diff --git a/.vscode/launch.json b/.vscode/launch.json new file mode 100644 index 0000000..21e519c --- /dev/null +++ b/.vscode/launch.json @@ -0,0 +1,39 @@ +{ + // Use IntelliSense to learn about possible attributes. + // Hover to view descriptions of existing attributes. + // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387 + "version": "0.2.0", + "configurations": [ + { + "name": "Unity Editor", + "type": "unity", + "path": "/home/sam/dyno/dotnet/unity_ws/src/unity/unity_ros2/Library/EditorInstance.json", + "request": "launch" + }, + { + "name": "Windows Player", + "type": "unity", + "request": "launch" + }, + { + "name": "OSX Player", + "type": "unity", + "request": "launch" + }, + { + "name": "Linux Player", + "type": "unity", + "request": "launch" + }, + { + "name": "iOS Player", + "type": "unity", + "request": "launch" + }, + { + "name": "Android Player", + "type": "unity", + "request": "launch" + } + ] +} \ No newline at end of file diff --git a/Assets/Editor/Tests.meta b/Assets/Editor/Tests.meta deleted file mode 100644 index c08b489..0000000 --- a/Assets/Editor/Tests.meta +++ /dev/null @@ -1,8 +0,0 @@ -fileFormatVersion: 2 -guid: 32d6736389a3c3246afd461d0d8cb72a -folderAsset: yes -DefaultImporter: - externalObjects: {} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Editor/Tests/CreateUrdfGameObjectTests.cs b/Assets/Editor/Tests/CreateUrdfGameObjectTests.cs deleted file mode 100644 index b1dc541..0000000 --- a/Assets/Editor/Tests/CreateUrdfGameObjectTests.cs +++ /dev/null @@ -1,194 +0,0 @@ -/* -© Dyno Robotics, 2019 -Author: Samuel Lindgren (samuel@dynorobotics.se) -Licensed under the Apache License, Version 2.0 (the "License"); - -you may not use this file except in compliance with the License. -You may obtain a copy of the License at -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using System.Collections; -using System.Collections.Generic; -using NUnit.Framework; -using UnityEngine; -using UnityEditor; -using UnityEngine.TestTools; -using RosSharp.Urdf.Editor; - -namespace Tests -{ - public class TestCreateUrdfGameObject - { - private string urdfString; - - [SetUp] - public void BeforeEveryTest() - { - urdfString = - @" - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - "; - - UrdfSimulatedRobotExtensions.CreateFromString(urdfString); - } - - [TearDown] - public void AfterEveryTest() - { - var testGameObject = GameObject.Find("test_robot"); - if (testGameObject != null) - { - Object.DestroyImmediate(testGameObject); - } - } - - [UnityTest] - public IEnumerator _Creates_Simulation_Game_Object() - { - yield return null; - Assert.That(GameObject.Find("test_robot"), Is.Not.Null); - } - - [UnityTest] - public IEnumerator _Creates_Simulation_Fixed_Links() - { - yield return null; - var simulationGameObject = GameObject.Find("test_robot"); - - Assert.That(simulationGameObject, Is.Not.Null); - - GameObject baseFootprint = simulationGameObject.transform.Find("base_footprint").gameObject; - Assert.That(baseFootprint, Is.Not.Null); - - GameObject baseLink = baseFootprint.transform.Find("base_link").gameObject; - Assert.That(baseLink, Is.Not.Null); - - GameObject sensorLink = baseLink.transform.Find("sensor_link").gameObject; - Assert.That(sensorLink, Is.Not.Null); - } - - [UnityTest] - public IEnumerator _Creates_Simulation_Continuous_Joints() - { - yield return null; - Assert.That(GameObject.Find("spinner_link").GetComponent(), Is.Not.Null); - } - - [UnityTest] - public IEnumerator _Creates_Simulation_Prismatic_Joints() - { - yield return null; - Assert.That(GameObject.Find("pusher_link").GetComponent(), Is.Not.Null); - } - } -} diff --git a/Assets/Editor/Tests/CreateUrdfGameObjectTests.cs.meta b/Assets/Editor/Tests/CreateUrdfGameObjectTests.cs.meta deleted file mode 100644 index f30b11f..0000000 --- a/Assets/Editor/Tests/CreateUrdfGameObjectTests.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: d60131ae2508d1b43a457e5d189b9cb9 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Editor/Tests/CreateVisualizerFromUrdfTests.cs b/Assets/Editor/Tests/CreateVisualizerFromUrdfTests.cs deleted file mode 100644 index 89d45f9..0000000 --- a/Assets/Editor/Tests/CreateVisualizerFromUrdfTests.cs +++ /dev/null @@ -1,166 +0,0 @@ -/* -© Dyno Robotics, 2019 -Author: Samuel Lindgren (samuel@dynorobotics.se) -Licensed under the Apache License, Version 2.0 (the "License"); - -you may not use this file except in compliance with the License. -You may obtain a copy of the License at -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using NUnit.Framework; -using RosSharp.Urdf.Editor; -using System.Collections; -using UnityEngine; -using UnityEngine.TestTools; - -namespace Tests -{ - public class CreateVisualizerFromUrdfTests - { - [SetUp] - public void BeforeEveryTest() - { - string urdfString = - @" - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - "; - - UrdfVisualizedRobotExtensions.CreateFromString(urdfString); - } - - [TearDown] - public void AfterEveryTest() - { - var testGameObject = GameObject.Find("RosVisualizer"); - if (testGameObject != null) - { - Object.DestroyImmediate(testGameObject); - } - } - - [UnityTest] - public IEnumerator _Creates_Ros_Visualizer_Game_Object() - { - yield return null; - Assert.That(GameObject.Find("RosVisualizer"), Is.Not.Null); - } - - [UnityTest] - public IEnumerator _Creates_Map_And_Odom_Frames() - { - yield return null; - GameObject rosVizGameObject = GameObject.Find("RosVisualizer"); - - GameObject mapFrame = rosVizGameObject.transform.Find("map")?.gameObject; - Assert.That(mapFrame, Is.Not.Null, "Map frame not found"); - - GameObject odomFrame = mapFrame.transform.Find("odom")?.gameObject; - Assert.That(odomFrame, Is.Not.Null, "Odom frame not found"); - } - - [UnityTest] - public IEnumerator _Creates_Robot_Root_Frame() - { - yield return null; - GameObject odomFrame = GameObject.Find("odom"); - Assert.That(odomFrame.transform.Find("base_footprint"), Is.Not.Null, - "Robot root frame base_footprint not found."); - } - - //[UnityTest] - //public IEnumerator _Creates_Robot_Child_Frames() - //{ - // yield return null; - // GameObject baseFrame = GameObject.Find("base_link"); - // Assert.That(baseFrame.transform.Find("spinner_link"), Is.Not.Null, - // "Frame spinner_link not created as child of base_link."); - //} - } -} diff --git a/Assets/Editor/Tests/CreateVisualizerFromUrdfTests.cs.meta b/Assets/Editor/Tests/CreateVisualizerFromUrdfTests.cs.meta deleted file mode 100644 index a92c2c5..0000000 --- a/Assets/Editor/Tests/CreateVisualizerFromUrdfTests.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 447fcbc45b3f6a647995177b55da7240 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Editor/Tests/ParseUrdfTests.cs b/Assets/Editor/Tests/ParseUrdfTests.cs deleted file mode 100644 index c24c3d1..0000000 --- a/Assets/Editor/Tests/ParseUrdfTests.cs +++ /dev/null @@ -1,183 +0,0 @@ -/* -© Dyno Robotics, 2019 -Author: Samuel Lindgren (samuel@dynorobotics.se) -Licensed under the Apache License, Version 2.0 (the "License"); - -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using NUnit.Framework; -using RosSharp.Urdf; - -namespace Tests -{ - public class TestParseUrdf - { - private string urdfString; - - Robot robot; - - [SetUp] - public void SetUp() - { - urdfString = - @" - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - "; - - robot = new Robot(); - } - - [Test] - public void _Reads_Robot_Name() - { - robot.ConstructFromString(urdfString); - Assert.That(robot.name, Is.EqualTo("test_robot")); - } - - [Test] - public void _Reads_Materials() - { - robot.ConstructFromString(urdfString); - Assert.That(robot.materials.Count, Is.EqualTo(2)); - } - - [Test] - public void _Reads_Links() - { - robot.ConstructFromString(urdfString); - Assert.That(robot.links.Count, Is.EqualTo(3)); - } - - [Test] - public void _Reads_Joints() - { - robot.ConstructFromString(urdfString); - Assert.That(robot.joints.Count, Is.EqualTo(2)); - } - - [Test] - public void _Reads_Material_Colors() - { - robot.ConstructFromString(urdfString); - foreach (Link.Visual.Material material in robot.materials) - { - if (material.name == "black") - { - Assert.That(material.color.rgba, Is.EqualTo(new[] { 0.0d, 0.0d, 0.0d, 1.0d }).Within(0.1)); - } - } - } - - [Test] - public void _Creates_Joint_Link_Tree() - { - robot.ConstructFromString(urdfString); - - Link baseFootprintLink = robot.links.Find(link => link.name == "base_footprint"); - Link baseLink = robot.links.Find(link => link.name == "base_link"); - Link sensorLink = robot.links.Find(link => link.name == "sensor_link"); - - Joint baseJoint = robot.joints.Find(joint => joint.name == "base_joint"); - Joint sensorJoint = robot.joints.Find(joint => joint.name == "sensor_joint"); - - Assert.That(baseFootprintLink.joints.Find(joint => joint.name == "base_joint"), Is.EqualTo(baseJoint)); - Assert.That(baseLink.joints.Find(joint => joint.name == "sensor_joint"), Is.EqualTo(sensorJoint)); - - Assert.That(baseJoint.ChildLink, Is.EqualTo(baseLink)); - Assert.That(sensorJoint.ChildLink, Is.EqualTo(sensorLink)); - } - - [Test] - public void _Reads_Joint_Origins() - { - robot.ConstructFromString(urdfString); - - Joint sensorJoint = robot.joints.Find(joint => joint.name == "sensor_joint"); - Origin origin = sensorJoint.origin; - Assert.That(origin.Xyz, Is.EqualTo(new[] { 0.7d, 0.8d, 0.9d })); - Assert.That(origin.Rpy, Is.EqualTo(new[] { 0.1d, 0.2d, 0.3d })); - } - - [Test] - public void _Reads_Visual_Origins() - { - robot.ConstructFromString(urdfString); - - Link sensorLink = robot.links.Find(link => link.name == "sensor_link"); - Link.Visual visual = sensorLink.visuals[0]; - Origin origin = visual.origin; - Assert.That(origin.Xyz, Is.EqualTo(new[] { 0.1d, 0.2d, 0.3d })); - Assert.That(origin.Rpy, Is.EqualTo(new[] { 0.4d, 0.5d, 0.6d })); - } - - [Test] - public void _Reads_Link_Visual_Geometry() - { - robot.ConstructFromString(urdfString); - - Link sensorLink = robot.links.Find(link => link.name == "sensor_link"); - Link.Geometry geometry = sensorLink.visuals[0].geometry; - Link.Geometry.Sphere sphere = geometry.sphere; - Assert.That(sphere.radius, Is.EqualTo(0.1d)); - - Link baseLink = robot.links.Find(link => link.name == "base_link"); - Link.Geometry.Mesh mesh = baseLink.visuals[0].geometry.mesh; - Assert.That(mesh.filename, Is.EqualTo("filename.stl")); - Assert.That(mesh.scale, Is.EqualTo(new[] { 0.001d, 0.001d, 0.001d })); - } - - } -} diff --git a/Assets/Editor/Tests/ParseUrdfTests.cs.meta b/Assets/Editor/Tests/ParseUrdfTests.cs.meta deleted file mode 100644 index df30d03..0000000 --- a/Assets/Editor/Tests/ParseUrdfTests.