From 9b49216537edbdbdf8bb9eb551370bcafb9cb3d1 Mon Sep 17 00:00:00 2001 From: Will Heitman <16737488+wheitman@users.noreply.github.com> Date: Sun, 14 Apr 2024 21:00:30 -0400 Subject: [PATCH] Adjust GNSS publisher, Schenley scene --- Assets/Scenes/Schenley.unity | 76 ++++++++++++++++++++++------- Assets/Scripts/ROS/GnssPublisher.cs | 14 +----- 2 files changed, 59 insertions(+), 31 deletions(-) diff --git a/Assets/Scenes/Schenley.unity b/Assets/Scenes/Schenley.unity index 6a2f32a..5b35144 100644 --- a/Assets/Scenes/Schenley.unity +++ b/Assets/Scenes/Schenley.unity @@ -38,7 +38,7 @@ RenderSettings: m_ReflectionIntensity: 1 m_CustomReflection: {fileID: 0} m_Sun: {fileID: 0} - m_IndirectSpecularColor: {r: 2846.983, g: 2929.8167, b: 2976.344, a: 1} + m_IndirectSpecularColor: {r: 2928.646, g: 2977.9634, b: 2878.5002, a: 1} m_UseRadianceAmbientProbe: 0 --- !u!157 &3 LightmapSettings: @@ -3480,52 +3480,67 @@ PrefabInstance: - target: {fileID: 3004722648913154706, guid: e9de4e56f7c42297d9f3cc3d57120a8f, type: 3} propertyPath: m_LocalPosition.x - value: 0 + value: -0 objectReference: {fileID: 0} - target: {fileID: 3004722648913154706, guid: e9de4e56f7c42297d9f3cc3d57120a8f, type: 3} propertyPath: m_LocalPosition.y - value: 0 + value: 0.167 objectReference: {fileID: 0} - target: {fileID: 3004722648913154706, guid: e9de4e56f7c42297d9f3cc3d57120a8f, type: 3} propertyPath: m_LocalPosition.z - value: 0.67499924 + value: 0.676 objectReference: {fileID: 0} - target: {fileID: 3004722648913154706, guid: e9de4e56f7c42297d9f3cc3d57120a8f, type: 3} propertyPath: m_LocalRotation.w - value: 0.9990483 + value: 0.99989337 objectReference: {fileID: 0} - target: {fileID: 3004722648913154706, guid: e9de4e56f7c42297d9f3cc3d57120a8f, type: 3} propertyPath: m_LocalRotation.x - value: -0.043619405 + value: 0.002632724 objectReference: {fileID: 0} - target: {fileID: 3004722648913154706, guid: e9de4e56f7c42297d9f3cc3d57120a8f, type: 3} propertyPath: m_LocalRotation.y - value: 0 + value: -0.014358977 objectReference: {fileID: 0} - target: {fileID: 3004722648913154706, guid: e9de4e56f7c42297d9f3cc3d57120a8f, type: 3} propertyPath: m_LocalRotation.z - value: 0 + value: 0.0003765398 objectReference: {fileID: 0} - target: {fileID: 3004722648913154706, guid: e9de4e56f7c42297d9f3cc3d57120a8f, type: 3} propertyPath: m_LocalEulerAnglesHint.x - value: -5 + value: 0.302 objectReference: {fileID: 0} - target: {fileID: 3004722648913154706, guid: e9de4e56f7c42297d9f3cc3d57120a8f, type: 3} propertyPath: m_LocalEulerAnglesHint.y - value: 0 + value: -1.645 objectReference: {fileID: 0} - target: {fileID: 3004722648913154706, guid: e9de4e56f7c42297d9f3cc3d57120a8f, type: 3} propertyPath: m_LocalEulerAnglesHint.z - value: 0 + value: 0.039 + objectReference: {fileID: 0} + - target: {fileID: 7021877700071833489, guid: e9de4e56f7c42297d9f3cc3d57120a8f, + type: 3} + propertyPath: angleMax + value: 0.785398 + objectReference: {fileID: 0} + - target: {fileID: 7021877700071833489, guid: e9de4e56f7c42297d9f3cc3d57120a8f, + type: 3} + propertyPath: angleMin + value: -0.785398 + objectReference: {fileID: 0} + - target: {fileID: 7021877700071833489, guid: e9de4e56f7c42297d9f3cc3d57120a8f, + type: 3} + propertyPath: rangeMax + value: 3 objectReference: {fileID: 0} - target: {fileID: 7021877700071833489, guid: e9de4e56f7c42297d9f3cc3d57120a8f, type: 3} @@ -3884,7 +3899,7 @@ PrefabInstance: - target: {fileID: 3004722648913154706, guid: d2f26ca743f1e5966b64d384acd6603c, type: 3} propertyPath: m_LocalPosition.y - value: 0.134 + value: 0.123 objectReference: {fileID: 0} - target: {fileID: 3004722648913154706, guid: d2f26ca743f1e5966b64d384acd6603c, type: 3} @@ -5480,15 +5495,15 @@ PrefabInstance: objectReference: {fileID: 0} - target: {fileID: 490578, guid: e9a952fff0d5ee546bceadcd5743474e, type: 3} propertyPath: m_LocalPosition.x - value: 0 + value: 426.6 objectReference: {fileID: 0} - target: {fileID: 490578, guid: e9a952fff0d5ee546bceadcd5743474e, type: 3} propertyPath: m_LocalPosition.y - value: -9.56 + value: 2.98 objectReference: {fileID: 0} - target: {fileID: 490578, guid: e9a952fff0d5ee546bceadcd5743474e, type: 3} propertyPath: m_LocalPosition.z - value: 0 + value: 660.1 objectReference: {fileID: 0} - target: {fileID: 490578, guid: e9a952fff0d5ee546bceadcd5743474e, type: 3} propertyPath: m_LocalRotation.w @@ -8403,6 +8418,11 @@ PrefabInstance: propertyPath: sidewaysStiffness value: 