world_resources(yangjae city) - 1.0 <- Currently only for private member

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

CLOiSim-2.7.4

Build Environment

Linux & Windows

• Processor: AMD® Ryzen 9 3900x 12-core processor × 24
• Memory: 62.7 GiB
• Graphics: NVIDIA Corporation [GeForce RTX 3090]
• OS: Linux/Ubuntu 20.04.3 LTS (64-bit)

Changes

Major

• SDF.Implement: Set TargetVelocity=1 for prismatic which has dynamics parameter with limits
• SDF.Implement: Set targetVelocity=0 only for not-prismatic joint type when reset() is called
• CLOiSimPlugin: Select parts name as a topic name when ros2/topic_name element is missing in Plugin parameters.

Minor

• Core.Main: Modify making cloned model name method.
• Device.DepthCamera: Modify Thread and group size of shader computing for DepthBufferScaling

Bug fix

• SDF.Import: make it parenting correctly even if parent model is moved by another joint

Version matching for this release

• samples_resource: v1.7.0
• cloisim_ros: foxy-2.11.9
• cloi_common_interfaces: foxy-2.0.0
• cloi_resources: cloi_resources_2.1 <- Currently only for private user

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

CLOiSim-2.7.3

Build Environment

Linux & Windows

• Processor: AMD® Ryzen 9 3900x 12-core processor × 24
• Memory: 62.7 GiB
• Graphics: NVIDIA Corporation [GeForce RTX 3090]
• OS: Linux/Ubuntu 20.04.3 LTS (64-bit)

Changes

Major

• Device.Module: Upgrade MotorControl Module to support 4-wheel drive

Minor

• UI: Preseve selected object in Following List even after update the following object list
• UI: Update Following object list when object is deleted by Del Key
• UI: Modify GUI properties for SimulationDisplay
• UI: Remove calling ReleaseFollowingObject when target object is null in LateUpdate() loop
• UI: Make immovable for the object has root articulation body while doing gizmo transforming.
• UI: Print log when following object is selected or unselect
• SDF.Import: Print Log message when world or model is loaded

Bug fix

• None

Version matching for this release

• samples_resource: v1.6.5
• cloisim_ros: foxy-2.11.9
• cloi_common_interfaces: foxy-2.0.0
• cloi_resources: cloi_resources_1.0 <- Currently only for private user

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

CLOiSim-2.7.2

Build Environment

Linux & Windows

• Processor: AMD® Ryzen 9 3900x 12-core processor × 24
• Memory: 62.7 GiB
• Graphics: NVIDIA Corporation [GeForce RTX 3090]
• OS: Linux/Ubuntu 20.04.3 LTS (64-bit)

Changes

Major

• General: Upgrade Unity editor version -> 2020.3.26f1 (LTS)
• General: Update package version
  • com.unity.render-pipelines.universal: 10.7.0 -> 10.8.1
  • com.unity.toolchain.linux-x86_64: 0.1.19-preview -> 1.0.0
• Core: Remove all device port map table when model is removed(deallocated) in BridgeManager
• SDF.Parser: Adjust Dynamic Friction ratio to Static Friction(mu value in sdf parameter) in SDF.Implement.Collision
• Device: Modify finding target joint control in JointState module
• UI: Modify the behavior of ESC key pressing for UI AddModellist

Minor

• Core.Main: Give a sleep time before import and deploying after choose from model list
• Core.Main: Set model immovable before deploy the mode from the model list
• SDF.Parser: Apply filtering non-number character in pose string using reg-ex(supporting a exponentioal notation(ex: 1e-10))
• General: Add protection code
• UI: Add new prining warning messsage method in SimulationDisplay
• UI: Adjust height offset of deploying model before confirm the location where to place.
• UI: Change default Main Camera control parameters in MainScene.unity
• UI: Update following object list when new model is added from model list

Bug fix

• Core.Main: Fix null object in Main.Display variable.

Version matching for this release

• samples_resource: v1.6.5
• cloisim_ros: foxy-2.11.9
• cloi_common_interfaces foxy-2.0.0

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