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 11827d48a7ae20b41ab003f44675953e -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Editor/Urdf.meta b/Assets/Editor/Urdf.meta deleted file mode 100644 index 59a2fce..0000000 --- a/Assets/Editor/Urdf.meta +++ /dev/null @@ -1,8 +0,0 @@ -fileFormatVersion: 2 -guid: 1808267e05811d845b19fef14e39c152 -folderAsset: yes -DefaultImporter: - externalObjects: {} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Editor/Urdf/CustomEditors.meta b/Assets/Editor/Urdf/CustomEditors.meta deleted file mode 100644 index 5c2264d..0000000 --- a/Assets/Editor/Urdf/CustomEditors.meta +++ /dev/null @@ -1,8 +0,0 @@ -fileFormatVersion: 2 -guid: 1274240df4e227045adc8146cfd4c2d5 -folderAsset: yes -DefaultImporter: - externalObjects: {} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Editor/Urdf/CustomEditors/HingeJointLimitsManagerEditor.cs b/Assets/Editor/Urdf/CustomEditors/HingeJointLimitsManagerEditor.cs deleted file mode 100644 index 7340f85..0000000 --- a/Assets/Editor/Urdf/CustomEditors/HingeJointLimitsManagerEditor.cs +++ /dev/null @@ -1,58 +0,0 @@ -/* -© Siemens AG, 2017-2018 -Author: Dr. Martin Bischoff (martin.bischoff@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at -. -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using UnityEditor; - -namespace RosSharp.Urdf.Editor -{ - - [CustomEditor(typeof(HingeJointLimitsManager))] - public class HingeJointLimitsManagerEditor : UnityEditor.Editor - { - private const float toleranceThreshold = 10; - - private HingeJointLimitsManager hingeJointLimitsManager; - - public override void OnInspectorGUI() - { - base.OnInspectorGUI(); - - hingeJointLimitsManager = (HingeJointLimitsManager)target; - //if (EditorGUILayout.Foldout(true, "Angles")) - - EditorGUILayout.BeginHorizontal(); - EditorGUILayout.LabelField("Actual Angle:", hingeJointLimitsManager.AngleActual.ToString()); - EditorGUILayout.LabelField("Actual Rotation No.:", hingeJointLimitsManager.RotationNumberActual.ToString()); - EditorGUILayout.EndHorizontal(); - - EditorGUILayout.BeginHorizontal(); - EditorGUILayout.LabelField("Min Angle:", hingeJointLimitsManager.AngleLimitMin.ToString()); - EditorGUILayout.LabelField("Min. No. of Rotations:", hingeJointLimitsManager.RotationNumberMin.ToString()); - EditorGUILayout.EndHorizontal(); - - EditorGUILayout.BeginHorizontal(); - EditorGUILayout.LabelField("Max Angle:", hingeJointLimitsManager.AngleLimitMax.ToString()); - EditorGUILayout.LabelField("Max. No. of Rotations:", hingeJointLimitsManager.RotationNumberMax.ToString()); - EditorGUILayout.EndHorizontal(); - - if (180 - hingeJointLimitsManager.AngleLimitMin < toleranceThreshold) - EditorGUILayout.HelpBox("Min. Angle is close to +180° where this fix will not work properly. Please increase tolerance.", MessageType.Warning); - - if (180 - hingeJointLimitsManager.AngleLimitMax < toleranceThreshold) - EditorGUILayout.HelpBox("Max. Angle is close to -180° where this fix will not work properly. Please increase tolerance.", MessageType.Warning); - - } - } -} \ No newline at end of file diff --git a/Assets/Editor/Urdf/CustomEditors/HingeJointLimitsManagerEditor.cs.meta b/Assets/Editor/Urdf/CustomEditors/HingeJointLimitsManagerEditor.cs.meta deleted file mode 100644 index dde7aab..0000000 --- a/Assets/Editor/Urdf/CustomEditors/HingeJointLimitsManagerEditor.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 8da7899cd5182224caa39186f3f1aeee -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Editor/Urdf/CustomEditors/RigidbodyEditor.cs b/Assets/Editor/Urdf/CustomEditors/RigidbodyEditor.cs deleted file mode 100644 index b28ab45..0000000 --- a/Assets/Editor/Urdf/CustomEditors/RigidbodyEditor.cs +++ /dev/null @@ -1,39 +0,0 @@ -/* -© Siemens AG, 2017 -Author: Dr. Martin Bischoff (martin.bischoff@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using UnityEditor; -using UnityEngine; - -namespace RosSharp.Urdf.Editor -{ - [CustomEditor(typeof(Rigidbody))] - public class RigidbodyEditor : UnityEditor.Editor - { - public override void OnInspectorGUI() - { - base.OnInspectorGUI(); - - Rigidbody _rigidbody = (Rigidbody)target; - _rigidbody.centerOfMass = EditorGUILayout.Vector3Field("Center Of Mass", _rigidbody.centerOfMass); - _rigidbody.inertiaTensor = EditorGUILayout.Vector3Field("Inertia Tensor", _rigidbody.inertiaTensor); - - Quaternion inertiaTensorRotation = new Quaternion(); - inertiaTensorRotation.eulerAngles = EditorGUILayout.Vector3Field("Inertia Tensor Rotation", _rigidbody.inertiaTensorRotation.eulerAngles); - _rigidbody.inertiaTensorRotation = inertiaTensorRotation; - } - } -} \ No newline at end of file diff --git a/Assets/Editor/Urdf/CustomEditors/RigidbodyEditor.cs.meta b/Assets/Editor/Urdf/CustomEditors/RigidbodyEditor.cs.meta deleted file mode 100644 index b7fd48f..0000000 --- a/Assets/Editor/Urdf/CustomEditors/RigidbodyEditor.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: d389532f50303254cbbd051321e7f126 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Editor/Urdf/CustomEditors/UrdfCollisionEditor.cs b/Assets/Editor/Urdf/CustomEditors/UrdfCollisionEditor.cs deleted file mode 100644 index 5843ec9..0000000 --- a/Assets/Editor/Urdf/CustomEditors/UrdfCollisionEditor.cs +++ /dev/null @@ -1,65 +0,0 @@ -/* -© Siemens AG, 2018 -Author: Suzannah Smith (suzannah.smith@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using UnityEditor; -using UnityEngine; - -namespace RosSharp.Urdf.Editor -{ - [CustomEditor(typeof(UrdfCollision))] - class UrdfCollisionEditor : UnityEditor.Editor - { - private UrdfCollision urdfCollision; - - public override void OnInspectorGUI() - { - urdfCollision = (UrdfCollision)target; - - GUILayout.Space(5); - - EditorGUILayout.BeginHorizontal(); - EditorGUILayout.PrefixLabel("Geometry Type"); - EditorGUILayout.LabelField(urdfCollision.geometryType.ToString()); - EditorGUILayout.EndHorizontal(); - - DisplayWarnings(); - } - - private void DisplayWarnings() - { - if (!urdfCollision.transform.HasExactlyOneChild()) - { - GUILayout.Space(5); - EditorGUILayout.HelpBox("Visual element must have one and only one child Geometry element.", MessageType.Error); - } - else if (UrdfGeometry.IsTransformed(urdfCollision.transform.GetChild(0), urdfCollision.geometryType)) - { - GUILayout.BeginVertical("HelpBox"); - EditorGUILayout.HelpBox("Changes to the transform of the child Geometry element cannot be exported to URDF. " + - "Make any translation, rotation, or scale changes to this Visual object instead.", MessageType.Error); - - if (GUILayout.Button("Fix transformations")) - { - //Only transfer rotation if geometry is not a mesh - bool transferRotation = urdfCollision.geometryType != GeometryTypes.Mesh; - urdfCollision.transform.MoveChildTransformToParent(transferRotation); - } - GUILayout.EndVertical(); - } - } - } -} diff --git a/Assets/Editor/Urdf/CustomEditors/UrdfCollisionEditor.cs.meta b/Assets/Editor/Urdf/CustomEditors/UrdfCollisionEditor.cs.meta deleted file mode 100644 index 9002e92..0000000 --- a/Assets/Editor/Urdf/CustomEditors/UrdfCollisionEditor.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 719fc1238585c0a45a7f552b6b82b3fd -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Editor/Urdf/CustomEditors/UrdfCollisionsEditor.cs b/Assets/Editor/Urdf/CustomEditors/UrdfCollisionsEditor.cs deleted file mode 100644 index a56845a..0000000 --- a/Assets/Editor/Urdf/CustomEditors/UrdfCollisionsEditor.cs +++ /dev/null @@ -1,40 +0,0 @@ -/* -© Siemens AG, 2018 -Author: Suzannah Smith (suzannah.smith@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using UnityEditor; -using UnityEngine; - -namespace RosSharp.Urdf.Editor -{ - [CustomEditor(typeof(UrdfCollisions))] - class UrdfCollisionsEditor : UnityEditor.Editor - { - private UrdfCollisions urdfCollisions; - private GeometryTypes geometryType; - - public override void OnInspectorGUI() - { - urdfCollisions = (UrdfCollisions)target; - - GUILayout.Space(10); - geometryType = (GeometryTypes)EditorGUILayout.EnumPopup("Type of collision", geometryType); - - if (GUILayout.Button("Add collision")) - UrdfCollisionExtensions.Create(urdfCollisions.transform, geometryType); - } - } -} diff --git a/Assets/Editor/Urdf/CustomEditors/UrdfCollisionsEditor.cs.meta b/Assets/Editor/Urdf/CustomEditors/UrdfCollisionsEditor.cs.meta deleted file mode 100644 index 518c479..0000000 --- a/Assets/Editor/Urdf/CustomEditors/UrdfCollisionsEditor.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 114be454b3eb9af42b0b503c00f4628d -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Editor/Urdf/CustomEditors/UrdfInertialEditor.cs b/Assets/Editor/Urdf/CustomEditors/UrdfInertialEditor.cs deleted file mode 100644 index a3ab670..0000000 --- a/Assets/Editor/Urdf/CustomEditors/UrdfInertialEditor.cs +++ /dev/null @@ -1,51 +0,0 @@ -/* -© Siemens AG, 2017 -Author: Dr. Martin Bischoff (martin.bischoff@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using UnityEditor; -using UnityEngine; - -namespace RosSharp.Urdf.Editor -{ - [CustomEditor(typeof(UrdfInertial))] - public class UrdfInertialEditor : UnityEditor.Editor - { - private Vector3 testVector; - - public override void OnInspectorGUI() - { - UrdfInertial urdfInertial = (UrdfInertial) target; - - GUILayout.Space(5); - urdfInertial.DisplayInertiaGizmo = - EditorGUILayout.ToggleLeft("Display Inertia Gizmo", urdfInertial.DisplayInertiaGizmo); - GUILayout.Space(5); - - bool newValue = EditorGUILayout.BeginToggleGroup("Use URDF Data", urdfInertial.UseUrdfData); - EditorGUILayout.Vector3Field("URDF Center of Mass", urdfInertial.CenterOfMass); - EditorGUILayout.Vector3Field("URDF Inertia Tensor", urdfInertial.InertiaTensor); - EditorGUILayout.Vector3Field("URDF Inertia Tensor Rotation", - urdfInertial.InertiaTensorRotation.eulerAngles); - EditorGUILayout.EndToggleGroup(); - - if (newValue != urdfInertial.UseUrdfData) - { - urdfInertial.UseUrdfData = newValue; - urdfInertial.UpdateRigidBodyData(); - } - } - } -} \ No newline at end of file diff --git a/Assets/Editor/Urdf/CustomEditors/UrdfInertialEditor.cs.meta b/Assets/Editor/Urdf/CustomEditors/UrdfInertialEditor.cs.meta deleted file mode 100644 index adfef18..0000000 --- a/Assets/Editor/Urdf/CustomEditors/UrdfInertialEditor.