10 objectReference: {fileID: 0} + - target: {fileID: 4586284701804823302, guid: 39eb98849209acb40807569d1d0136ea, + type: 3} + propertyPath: m_Enabled + value: 1 + objectReference: {fileID: 0} - target: {fileID: 4586284701804823302, guid: 39eb98849209acb40807569d1d0136ea, type: 3} propertyPath: stalenessToleranceSeconds @@ -8416,17 +8436,17 @@ PrefabInstance: - target: {fileID: 6104850889504349956, guid: 39eb98849209acb40807569d1d0136ea, type: 3} propertyPath: m_LocalPosition.x - value: 23.109812 + value: 539.51 objectReference: {fileID: 0} - target: {fileID: 6104850889504349956, guid: 39eb98849209acb40807569d1d0136ea, type: 3} propertyPath: m_LocalPosition.y - value: -9.52 + value: 15.735 objectReference: {fileID: 0} - target: {fileID: 6104850889504349956, guid: 39eb98849209acb40807569d1d0136ea, type: 3} propertyPath: m_LocalPosition.z - value: 37.39 + value: 650 objectReference: {fileID: 0} - target: {fileID: 6104850889504349956, guid: 39eb98849209acb40807569d1d0136ea, type: 3} @@ -8509,6 +8529,10 @@ PrefabInstance: type: 3} insertIndex: -1 addedObject: {fileID: 1893568651} + - targetCorrespondingSourceObject: {fileID: 4613237900554178101, guid: 39eb98849209acb40807569d1d0136ea, + type: 3} + insertIndex: -1 + addedObject: {fileID: 1893568657} - targetCorrespondingSourceObject: {fileID: 4281249274067362048, guid: 39eb98849209acb40807569d1d0136ea, type: 3} insertIndex: -1 @@ -8532,6 +8556,22 @@ MonoBehaviour: m_Script: {fileID: 11500000, guid: 75bee183affc7b381b189985847c4341, type: 3} m_Name: m_EditorClassIdentifier: +--- !u!114 &1893568657 +MonoBehaviour: + m_ObjectHideFlags: 0 + m_CorrespondingSourceObject: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} + m_GameObject: {fileID: 81356705} + m_Enabled: 1 + m_EditorHideFlags: 0 + m_Script: {fileID: 11500000, guid: 14909b68df2c38d2ea89c98a8f8147b5, type: 3} + m_Name: + m_EditorClassIdentifier: + nodeName: as_planting_service + plantingDelay: 2 + seedlingPrefabs: + - {fileID: 6060788920606015911, guid: f5e80bd1bf6e910a9856d3589a1b6101, type: 3} --- !u!4 &1898999207 stripped Transform: m_CorrespondingSourceObject: {fileID: 8101256898395201125, guid: f4e4d8517c45a1a4390ceaa4221bd34e, diff --git a/Assets/Scripts/ROS/GnssPublisher.cs b/Assets/Scripts/ROS/GnssPublisher.cs index 5ffbb07..cdae363 100644 --- a/Assets/Scripts/ROS/GnssPublisher.cs +++ b/Assets/Scripts/ROS/GnssPublisher.cs @@ -19,7 +19,6 @@ public class GnssPublisher : MonoBehaviour private ROS2UnityComponent rosUnityComponent; private ROS2Node rosNode; private IPublisher posePublisher; -private IPublisher navSatFixPublisher; // TODO: Transform broadcaster PoseWithCovarianceStamped currentPose; @@ -30,7 +29,6 @@ public class GnssPublisher : MonoBehaviour public string poseTopic; public string navSatFixTopic; public string mapFrameId = "map"; -public string originObjectTag = "MapFrameOrigin"; // An object with this tag will be treated as the map's origin void Start() { @@ -39,7 +37,6 @@ void Start() // Get the pose of our map's reference point. In our case, // this is a statue. TODO: Parameterize this. GameObject referenceObject = GameObject.Find("MapFrameOrigin"); - mapOrigin = referenceObject.transform; } @@ -52,15 +49,13 @@ void Update() // Set up the node and publisher. rosNode = rosUnityComponent.CreateNode(nodeName); posePublisher = rosNode.CreateSensorPublisher(poseTopic); - navSatFixPublisher = rosNode.CreateSensorPublisher(navSatFixTopic); // Messages shouldn't be instantiated before the ROS node is created. // https://github.com/RobotecAI/ros2-for-unity/issues/53#issuecomment-1418680445 currentPose = new PoseWithCovarianceStamped(); } - // Get the current pose - currentPose.Header = GetHeader(); + currentPose.Header.Stamp = GetStamp(); // var diff = transform @@ -69,9 +64,6 @@ void Update() { X = transform.position.x - mapOrigin.position.x, // Left is y in ROS, -x in Unity Y = transform.position.z - mapOrigin.position.z, // Forward is x in ROS, z in Unity - // X = transform.position.x - 423.11, - // Y = transform.position.z - 661.07, - // Z = mapOrigin.position.y - transform.position.y // Up is z in ROS, y in Unity Z = 0f // TODO: Add support for elevation!! }; @@ -89,10 +81,6 @@ void Update() Z = currentOrientation.z }; - // Quaternion relative = Quaternion.Inverse(a) * b; - - // TODO: Add covariance: currentPose.Pose.Covariance = ... - // Publish everything posePublisher.Publish(currentPose); }