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 9b97b9bad9ce6574596410b440c07328 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Editor/Urdf/CustomEditors/UrdfJointEditor.cs b/Assets/Editor/Urdf/CustomEditors/UrdfJointEditor.cs deleted file mode 100644 index 2a36599..0000000 --- a/Assets/Editor/Urdf/CustomEditors/UrdfJointEditor.cs +++ /dev/null @@ -1,121 +0,0 @@ -/* -© Siemens AG, 2018 -Author: Suzannah Smith (suzannah.smith@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using UnityEditor; -using UnityEngine; - -namespace RosSharp.Urdf.Editor -{ - [CustomEditor(typeof(UrdfJoint), true)] - public class UrdfJointEditor : UnityEditor.Editor - { - private UrdfJoint urdfJoint; - private bool showDetails; - - public override void OnInspectorGUI() - { - urdfJoint = (UrdfJoint) target; - - GUILayout.Space(5); - - UrdfJoint.JointTypes newJointType = urdfJoint.JointType; - - EditorGUILayout.BeginVertical("HelpBox"); - newJointType = (UrdfJoint.JointTypes)EditorGUILayout.EnumPopup( - "Type of joint", newJointType); - if (newJointType != urdfJoint.JointType) - { - if (EditorUtility.DisplayDialog("Confirm joint type change", - "Are you sure you want to change the joint type? This will erase all information currently stored in the joint.", - "Continue", "Cancel")) - { - UrdfJoint.ChangeJointType(urdfJoint.gameObject, newJointType); - } - } - EditorGUILayout.EndVertical(); - - showDetails = EditorGUILayout.Foldout(showDetails, "Joint Configuration Hints", true); - if (showDetails) - { - if(urdfJoint.JointType != UrdfJoint.JointTypes.Fixed) - GUILayout.BeginVertical("HelpBox"); - switch (urdfJoint.JointType) - { - case UrdfJoint.JointTypes.Fixed: - break; - case UrdfJoint.JointTypes.Continuous: - DisplayDynamicsMessage("HingeJoint > Spring > Damper (for damping) and Spring (for friction)"); - DisplayAxisMessage("HingeJoint > Axis"); - break; - case UrdfJoint.JointTypes.Revolute: - DisplayDynamicsMessage("HingeJoint > Spring > Damper (for damping) and Spring (for friction)"); - DisplayAxisMessage("HingeJoint > Axis"); - DisplayRequiredLimitMessage("Hinge Joint Limits Manager > Large Angle Limit / Max"); - break; - case UrdfJoint.JointTypes.Floating: - DisplayDynamicsMessage("ConfigurableJoint > xDrive > Position Damper (for Damping) and Position Spring (for friction)"); - break; - case UrdfJoint.JointTypes.Prismatic: - DisplayDynamicsMessage("ConfigurableJoint > xDrive > Position Damper (for Damping) and Position Spring (for friction)"); - DisplayAxisMessage("ConfigurableJoint > Axis"); - DisplayRequiredLimitMessage("Prismatic Joint Limits Manager > Position Limit Min / Max"); - break; - case UrdfJoint.JointTypes.Planar: - DisplayDynamicsMessage("ConfigurableJoint > xDrive > Position Damper (for Damping) and Position Spring (for friction)"); - DisplayAxisMessage("ConfigurableJoint > Axis and Secondary Axis"); - DisplayRequiredLimitMessage("ConfigurableJoint > Linear Limit > Limit"); - break; - } - - if (urdfJoint.JointType != UrdfJoint.JointTypes.Fixed) - GUILayout.EndVertical(); - } - } - - private void DisplayDynamicsMessage(string dynamicsLocation) - { - GUILayout.Space(5); - EditorGUILayout.LabelField("Joint Dynamics (optional)"); - - EditorGUILayout.HelpBox("To define damping and friction values, edit the fields " + dynamicsLocation + ".", MessageType.Info); - - } - - private void DisplayAxisMessage(string axisLocation) - { - GUILayout.Space(5); - - EditorGUILayout.LabelField("Joint Axis"); - - EditorGUILayout.HelpBox("An axis is required for this joint type. Remember to define an axis in " + axisLocation + ".", MessageType.Info); - } - - public void DisplayRequiredLimitMessage(string limitLocation) - { - GUILayout.Space(5); - EditorGUILayout.LabelField("Joint Limits"); - - urdfJoint.EffortLimit = EditorGUILayout.DoubleField("Effort Limit", urdfJoint.EffortLimit); - urdfJoint.VelocityLimit = EditorGUILayout.DoubleField("Velocity Limit", urdfJoint.VelocityLimit); - - if (!urdfJoint.AreLimitsCorrect()) - EditorGUILayout.HelpBox("Limits are required for this joint type. Please enter valid limit values in " + limitLocation + ".", MessageType.Warning); - - GUILayout.Space(5); - } - } -} diff --git a/Assets/Editor/Urdf/CustomEditors/UrdfJointEditor.cs.meta b/Assets/Editor/Urdf/CustomEditors/UrdfJointEditor.cs.meta deleted file mode 100644 index 3d1913c..0000000 --- a/Assets/Editor/Urdf/CustomEditors/UrdfJointEditor.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 46d8d729a220ab74e9f75e98979f333b -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Editor/Urdf/CustomEditors/UrdfLinkEditor.cs b/Assets/Editor/Urdf/CustomEditors/UrdfLinkEditor.cs deleted file mode 100644 index e3d7f26..0000000 --- a/Assets/Editor/Urdf/CustomEditors/UrdfLinkEditor.cs +++ /dev/null @@ -1,49 +0,0 @@ -/* -© Siemens AG, 2018 -Author: Suzannah Smith (suzannah.smith@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using UnityEditor; -using UnityEngine; - -namespace RosSharp.Urdf.Editor -{ - [CustomEditor(typeof(UrdfLink))] - public class UrdfLinkEditor : UnityEditor.Editor - { - private UrdfLink urdfLink; - private UrdfJoint.JointTypes jointType = UrdfJoint.JointTypes.Fixed; - - public override void OnInspectorGUI() - { - urdfLink = (UrdfLink) target; - - GUILayout.Space(5); - urdfLink.IsBaseLink = EditorGUILayout.Toggle("Is Base Link", urdfLink.IsBaseLink); - GUILayout.Space(5); - - EditorGUILayout.BeginVertical("HelpBox"); - jointType = (UrdfJoint.JointTypes) EditorGUILayout.EnumPopup( - "Child Joint Type", jointType); - - if (GUILayout.Button("Add child link (with joint)")) - { - UrdfLink childLink = UrdfLinkExtensions.Create(urdfLink.transform); - UrdfJoint.Create(childLink.gameObject, jointType); - } - EditorGUILayout.EndVertical(); - } - } -} diff --git a/Assets/Editor/Urdf/CustomEditors/UrdfLinkEditor.cs.meta b/Assets/Editor/Urdf/CustomEditors/UrdfLinkEditor.cs.meta deleted file mode 100644 index 662c600..0000000 --- a/Assets/Editor/Urdf/CustomEditors/UrdfLinkEditor.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 8342ef1205e407f488826e56f801c9bc -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Editor/Urdf/CustomEditors/UrdfPluginsEditor.cs b/Assets/Editor/Urdf/CustomEditors/UrdfPluginsEditor.cs deleted file mode 100644 index f6ae062..0000000 --- a/Assets/Editor/Urdf/CustomEditors/UrdfPluginsEditor.cs +++ /dev/null @@ -1,38 +0,0 @@ -/* -© Siemens AG, 2018 -Author: Suzannah Smith (suzannah.smith@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using UnityEditor; -using UnityEngine; - -namespace RosSharp.Urdf.Editor -{ - [CustomEditor(typeof(UrdfPlugins))] - class UrdfPluginsEditor : UnityEditor.Editor - { - private GeometryTypes geometryType; - - public override void OnInspectorGUI() - { - UrdfPlugins urdfPlugins = (UrdfPlugins)target; - - GUILayout.Space(8); - - if (GUILayout.Button("Add Plugin")) - UrdfPlugin.Create(urdfPlugins.transform); - } - } -} diff --git a/Assets/Editor/Urdf/CustomEditors/UrdfPluginsEditor.cs.meta b/Assets/Editor/Urdf/CustomEditors/UrdfPluginsEditor.cs.meta deleted file mode 100644 index 6894e3e..0000000 --- a/Assets/Editor/Urdf/CustomEditors/UrdfPluginsEditor.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 0fe4fabdbfedf5048a5b9150315168dc -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Editor/Urdf/CustomEditors/UrdfRobotEditor.cs b/Assets/Editor/Urdf/CustomEditors/UrdfRobotEditor.cs deleted file mode 100644 index c500aa9..0000000 --- a/Assets/Editor/Urdf/CustomEditors/UrdfRobotEditor.cs +++ /dev/null @@ -1,81 +0,0 @@ -/* -© Siemens AG, 2018 -Author: Suzannah Smith (suzannah.smith@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using UnityEditor; -using UnityEngine; - -namespace RosSharp.Urdf.Editor -{ - [CustomEditor(typeof(UrdfRobot))] - public class UrdfRobotEditor : UnityEditor.Editor - { - private UrdfRobot urdfRobot; - private static GUIStyle buttonStyle; - - public override void OnInspectorGUI() - { - if (buttonStyle == null) - buttonStyle = new GUIStyle(EditorStyles.miniButtonRight) { fixedWidth = 75 }; - - urdfRobot = (UrdfRobot) target; - - GUILayout.Space(5); - GUILayout.Label("All Rigidbodies", EditorStyles.boldLabel); - DisplaySettingsToggle(new GUIContent("Is Kinematic"), urdfRobot.SetRigidbodiesIsKinematic); - DisplaySettingsToggle(new GUIContent("Use Gravity"), urdfRobot.SetRigidbodiesUseGravity); - DisplaySettingsToggle(new GUIContent("Use Inertia from URDF", "If disabled, Unity will generate new inertia tensor values automatically."), - urdfRobot.SetUseUrdfInertiaData); - - GUILayout.Space(5); - GUILayout.Label("All Colliders", EditorStyles.boldLabel); - DisplaySettingsToggle(new GUIContent("Convex"), urdfRobot.SetCollidersConvex); - - GUILayout.Space(5); - GUILayout.Label("All Joints", EditorStyles.boldLabel); - EditorGUILayout.BeginHorizontal(); - EditorGUILayout.PrefixLabel("Generate Unique Joint Names"); - if (GUILayout.Button("Generate", new GUIStyle (EditorStyles.miniButton) {fixedWidth = 155})) - urdfRobot.GenerateUniqueJointNames(); - EditorGUILayout.EndHorizontal(); - - GUILayout.Space(5); - if (GUILayout.Button("Export robot to URDF file")) - { - // Get existing open window or if none, make a new one: - UrdfExportEditorWindow window = (UrdfExportEditorWindow)EditorWindow.GetWindow(typeof(UrdfExportEditorWindow)); - window.urdfRobot = urdfRobot; - window.minSize = new Vector2(500, 200); - window.GetEditorPrefs(); - window.Show(); - } - } - - private delegate void SettingsHandler(bool enable); - - private static void DisplaySettingsToggle(GUIContent label, SettingsHandler handler) - { - EditorGUILayout.BeginHorizontal(); - EditorGUILayout.PrefixLabel(label); - if (GUILayout.Button("Enable", buttonStyle)) - handler(true); - if (GUILayout.Button("Disable", buttonStyle)) - handler(false); - EditorGUILayout.EndHorizontal(); - } - - } -} diff --git a/Assets/Editor/Urdf/CustomEditors/UrdfRobotEditor.cs.meta b/Assets/Editor/Urdf/CustomEditors/UrdfRobotEditor.cs.meta deleted file mode 100644 index 07a7dcf..0000000 --- a/Assets/Editor/Urdf/CustomEditors/UrdfRobotEditor.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 808aa9a23c5441744b83dc9740d92868 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Editor/Urdf/CustomEditors/UrdfVisualEditor.cs b/Assets/Editor/Urdf/CustomEditors/UrdfVisualEditor.cs deleted file mode 100644 index 41466a5..0000000 --- a/Assets/Editor/Urdf/CustomEditors/UrdfVisualEditor.cs +++ /dev/null @@ -1,68 +0,0 @@ -/* -© Siemens AG, 2018 -Author: Suzannah Smith (suzannah.smith@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using UnityEditor; -using UnityEngine; - -namespace RosSharp.Urdf.Editor -{ - [CustomEditor(typeof(UrdfVisual))] - class UrdfVisualEditor : UnityEditor.Editor - { - private UrdfVisual urdfVisual; - - public override void OnInspectorGUI() - { - urdfVisual = (UrdfVisual)target; - - GUILayout.Space(5); - - EditorGUILayout.BeginHorizontal(); - EditorGUILayout.PrefixLabel("Geometry Type"); - EditorGUILayout.LabelField(urdfVisual.GeometryType.ToString()); - EditorGUILayout.EndHorizontal(); - - if (GUILayout.Button("Add collision to match visual")) - { - urdfVisual.AddCorrespondingCollision(); - } - - DisplayWarnings(); - } - - private void DisplayWarnings() - { - if (!urdfVisual.transform.HasExactlyOneChild()) - { - GUILayout.Space(5); - EditorGUILayout.HelpBox("Visual element must have one and only one child Geometry element.", MessageType.Error); - } - else if (UrdfGeometry.IsTransformed(urdfVisual.transform.GetChild(0), urdfVisual.GeometryType)) - { - GUILayout.Space(5); - EditorGUILayout.HelpBox("Changes to the transform of the child Geometry element cannot be exported to URDF. " + - "Make any translation, rotation, or scale changes to this Visual object instead.", MessageType.Error); - - if (GUILayout.Button("Fix transformations")) - { - bool transferRotation = urdfVisual.GeometryType != GeometryTypes.Mesh; - urdfVisual.transform.MoveChildTransformToParent(transferRotation); - } - } - } - } -} diff --git a/Assets/Editor/Urdf/CustomEditors/UrdfVisualEditor.cs.meta b/Assets/Editor/Urdf/CustomEditors/UrdfVisualEditor.cs.meta deleted file mode 100644 index 96ea227..0000000 --- a/Assets/Editor/Urdf/CustomEditors/UrdfVisualEditor.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: b044acaadde4b834aa71afa38fc5c110 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Editor/Urdf/CustomEditors/UrdfVisualsEditor.cs b/Assets/Editor/Urdf/CustomEditors/UrdfVisualsEditor.cs deleted file mode 100644 index 7f03fa5..0000000 --- a/Assets/Editor/Urdf/CustomEditors/UrdfVisualsEditor.cs +++ /dev/null @@ -1,42 +0,0 @@ -/* -© Siemens AG, 2018 -Author: Suzannah Smith (suzannah.smith@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using UnityEditor; -using UnityEngine; - -namespace RosSharp.Urdf.Editor -{ - [CustomEditor(typeof(UrdfVisuals))] - class UrdfVisualsEditor : UnityEditor.Editor - { - private UrdfVisuals urdfVisuals; - private GeometryTypes geometryType = GeometryTypes.Box; - - public override void OnInspectorGUI() - { - urdfVisuals = (UrdfVisuals)target; - - GUILayout.Space(10); - geometryType = (GeometryTypes)EditorGUILayout.EnumPopup("Type of visual", geometryType); - - EditorGUILayout.BeginHorizontal(); - if (GUILayout.Button("Add visual")) - UrdfVisualExtensions.Create(urdfVisuals.transform, geometryType); - EditorGUILayout.EndHorizontal(); - } - } -} diff --git a/Assets/Editor/Urdf/CustomEditors/UrdfVisualsEditor.cs.meta b/Assets/Editor/Urdf/CustomEditors/UrdfVisualsEditor.cs.meta deleted file mode 100644 index ef23ef9..0000000 --- a/Assets/Editor/Urdf/CustomEditors/UrdfVisualsEditor.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 47375ad816a64194865c6ff826ec5a2a -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Editor/Urdf/MenuItems.meta b/Assets/Editor/Urdf/MenuItems.meta deleted file mode 100644 index 36a929c..0000000 --- a/Assets/Editor/Urdf/MenuItems.meta +++ /dev/null @@ -1,8 +0,0 @@ -fileFormatVersion: 2 -guid: b94bfb46c33a00248b3493f7a7b5d151 -folderAsset: yes -DefaultImporter: - externalObjects: {} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Editor/Urdf/MenuItems/UrdfExportEditorWindow.cs b/Assets/Editor/Urdf/MenuItems/UrdfExportEditorWindow.cs deleted file mode 100644 index 08deedc..0000000 --- a/Assets/Editor/Urdf/MenuItems/UrdfExportEditorWindow.cs +++ /dev/null @@ -1,136 +0,0 @@ -/* -© Siemens AG, 2018 -Author: Suzannah Smith (suzannah.smith@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using System.IO; -using UnityEditor; -using UnityEngine; - -namespace RosSharp.Urdf.Editor -{ - public class UrdfExportEditorWindow : EditorWindow - { - public UrdfRobot urdfRobot; - public string exportRoot = ""; - public string subfolder = ""; - public int selectedSubfolder; - - private static string[] subfolderOptions = { "Export URDF to root folder", "Export URDF to the following subfolder:" }; - - private void OnGUI() - { - //Styles definitions - GUIStyle titleStyle = new GUIStyle(EditorStyles.boldLabel) - { - alignment = TextAnchor.MiddleCenter, - fontSize = 13 - }; - GUIStyle buttonStyle = new GUIStyle(EditorStyles.miniButtonRight) {fixedWidth = 75}; - - //Window title - GUILayout.Space(10); - GUILayout.Label("Export " + urdfRobot.gameObject.name + " to URDF", titleStyle); - - //Select export root folder - GUILayout.Space(5); - EditorGUILayout.BeginHorizontal("HelpBox"); - exportRoot = EditorGUILayout.TextField( - new GUIContent("Export root folder", "Corresponds to ROS package root folder."), - exportRoot); - if (GUILayout.Button("Select", buttonStyle)) - { - exportRoot = EditorUtility.OpenFolderPanel("Select export root folder", exportRoot, ""); - } - - EditorGUILayout.EndHorizontal(); - - //Select subfolder - GUILayout.Space(5); - selectedSubfolder = - GUILayout.SelectionGrid(selectedSubfolder, subfolderOptions, 1, EditorStyles.radioButton); - - EditorGUI.BeginDisabledGroup(selectedSubfolder != 1); - - EditorGUILayout.BeginHorizontal(); - GUILayout.Space(30); - EditorGUILayout.BeginHorizontal("HelpBox"); - subfolder = EditorGUILayout.TextField( - new GUIContent("Subfolder", "Corresponds to URDF subfolder in ROS package."), - subfolder); - if (GUILayout.Button("Select", buttonStyle)) - { - string subfolderPath = EditorUtility.OpenFolderPanel( - "Select export destination for robot asset files (such as meshes, images, etc)", - exportRoot, - ""); - - subfolder = subfolderPath.Contains(exportRoot) ? subfolderPath.Substring(exportRoot.Length) : ""; - } - - EditorGUILayout.EndHorizontal(); - EditorGUILayout.EndHorizontal(); - - EditorGUI.EndDisabledGroup(); - - //Choose STL export type - GUILayout.Space(10); - EditorGUILayout.BeginHorizontal(); - StlWriter.fileType = - (StlWriter.FileType) EditorGUILayout.EnumPopup("Export new meshes to", StlWriter.fileType); - EditorGUILayout.LabelField(" STL files"); - EditorGUILayout.EndHorizontal(); - - //Export Robot button - GUILayout.Space(10); - if (GUILayout.Button("Export Robot")) - { - if (exportRoot == "" || !Directory.Exists(exportRoot)) - EditorUtility.DisplayDialog("Export Error", - "Export root folder must be defined and folder must exist.", "Ok"); - else - { - if (selectedSubfolder == 0) - subfolder = ""; - else - subfolder = subfolder.TrimStart(Path.DirectorySeparatorChar) - .TrimStart(Path.AltDirectorySeparatorChar); - - urdfRobot.ExportRobotToUrdf(exportRoot, subfolder); - SetEditorPrefs(); - Close(); - } - } - } - - public void GetEditorPrefs() - { - exportRoot = EditorPrefs.HasKey("UrdfExportRoot") ? - EditorPrefs.GetString("UrdfExportRoot") : ""; - - subfolder = EditorPrefs.HasKey("UrdfExportSubfolder") ? - EditorPrefs.GetString("UrdfExportSubfolder") : ""; - - selectedSubfolder = EditorPrefs.HasKey("UrdfExportSubfolderOption") ? - EditorPrefs.GetInt("UrdfExportSubfolderOption") : 0; - } - private void SetEditorPrefs() - { - EditorPrefs.SetString("UrdfExportRoot", exportRoot); - EditorPrefs.SetString("UrdfExportSubfolder", subfolder); - EditorPrefs.SetInt("UrdfExportSubfolderOption", selectedSubfolder); - } - } -} diff --git a/Assets/Editor/Urdf/MenuItems/UrdfExportEditorWindow.cs.meta b/Assets/Editor/Urdf/MenuItems/UrdfExportEditorWindow.cs.meta deleted file mode 100644 index cd4276e..0000000 --- a/Assets/Editor/Urdf/MenuItems/UrdfExportEditorWindow.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: fe4155eae653842448a6770a238b08a4 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Editor/Urdf/MenuItems/UrdfImporterContextMenuItem.cs b/Assets/Editor/Urdf/MenuItems/UrdfImporterContextMenuItem.cs deleted file mode 100644 index 5ef28cb..0000000 --- a/Assets/Editor/Urdf/MenuItems/UrdfImporterContextMenuItem.cs +++ /dev/null @@ -1,38 +0,0 @@ -/* -© Siemens AG, 2018 -Author: Suzannah Smith (suzannah.smith@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using System.IO; -using UnityEditor; - -namespace RosSharp.Urdf.Editor -{ - public static class UrdfImporterContextMenuItem - { - [MenuItem("Assets/Import Robot from URDF")] - private static void CreateUrdfObject() - { - //Get path to asset, check if it's a urdf file - string assetPath = AssetDatabase.GetAssetPath(Selection.activeObject); - - if (Path.GetExtension(assetPath)?.ToLower() == ".urdf") - UrdfRobotExtensions.Create(UrdfAssetPathHandler.GetFullAssetPath(assetPath)); - else - EditorUtility.DisplayDialog("URDF Import", - "The file you selected was not a URDF file. A robot can only be imported from a valid URDF file.", "Ok"); - } - } -} \ No newline at end of file diff --git a/Assets/Editor/Urdf/MenuItems/UrdfImporterContextMenuItem.cs.meta b/Assets/Editor/Urdf/MenuItems/UrdfImporterContextMenuItem.cs.meta deleted file mode 100644 index 349da95..0000000 --- a/Assets/Editor/Urdf/MenuItems/UrdfImporterContextMenuItem.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 4bc1f3f83dd255c4899cef035d05034a -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Editor/Urdf/MenuItems/UrdfImporterMenuItem.cs b/Assets/Editor/Urdf/MenuItems/UrdfImporterMenuItem.cs deleted file mode 100644 index a128b0d..0000000 --- a/Assets/Editor/Urdf/MenuItems/UrdfImporterMenuItem.cs +++ /dev/null @@ -1,38 +0,0 @@ -/* -© Siemens AG, 2017 -Author: Dr. Martin Bischoff (martin.bischoff@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using System.IO; -using UnityEditor; -using UnityEngine; - -namespace RosSharp.Urdf.Editor -{ - public class UrdfImporterMenuItem - { - [MenuItem("GameObject/3D Object/URDF Model (import)")] - private static void CreateUrdfObject() - { - string urdfFile = EditorUtility.OpenFilePanel( - "Import local URDF", - Path.Combine(Path.GetDirectoryName(Application.dataPath),"Assets"), - "urdf"); - - if (urdfFile != "") - UrdfRobotExtensions.Create(urdfFile); - } - } -} \ No newline at end of file diff --git a/Assets/Editor/Urdf/MenuItems/UrdfImporterMenuItem.cs.meta b/Assets/Editor/Urdf/MenuItems/UrdfImporterMenuItem.cs.meta deleted file mode 100644 index 7aa26bc..0000000 --- a/Assets/Editor/Urdf/MenuItems/UrdfImporterMenuItem.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: b15bb472aa579c347b5094e94a95da72 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Editor/Urdf/MenuItems/UrdfImporterSimulationContextMenuItem.cs b/Assets/Editor/Urdf/MenuItems/UrdfImporterSimulationContextMenuItem.cs deleted file mode 100644 index 0270f01..0000000 --- a/Assets/Editor/Urdf/MenuItems/UrdfImporterSimulationContextMenuItem.cs +++ /dev/null @@ -1,41 +0,0 @@ -/* -© Dyno Robotics, 2019 -Author: Samuel Lindgren (samuel@dynorobotics.se) -Licensed under the Apache License, Version 2.0 (the "License"); - -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using System.IO; -using UnityEditor; - -namespace RosSharp.Urdf.Editor -{ - public static class UrdfImporterSimulationContextMenuItem - { - [MenuItem("Assets/Import Robot As Simulation From URDF")] - private static void CreateSimulatedUrdfObject() - { - string assetPath = AssetDatabase.GetAssetPath(Selection.activeObject); - - if (Path.GetExtension(assetPath)?.ToLower() == ".urdf") - { - UrdfSimulatedRobotExtensions.CreateFromFile(UrdfAssetPathHandler.GetFullAssetPath(assetPath)); - } - else - { - EditorUtility.DisplayDialog("Urdf Import As Simulation", - "The file you selected was not a URDF file. A robot can only be imported from a valid URDF file.", "Ok"); - } - } - } -} diff --git a/Assets/Editor/Urdf/MenuItems/UrdfImporterSimulationContextMenuItem.cs.meta b/Assets/Editor/Urdf/MenuItems/UrdfImporterSimulationContextMenuItem.cs.meta deleted file mode 100644 index 6aa37ae..0000000 --- a/Assets/Editor/Urdf/MenuItems/UrdfImporterSimulationContextMenuItem.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: afb241aac82e48948a21e50c2b833876 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Editor/Urdf/MenuItems/UrdfImporterVisualizationContextMenu.cs b/Assets/Editor/Urdf/MenuItems/UrdfImporterVisualizationContextMenu.cs deleted file mode 100644 index 88d26a8..0000000 --- a/Assets/Editor/Urdf/MenuItems/UrdfImporterVisualizationContextMenu.cs +++ /dev/null @@ -1,41 +0,0 @@ -/* -© Dyno Robotics, 2019 -Author: Samuel Lindgren (samuel@dynorobotics.se) -Licensed under the Apache License, Version 2.0 (the "License"); - -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using System.IO; -using UnityEditor; - -namespace RosSharp.Urdf.Editor -{ - public static class UrdfImporterVisualizationContextMenuItem - { - [MenuItem("Assets/Import Robot As Visualization From URDF")] - private static void CreateVisualizedUrdfObject() - { - string assetPath = AssetDatabase.GetAssetPath(Selection.activeObject); - - if (Path.GetExtension(assetPath)?.ToLower() == ".urdf") - { - UrdfVisualizedRobotExtensions.CreateFromFile(UrdfAssetPathHandler.GetFullAssetPath(assetPath)); - } - else - { - EditorUtility.DisplayDialog("Urdf Import As Visualization", - "The file you selected was not a URDF file. A robot can only be imported from a valid URDF file.", "Ok"); - } - } - } -} diff --git a/Assets/Editor/Urdf/MenuItems/UrdfImporterVisualizationContextMenu.cs.meta b/Assets/Editor/Urdf/MenuItems/UrdfImporterVisualizationContextMenu.cs.meta deleted file mode 100644 index 62cacef..0000000 --- a/Assets/Editor/Urdf/MenuItems/UrdfImporterVisualizationContextMenu.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 7381a9a4ae409374fb614e65f6f8d12b -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Editor/Urdf/MenuItems/UrdfRobotCreatorMenuItem.cs b/Assets/Editor/Urdf/MenuItems/UrdfRobotCreatorMenuItem.cs deleted file mode 100644 index 224569f..0000000 --- a/Assets/Editor/Urdf/MenuItems/UrdfRobotCreatorMenuItem.cs +++ /dev/null @@ -1,30 +0,0 @@ -/* -© Siemens AG, 2018 -Author: Suzannah Smith (suzannah.smith@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using UnityEditor; - -namespace RosSharp.Urdf.Editor -{ - public static class UrdfRobotCreatorMenuItem - { - [MenuItem("GameObject/3D Object/URDF Model (new)")] - private static void CreateUrdfObject() - { - UrdfRobotExtensions.Create(); - } - } -} \ No newline at end of file diff --git a/Assets/Editor/Urdf/MenuItems/UrdfRobotCreatorMenuItem.cs.meta b/Assets/Editor/Urdf/MenuItems/UrdfRobotCreatorMenuItem.cs.meta deleted file mode 100644 index 7791143..0000000 --- a/Assets/Editor/Urdf/MenuItems/UrdfRobotCreatorMenuItem.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: dad3cf6147a0b014ca525193ff3fe43b -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Plugins/builtin_interfaces_assembly.dll b/Assets/Plugins/builtin_interfaces_assembly.dll index b0913f9..16f0b57 100644 Binary files a/Assets/Plugins/builtin_interfaces_assembly.dll and b/Assets/Plugins/builtin_interfaces_assembly.dll differ diff --git a/Assets/Plugins/builtin_interfaces_assembly.dll.meta b/Assets/Plugins/builtin_interfaces_assembly.dll.meta index 7f7e9e0..49af63d 100644 --- a/Assets/Plugins/builtin_interfaces_assembly.dll.meta +++ b/Assets/Plugins/builtin_interfaces_assembly.dll.meta @@ -1,32 +1,2 @@ fileFormatVersion: 2 -guid: eab0e3332c54b6018984b013cb11b7aa -PluginImporter: - externalObjects: {} - 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@@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: adf1bb9ac868f7347847a38675c92970 +guid: 547b3445bde74be37a8832d01f7bade2 folderAsset: yes DefaultImporter: externalObjects: {} diff --git a/Assets/Scripts/Examples/ListenerExample.cs b/Assets/Scripts/Examples/ListenerExample.cs new file mode 100644 index 0000000..634ad13 --- /dev/null +++ b/Assets/Scripts/Examples/ListenerExample.cs @@ -0,0 +1,40 @@ +using System; +using System.Collections; +using System.Collections.Generic; +using UnityEngine; + +using rclcs; +using ROS2.Utils; + +public class ListenerExample : MonoBehaviour +{ + Context ctx = new Context(); + INode node; + ISubscription chatter_sub; + std_msgs.msg.String msg; + + void OnValidate() { + Start(); + } + void Start() + { + Rclcs.Init(ctx); + node = Rclcs.CreateNode("listener", ctx); + + chatter_sub = node.CreateSubscription( + "/chatter", msg => Debug.Log("I heard: [" + msg.Data + "]")); + } + + void FixedUpdate() + { + for(int i = 0; i < 10; i++) + { + Rclcs.SpinOnce(node, ctx, 0.0d); + } + } + + private void OnDisable() { + Rclcs.Shutdown(ctx); + } +} + diff --git a/Assets/Scripts/Examples/ListenerExample.cs.meta b/Assets/Scripts/Examples/ListenerExample.cs.meta new file mode 100644 index 0000000..d560550 --- /dev/null +++ b/Assets/Scripts/Examples/ListenerExample.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 87b22a1201547a27a9fc03e93cc0d0b7 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/Scripts/Examples/TalkerExample.cs b/Assets/Scripts/Examples/TalkerExample.cs new file mode 100644 index 0000000..87f9e6f --- /dev/null +++ b/Assets/Scripts/Examples/TalkerExample.cs @@ -0,0 +1,42 @@ +using System; +using System.Collections; +using System.Collections.Generic; +using UnityEngine; + +using rclcs; +using ROS2.Utils; + +public class TalkerExample : MonoBehaviour +{ + Context ctx = new Context(); + INode node; + IPublisher chatter_pub; + std_msgs.msg.String msg; + int i = 1; + + void OnValidate() { + Start(); + } + + void Start() + { + Rclcs.Init(ctx); + node = Rclcs.CreateNode("talker", ctx); + + chatter_pub = node.CreatePublisher("chatter"); + msg = new std_msgs.msg.String(); + } + + void Update() + { + msg.Data = "Hello World: " + i; + i++; + Debug.Log("Publishing: " + msg.Data + "\""); + chatter_pub.Publish(msg); + } + + private void OnDisable() { + Rclcs.Shutdown(ctx); + } +} + diff --git a/Assets/Scripts/Examples/TalkerExample.cs.meta b/Assets/Scripts/Examples/TalkerExample.cs.meta new file mode 100644 index 0000000..ca171ce --- /dev/null +++ b/Assets/Scripts/Examples/TalkerExample.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 92aab036663858a748b0a79c03c98caa +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/Scripts/Ros.meta b/Assets/Scripts/Ros.meta deleted file mode 100644 index b2766a9..0000000 --- a/Assets/Scripts/Ros.meta +++ /dev/null @@ -1,8 +0,0 @@ -fileFormatVersion: 2 -guid: 1a7de9d3c69a059428a4107eac3bbaf3 -folderAsset: yes -DefaultImporter: - externalObjects: {} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Ros/DevUtils.meta b/Assets/Scripts/Ros/DevUtils.meta deleted file mode 100644 index b70e59c..0000000 --- a/Assets/Scripts/Ros/DevUtils.meta +++ /dev/null @@ -1,8 +0,0 @@ -fileFormatVersion: 2 -guid: 88b851a19ed4e2d46a5c0ee691fde0ff -folderAsset: yes -DefaultImporter: - externalObjects: {} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Ros/DevUtils/MoveBaseGoalPublisher.cs b/Assets/Scripts/Ros/DevUtils/MoveBaseGoalPublisher.cs deleted file mode 100644 index 9d39b1d..0000000 --- a/Assets/Scripts/Ros/DevUtils/MoveBaseGoalPublisher.cs +++ /dev/null @@ -1,45 +0,0 @@ -/* -© Dyno Robotics, 2019 -Author: Samuel Lindgren (samuel@dynorobotics.se) -Licensed under the Apache License, Version 2.0 (the "License"); - -You may not use this file except in compliance with the License. -You may obtain a copy of the License at -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using System.Collections; -using System.Collections.Generic; -using UnityEngine; -using rclcs; - -public class MoveBaseGoalPublisher : BehaviourNode -{ - public string nodeName = "move_base_goal_publisher"; - public override string NodeName { get { return nodeName; } } - - public string TopicName = "/move_base_simple/goal"; - - private Clock clock = new Clock(); - private Publisher publisher; - private geometry_msgs.msg.PoseStamped moveBaseSimpleMessage; - - void Start() - { - publisher = node.CreatePublisher(TopicName); - moveBaseSimpleMessage = new geometry_msgs.msg.PoseStamped(); - } - - public void PublishNavigationGoal() - { - moveBaseSimpleMessage.header.Update(clock); - moveBaseSimpleMessage.pose.LocalUnity2Ros(transform); - publisher.Publish(moveBaseSimpleMessage); - } -} diff --git a/Assets/Scripts/Ros/DevUtils/MoveBaseGoalPublisher.cs.meta b/Assets/Scripts/Ros/DevUtils/MoveBaseGoalPublisher.cs.meta deleted file mode 100644 index 7a9208e..0000000 --- a/Assets/Scripts/Ros/DevUtils/MoveBaseGoalPublisher.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: ca5c38735a5512a40b9590e7a177cea4 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Ros/DevUtils/MoveBaseGoalPublisherEditor.cs b/Assets/Scripts/Ros/DevUtils/MoveBaseGoalPublisherEditor.cs deleted file mode 100644 index 3d707c1..0000000 --- a/Assets/Scripts/Ros/DevUtils/MoveBaseGoalPublisherEditor.cs +++ /dev/null @@ -1,35 +0,0 @@ -/* -© Dyno Robotics, 2019 -Author: Samuel Lindgren (samuel@dynorobotics.se) -Licensed under the Apache License, Version 2.0 (the "License"); - -You may not use this file except in compliance with the License. -You may obtain a copy of the License at -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using System.Collections; -using System.Collections.Generic; -using UnityEngine; -using UnityEditor; - -[CustomEditor(typeof(MoveBaseGoalPublisher))] -public class MoveBaseGoalPublisherEditor : Editor -{ - public override void OnInspectorGUI() - { - DrawDefaultInspector(); - - MoveBaseGoalPublisher moveBaseGoalPublisher = (MoveBaseGoalPublisher)target; - if (GUILayout.Button("Send Navigation Goal")) - { - moveBaseGoalPublisher.PublishNavigationGoal(); - } - } -} diff --git a/Assets/Scripts/Ros/DevUtils/MoveBaseGoalPublisherEditor.cs.meta b/Assets/Scripts/Ros/DevUtils/MoveBaseGoalPublisherEditor.cs.meta deleted file mode 100644 index 75947b3..0000000 --- a/Assets/Scripts/Ros/DevUtils/MoveBaseGoalPublisherEditor.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: c451f3f01d244cf48938289191a010fe -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Ros/DevUtils/NavigationMissionPublisher.cs b/Assets/Scripts/Ros/DevUtils/NavigationMissionPublisher.cs deleted file mode 100644 index 5407fd2..0000000 --- a/Assets/Scripts/Ros/DevUtils/NavigationMissionPublisher.cs +++ /dev/null @@ -1,89 +0,0 @@ -/* -© Dyno Robotics, 2019 -Author: Samuel Lindgren (samuel@dynorobotics.se) -Licensed under the Apache License, Version 2.0 (the "License"); - -You may not use this file except in compliance with the License. -You may obtain a copy of the License at -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using System.Collections; -using System.Collections.Generic; -using UnityEngine; -using rclcs; - -public class NavigationMissionPublisher : BehaviourNode -{ - public string nodeName = "mission_plan_publisher"; - public string TopicName = "/ExecuteMissionTask_command"; - - public override string NodeName { get { return nodeName; } } - - public List NavigationGoals; - - private Clock clock = new Clock(); - private Publisher publisher; - private nav2_msgs.msg.MissionPlan missionPlanMessage; - - - void Start() - { - publisher = node.CreatePublisher(TopicName); - missionPlanMessage = new nav2_msgs.msg.MissionPlan(); - } - - public void PublishMission() - { - string missionPlan = -@" - - "; - - foreach (Transform goalTransform in NavigationGoals) - { - Vector3 rosPosition = goalTransform.localPosition.Unity2Ros(); - string positionString = - string.Format(@"position = ""{0};{1};{2}""", - rosPosition.x, - rosPosition.y, - rosPosition.z); - - Quaternion rosOrientation = goalTransform.localRotation.Unity2Ros(); - - string orientationString = - string.Format(@"orientation = ""{0};{1};{2};{3}""", - rosOrientation.x, - rosOrientation.y, - rosOrientation.z, - rosOrientation.w); - - - string navigateToPoseString = - string.Format(@"", positionString, orientationString); - - missionPlan += "\n " + navigateToPoseString; - - } - - missionPlan += -@" - - -"; - - Debug.Log(missionPlan); - - missionPlanMessage.mission_plan = missionPlan; - - missionPlanMessage.header.Update(clock); - publisher.Publish(missionPlanMessage); - - } -} diff --git a/Assets/Scripts/Ros/DevUtils/NavigationMissionPublisher.cs.meta b/Assets/Scripts/Ros/DevUtils/NavigationMissionPublisher.cs.meta deleted file mode 100644 index 5b290d1..0000000 --- a/Assets/Scripts/Ros/DevUtils/NavigationMissionPublisher.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 3cb8ff1d3e8b25345a92ed323abe88fa -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Ros/DevUtils/NavigationMissionPublisherEditor.cs b/Assets/Scripts/Ros/DevUtils/NavigationMissionPublisherEditor.cs deleted file mode 100644 index 1593f93..0000000 --- a/Assets/Scripts/Ros/DevUtils/NavigationMissionPublisherEditor.cs +++ /dev/null @@ -1,36 +0,0 @@ -/* -© Dyno Robotics, 2019 -Author: Samuel Lindgren (samuel@dynorobotics.se) -Licensed under the Apache License, Version 2.0 (the "License"); - -You may not use this file except in compliance with the License. -You may obtain a copy of the License at -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using System.Collections; -using System.Collections.Generic; -using UnityEngine; -using UnityEditor; - - -[CustomEditor(typeof(NavigationMissionPublisher))] -public class NavigationMissionPublisherEditor : Editor -{ - public override void OnInspectorGUI() - { - DrawDefaultInspector(); - - NavigationMissionPublisher navigationMissionPublisher = (NavigationMissionPublisher)target; - if (GUILayout.Button("Send Mission Plan")) - { - navigationMissionPublisher.PublishMission(); - } - } -} diff --git a/Assets/Scripts/Ros/DevUtils/NavigationMissionPublisherEditor.cs.meta b/Assets/Scripts/Ros/DevUtils/NavigationMissionPublisherEditor.cs.meta deleted file mode 100644 index d5e7702..0000000 --- a/Assets/Scripts/Ros/DevUtils/NavigationMissionPublisherEditor.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: f48d9292f3011a440bb4e05b1a21b764 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Ros/Examples/PubSub.cs b/Assets/Scripts/Ros/Examples/PubSub.cs deleted file mode 100644 index de2a1c8..0000000 --- a/Assets/Scripts/Ros/Examples/PubSub.cs +++ /dev/null @@ -1,41 +0,0 @@ -/* -© Dyno Robotics, 2019 -Author: Samuel Lindgren (samuel@dynorobotics.se) -Licensed under the Apache License, Version 2.0 (the "License"); - -You may not use this file except in compliance with the License. -You may obtain a copy of the License at -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using UnityEngine; -using rclcs; - -public class PubSub : BehaviourNode -{ - public override string NodeName { get { return "joint_state_publisher"; } } - - Publisher publisher; - - void Start() - { - publisher = node.CreatePublisher("/publisher_topic"); - Subscription subscription = node.CreateSubscription("/subscription_topic", (msg) => { Debug.Log("Got something: " + msg.data); }); - } - - void Update() - { - std_msgs.msg.Bool msg = new std_msgs.msg.Bool(); - - publisher.Publish(msg); - msg.Dispose(); - - } - -} diff --git a/Assets/Scripts/Ros/Examples/PubSub.cs.meta b/Assets/Scripts/Ros/Examples/PubSub.cs.meta deleted file mode 100644 index 3e649c4..0000000 --- a/Assets/Scripts/Ros/Examples/PubSub.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 14c944062c00fce479bfe3009cddeb49 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Ros/Extensions.meta b/Assets/Scripts/Ros/Extensions.meta deleted file mode 100644 index 3b85b15..0000000 --- a/Assets/Scripts/Ros/Extensions.meta +++ /dev/null @@ -1,10 +0,0 @@ -fileFormatVersion: 2 -guid: 045b15a6f0f414046a6a93175b5d9340 -folderAsset: yes -timeCreated: 1518168052 -licenseType: Pro -DefaultImporter: - externalObjects: {} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Ros/Extensions/RosExtensions.cs b/Assets/Scripts/Ros/Extensions/RosExtensions.cs deleted file mode 100644 index c665eb7..0000000 --- a/Assets/Scripts/Ros/Extensions/RosExtensions.cs +++ /dev/null @@ -1,6 +0,0 @@ -using System.Collections; -using System.Collections.Generic; - -public static class RosExtensions -{ -} diff --git a/Assets/Scripts/Ros/Extensions/RosExtensions.cs.meta b/Assets/Scripts/Ros/Extensions/RosExtensions.cs.meta deleted file mode 100644 index 2f123fa..0000000 --- a/Assets/Scripts/Ros/Extensions/RosExtensions.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 5f042ced8789bc142abf50fabef7155f -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Ros/Extensions/RosMessageExtensions.cs b/Assets/Scripts/Ros/Extensions/RosMessageExtensions.cs deleted file mode 100644 index fe816dc..0000000 --- a/Assets/Scripts/Ros/Extensions/RosMessageExtensions.cs +++ /dev/null @@ -1,185 +0,0 @@ -/* -© Dyno Robotics, 2019 -Author: Samuel Lindgren (samuel@dynorobotics.se) -Licensed under the Apache License, Version 2.0 (the "License"); - -You may not use this file except in compliance with the License. -You may obtain a copy of the License at -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using System.Collections; -using System.Collections.Generic; -using UnityEngine; - -namespace rclcs -{ - - public static class RosMessageExtensions - { - - public static Vector3 Ros2Unity(this geometry_msgs.msg.Vector3 translation) - { - return new Vector3(-(float)translation.y, (float)translation.z, (float)translation.x); - } - - public static Vector3 Ros2Unity(this geometry_msgs.msg.Point point) - { - return new Vector3(-(float)point.y, (float)point.z, (float)point.x); - } - - public static Vector3 Unity2Ros(this Vector3 unityPosition) - { - return new Vector3(unityPosition.z, -unityPosition.x, unityPosition.y); - } - - public static Quaternion Ros2Unity(this geometry_msgs.msg.Quaternion rotation) - { - return new Quaternion((float)rotation.y, -(float)rotation.z, -(float)rotation.x, (float)rotation.w); - } - - public static Quaternion Unity2Ros(this Quaternion unityRotation) - { - return Quaternion.Normalize(new Quaternion(-unityRotation.z, unityRotation.x, -unityRotation.y, unityRotation.w)); - } - - public static void Unity2Ros(this geometry_msgs.msg.Pose rosPose, Transform unityTransform) - { - rosPose.position.Unity2Ros(unityTransform.position); - rosPose.orientation.Unity2Ros(unityTransform.rotation); - } - - public static void LocalUnity2Ros(this geometry_msgs.msg.Pose rosPose, Transform unityTransform) - { - rosPose.position.Unity2Ros(unityTransform.localPosition); - rosPose.orientation.Unity2Ros(unityTransform.localRotation); - } - - public static void Unity2Ros(this geometry_msgs.msg.Transform rosTransform, Transform unityTransform) - { - rosTransform.translation.Unity2Ros(unityTransform.position); - rosTransform.rotation.Unity2Ros(unityTransform.rotation); - } - - public static void LocalUnity2Ros(this geometry_msgs.msg.Transform rosTransform, Transform unityTransform) - { - rosTransform.translation.Unity2Ros(unityTransform.localPosition); - rosTransform.rotation.Unity2Ros(unityTransform.localRotation); - } - - public static void Unity2Ros(this geometry_msgs.msg.Vector3 rosVector3Msg, Vector3 unityVector3) - { - Vector3 rosVector3 = unityVector3.Unity2Ros(); - rosVector3Msg.x = rosVector3.x; - rosVector3Msg.y = rosVector3.y; - rosVector3Msg.z = rosVector3.z; - } - - public static void Unity2Ros(this geometry_msgs.msg.Point rosPoint, Vector3 unityPosition) - { - Vector3 rosPosition = unityPosition.Unity2Ros(); - rosPoint.x = rosPosition.x; - rosPoint.y = rosPosition.y; - rosPoint.z = rosPosition.z; - } - - - public static void Unity2Ros(this geometry_msgs.msg.Quaternion rosQuaternion, Quaternion unityRotation) - { - Quaternion rosRotation = unityRotation.Unity2Ros(); - rosQuaternion.x = rosRotation.x; - rosQuaternion.y = rosRotation.y; - rosQuaternion.z = rosRotation.z; - rosQuaternion.w = rosRotation.w; - } - - - public static void Unity2Ros(this geometry_msgs.msg.Twist rosTwist, Rigidbody unityRigidbody) - { - Vector3 rosLinearVelocity = unityRigidbody.transform.InverseTransformDirection(unityRigidbody.velocity).Unity2Ros(); - rosTwist.linear.x = rosLinearVelocity.x; - rosTwist.linear.y = rosLinearVelocity.y; - rosTwist.linear.z = rosLinearVelocity.z; - - Vector3 rosAngularVelocity = unityRigidbody.transform.InverseTransformDirection(unityRigidbody.angularVelocity).Unity2Ros(); - rosTwist.angular.x = rosAngularVelocity.x; - rosTwist.angular.y = rosAngularVelocity.y; - //TODO(sam): figure out why this is reversed - rosTwist.angular.z = -rosAngularVelocity.z; - } - - public static List CovarianceMatrixFromDiagonal(this List covarianceDiagonal) - { - List covarianceMatrix = new List(); - for(int i = 0; i < 36; i++) - { - covarianceMatrix.Add(0.0d); - } - - covarianceMatrix[0] = covarianceDiagonal[0]; - covarianceMatrix[7] = covarianceDiagonal[1]; - covarianceMatrix[14] = covarianceDiagonal[2]; - covarianceMatrix[21] = covarianceDiagonal[3]; - covarianceMatrix[28] = covarianceDiagonal[4]; - covarianceMatrix[35] = covarianceDiagonal[5]; - - return covarianceMatrix; - } - - public static void Update(this std_msgs.msg.Header header, Clock clock) - { - var now = clock.Now; - header.stamp.sec = now.sec; - header.stamp.nanosec = now.nanosec; - } - - public static void PostDate(this std_msgs.msg.Header header, uint milliSeconds) - { - if ((header.stamp.nanosec + (uint)1e6 * milliSeconds) > (uint)1e9) - { - header.stamp.sec += 1; - header.stamp.nanosec = header.stamp.nanosec + (uint)1e6 * milliSeconds - (uint)1e9; - } - else - { - header.stamp.nanosec += (uint)1e6 * milliSeconds; - } - } - - public static bool IsOlderThan(this std_msgs.msg.Header header, float seconds, Clock clock) - { - return header.stamp.ToRosTime(clock).Delay(seconds).IsInThePast; - } - - public static RosTime ToRosTime(this builtin_interfaces.msg.Time timeMessage, Clock clock) - { - RosTime rosTime = new RosTime(clock) - { - sec = timeMessage.sec, - nanosec = timeMessage.nanosec - }; - - return rosTime; - } - - public static Vector3[] toUnityVector3Array(this nav_msgs.msg.Path pathMessage) - { - var rosPoses = pathMessage.poses; - - Vector3[] unityVector3Array = new Vector3[rosPoses.Count]; - for (int i = 0; i < rosPoses.Count; i++) - { - unityVector3Array[i] = rosPoses[i].pose.position.Ros2Unity(); - } - - return unityVector3Array; - } - } - -} diff --git a/Assets/Scripts/Ros/Extensions/RosMessageExtensions.cs.meta b/Assets/Scripts/Ros/Extensions/RosMessageExtensions.cs.meta deleted file mode 100644 index 8d8b277..0000000 --- a/Assets/Scripts/Ros/Extensions/RosMessageExtensions.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: d9ab95a15eca0d9478d5999e490bcf62 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Ros/Extensions/TransformExtensionsOld.cs b/Assets/Scripts/Ros/Extensions/TransformExtensionsOld.cs deleted file mode 100644 index bf660d3..0000000 --- a/Assets/Scripts/Ros/Extensions/TransformExtensionsOld.cs +++ /dev/null @@ -1,135 +0,0 @@ -/* -© Siemens AG, 2017-2018 -Author: Dr. Martin Bischoff (martin.bischoff@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at -. -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using System; -using System.IO; -using UnityEngine; -using Object = UnityEngine.Object; - -namespace RosSharp -{ - public static class TransformExtensions - { - private const int RoundDigits = 6; - - public static void DestroyImmediateIfExists(this Transform transform) where T : Component - { - T component = transform.GetComponent(); - if (component != null) - Object.DestroyImmediate(component); - } - - public static T AddComponentIfNotExists(this Transform transform) where T : Component - { - T component = transform.GetComponent(); - if (component == null) - component = transform.gameObject.AddComponent(); - return component; - } - - public static void SetParentAndAlign(this Transform transform, Transform parent, bool keepLocalTransform = true) - { - Vector3 localPosition = transform.localPosition; - Quaternion localRotation = transform.localRotation; - transform.parent = parent; - if (keepLocalTransform) - { - transform.position = transform.parent.position + localPosition; - transform.rotation = transform.parent.rotation * localRotation; - } - else - { - transform.localPosition = Vector3.zero; - transform.localRotation = Quaternion.identity; - } - } - - public static bool HasExactlyOneChild(this Transform transform) - { - return transform.childCount == 1; - } - - public static void MoveChildTransformToParent(this Transform parent, bool transferRotation = true) - { - //Detach child in order to get a transform indenpendent from parent - Transform childTransform = parent.GetChild(0); - parent.DetachChildren(); - - //Copy transform from child to parent - parent.position = childTransform.position; - parent.localScale = childTransform.localScale; - - if (transferRotation) - { - parent.rotation = childTransform.rotation; - childTransform.localRotation = Quaternion.identity; - } - - childTransform.parent = parent; - - childTransform.localPosition = Vector3.zero; - childTransform.localScale = Vector3.one; - } - - public static Vector3 Ros2Unity(this Vector3 vector3) - { - return new Vector3(-vector3.y, vector3.z, vector3.x); - } - - public static Vector3 Unity2Ros(this Vector3 vector3) - { - return new Vector3(vector3.z, -vector3.x, vector3.y); - } - - public static Vector3 Ros2UnityScale(this Vector3 vector3) - { - return new Vector3(vector3.y, vector3.z, vector3.x); - } - - public static Vector3 Unity2RosScale(this Vector3 vector3) - { - return new Vector3(vector3.z, vector3.x, vector3.y); - } - - public static Quaternion Ros2Unity(this Quaternion quaternion) - { - return new Quaternion(quaternion.y, -quaternion.z, -quaternion.x, quaternion.w); - } - - public static Quaternion Unity2Ros(this Quaternion quaternion) - { - return new Quaternion(-quaternion.z, quaternion.x, -quaternion.y, quaternion.w); - } - - public static double[] ToRoundedDoubleArray(this Vector3 vector3) - { - double[] arr = new double[3]; - for (int i = 0; i < 3; i++) - arr[i] = Math.Round(vector3[i], RoundDigits); - - return arr; - } - - public static Vector3 ToVector3(this double[] array) - { - return new Vector3((float)array[0], (float)array[1], (float)array[2]); - } - - public static string SetSeparatorChar(this string path) - { - return path.Replace(Path.AltDirectorySeparatorChar, Path.DirectorySeparatorChar); - } - } -} diff --git a/Assets/Scripts/Ros/Extensions/TransformExtensionsOld.cs.meta b/Assets/Scripts/Ros/Extensions/TransformExtensionsOld.cs.meta deleted file mode 100644 index 6e823e9..0000000 --- a/Assets/Scripts/Ros/Extensions/TransformExtensionsOld.cs.meta +++ /dev/null @@ -1,12 +0,0 @@ -fileFormatVersion: 2 -guid: ac60f49b03340044085c24fcb9875c4c -timeCreated: 1507114469 -licenseType: Pro -MonoImporter: - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Ros/GroundTruth.meta b/Assets/Scripts/Ros/GroundTruth.meta deleted file mode 100644 index c21952e..0000000 --- a/Assets/Scripts/Ros/GroundTruth.meta +++ /dev/null @@ -1,8 +0,0 @@ -fileFormatVersion: 2 -guid: 04f58c3770c6b204f94c1db5f489d755 -folderAsset: yes -DefaultImporter: - externalObjects: {} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Ros/GroundTruth/PoseStampedPublisher.cs b/Assets/Scripts/Ros/GroundTruth/PoseStampedPublisher.cs deleted file mode 100644 index 4b847ba..0000000 --- a/Assets/Scripts/Ros/GroundTruth/PoseStampedPublisher.cs +++ /dev/null @@ -1,69 +0,0 @@ -/* -© Dyno Robotics, 2019 -Author: Samuel Lindgren (samuel@dynorobotics.se) -Licensed under the Apache License, Version 2.0 (the "License"); - -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using System.Collections; -using System.Collections.Generic; -using UnityEngine; -using rclcs; - -public class PoseStampedPublisher : BehaviourNode -{ - public string nodeName = "pose_stamped_publisher"; - public override string NodeName { get { return nodeName; } } - - public string TopicName = "/pose_stamped"; - - public int PublisherFrequency = 10; - - public string ParetFrameId = ""; - public Transform ParentFrame; - - public Transform ChildFrame; - - private rclcs.Publisher publisher; - private geometry_msgs.msg.PoseStamped message; - - private rclcs.Clock clock = new rclcs.Clock(); - private RosTime lastPublishTime; - - void Start() - { - if (ChildFrame == null) - { - ChildFrame = transform; - } - - message = new geometry_msgs.msg.PoseStamped(); - message.header.frame_id = ParetFrameId; - publisher = node.CreatePublisher(TopicName); - lastPublishTime = clock.Now; - } - - new void FixedUpdate() - { - if (lastPublishTime.Delay(1.0f / PublisherFrequency).IsInThePast) - { - lastPublishTime = clock.Now; - Vector3 unityPosition = Quaternion.Inverse(ParentFrame.rotation)*(ChildFrame.position - ParentFrame.position); - message.pose.position.Unity2Ros(unityPosition); - //TODO(sam): Figure out why z is y in numpy quaternion - message.pose.orientation.Unity2Ros( Quaternion.Inverse(ParentFrame.rotation) * ChildFrame.rotation); - message.header.Update(clock); - publisher.Publish(message); - } - } -} diff --git a/Assets/Scripts/Ros/GroundTruth/PoseStampedPublisher.cs.meta b/Assets/Scripts/Ros/GroundTruth/PoseStampedPublisher.cs.meta deleted file mode 100644 index f3068ff..0000000 --- a/Assets/Scripts/Ros/GroundTruth/PoseStampedPublisher.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 596809e66f910c645ae346ff0e39be50 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Ros/GroundTruth/PoseWithCovarianceStampedPublisher.cs b/Assets/Scripts/Ros/GroundTruth/PoseWithCovarianceStampedPublisher.cs deleted file mode 100644 index c816262..0000000 --- a/Assets/Scripts/Ros/GroundTruth/PoseWithCovarianceStampedPublisher.cs +++ /dev/null @@ -1,62 +0,0 @@ -/* -© Dyno Robotics, 2019 -Author: Samuel Lindgren (samuel@dynorobotics.se) -Licensed under the Apache License, Version 2.0 (the "License"); - -You may not use this file except in compliance with the License. -You may obtain a copy of the License at -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using System.Collections; -using System.Collections.Generic; -using UnityEngine; -using rclcs; - -public class PoseWithCovarianceStampedPublisher : BehaviourNode -{ - public string nodeName = "pose_with_covariance_stamped_publisher"; - public override string NodeName { get { return nodeName; } } - public string FrameId = "map"; - - public string TopicName = "/pose_with_covariance_stamped"; - - public bool UseLocalTransform = true; - - private List poseCovarianceDiagonal = new List { 0.001d, 0.001d, 0.001d, 0.001d, 0.001d, 0.03d }; - - private rclcs.Publisher publisher; - private geometry_msgs.msg.PoseWithCovarianceStamped poseWithCovarianceStampedMessage; - - private rclcs.Clock clock = new rclcs.Clock(); - - void Start() - { - poseWithCovarianceStampedMessage = new geometry_msgs.msg.PoseWithCovarianceStamped(); - poseWithCovarianceStampedMessage.pose.covariance = poseCovarianceDiagonal.CovarianceMatrixFromDiagonal(); - poseWithCovarianceStampedMessage.header.frame_id = FrameId; - publisher = node.CreatePublisher(TopicName); - } - - void Update() - { - poseWithCovarianceStampedMessage.header.Update(clock); - if (UseLocalTransform) - { - poseWithCovarianceStampedMessage.pose.pose.LocalUnity2Ros(transform); - } - else - { - poseWithCovarianceStampedMessage.pose.pose.Unity2Ros(transform); - } - - publisher.Publish(poseWithCovarianceStampedMessage); - } - -} diff --git a/Assets/Scripts/Ros/GroundTruth/PoseWithCovarianceStampedPublisher.cs.meta b/Assets/Scripts/Ros/GroundTruth/PoseWithCovarianceStampedPublisher.cs.meta deleted file mode 100644 index 9492f37..0000000 --- a/Assets/Scripts/Ros/GroundTruth/PoseWithCovarianceStampedPublisher.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: bd01f547c65e2ed42b47e68136d13d04 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Ros/Helpers.meta b/Assets/Scripts/Ros/Helpers.meta deleted file mode 100644 index 6b4dd78..0000000 --- a/Assets/Scripts/Ros/Helpers.meta +++ /dev/null @@ -1,8 +0,0 @@ -fileFormatVersion: 2 -guid: ba0d84dc45b93b441bf5a85d01097d4d -folderAsset: yes -DefaultImporter: - externalObjects: {} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Ros/Helpers/BehaviourNode.cs b/Assets/Scripts/Ros/Helpers/BehaviourNode.cs deleted file mode 100644 index 766c030..0000000 --- a/Assets/Scripts/Ros/Helpers/BehaviourNode.cs +++ /dev/null @@ -1,66 +0,0 @@ -/* -© Dyno Robotics, 2019 -Author: Samuel Lindgren (samuel@dynorobotics.se) -Licensed under the Apache License, Version 2.0 (the "License"); - -You may not use this file except in compliance with the License. -You may obtain a copy of the License at -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using System.Collections; -using System.Collections.Generic; -using UnityEngine; - -public abstract class BehaviourNode : MonoBehaviour -{ - public abstract string NodeName { get; } - - protected rclcs.Context context; - protected rclcs.Node node; - - void Awake() - { - GameObject globalContext = GameObject.Find("Global Ros2 Context"); - if (globalContext != null) - { - context = globalContext.GetComponent().context; - } - else - { - context = new rclcs.Context(); - } - - if (!context.isInit) - { - rclcs.Rclcs.Init(context); - } - - - node = new rclcs.Node(NodeName, context); - } - - protected void FixedUpdate() - { - //TODO(samiam): Figure out best timeout and number of callbacks to process - for(int i = 0; i < 10; i++) - { - rclcs.Rclcs.SpinOnce(node, 0.0d); - } - } - - void OnDestroy() - { - node.Dispose(); - if (context.isInit) - { - rclcs.Rclcs.Shutdown(context); - } - } -} diff --git a/Assets/Scripts/Ros/Helpers/BehaviourNode.cs.meta b/Assets/Scripts/Ros/Helpers/BehaviourNode.cs.meta deleted file mode 100644 index 079e8ff..0000000 --- a/Assets/Scripts/Ros/Helpers/BehaviourNode.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: b10675761f045464ca9a88a587b0a702 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Ros/Helpers/GlobalRosContext.cs b/Assets/Scripts/Ros/Helpers/GlobalRosContext.cs deleted file mode 100644 index 6cb3c25..0000000 --- a/Assets/Scripts/Ros/Helpers/GlobalRosContext.cs +++ /dev/null @@ -1,10 +0,0 @@ -using System.Collections; -using System.Collections.Generic; -using UnityEngine; - -public class GlobalRosContext : MonoBehaviour -{ - public rclcs.Context context = new rclcs.Context(); - - -} diff --git a/Assets/Scripts/Ros/Helpers/GlobalRosContext.cs.meta b/Assets/Scripts/Ros/Helpers/GlobalRosContext.cs.meta deleted file mode 100644 index 6d74b16..0000000 --- a/Assets/Scripts/Ros/Helpers/GlobalRosContext.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 2980749009fb8ef458d5594d4f380e9f -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Ros/Joints.meta b/Assets/Scripts/Ros/Joints.meta deleted file mode 100644 index 281ef2d..0000000 --- a/Assets/Scripts/Ros/Joints.meta +++ /dev/null @@ -1,8 +0,0 @@ -fileFormatVersion: 2 -guid: 1a7258ee07567004da7f25d0ba471f77 -folderAsset: yes -DefaultImporter: - externalObjects: {} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Ros/Joints/JointCommandsSubscription.cs b/Assets/Scripts/Ros/Joints/JointCommandsSubscription.cs deleted file mode 100644 index adc479b..0000000 --- a/Assets/Scripts/Ros/Joints/JointCommandsSubscription.cs +++ /dev/null @@ -1,66 +0,0 @@ - -/* -© Dyno Robotics, 2019 -Author: Samuel Lindgren (samuel@dynorobotics.se) -Licensed under the Apache License, Version 2.0 (the "License"); - -You may not use this file except in compliance with the License. -You may obtain a copy of the License at -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using System.Collections; -using System.Collections.Generic; -using UnityEngine; - -public class JointCommandsSubscription : BehaviourNode -{ - public override string NodeName { get { return "joint_commmands_subscription"; } } - public string TopicName = "/joint_commands"; - - public Dictionary JointInterfaceDict; - public Dictionary JointPositionDict; - - void Start() - { - JointInterfaceDict = new Dictionary(); - JointPositionDict = new Dictionary(); - foreach (JointInterface jointInterface in GetComponentsInChildren()) - { - JointInterfaceDict.Add(jointInterface.JointName, jointInterface); - JointPositionDict.Add(jointInterface.JointName, 0.0F); - } - - // Write zero position to all joints - WritePositions(); - - var subscription = node.CreateSubscription( - TopicName, (msg) => - { - List msgJointPositions = msg.position; - List msgJointNames = msg.name; - for (int i = 0; i < msg.name.Count; i++) - { - JointPositionDict[msgJointNames[i]] = (float)msgJointPositions[i]; - } - - WritePositions(); - }); - - } - - void WritePositions() - { - foreach(KeyValuePair jointInterface in JointInterfaceDict) - { - jointInterface.Value.Position = JointPositionDict[jointInterface.Key]; - } - } - -} diff --git a/Assets/Scripts/Ros/Joints/JointCommandsSubscription.cs.meta b/Assets/Scripts/Ros/Joints/JointCommandsSubscription.cs.meta deleted file mode 100644 index 97ff4e2..0000000 --- a/Assets/Scripts/Ros/Joints/JointCommandsSubscription.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 2f72e87fe290ac24d8d8dcbe75c626b2 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Ros/Joints/JointInterface.cs b/Assets/Scripts/Ros/Joints/JointInterface.cs deleted file mode 100644 index c3c19a0..0000000 --- a/Assets/Scripts/Ros/Joints/JointInterface.cs +++ /dev/null @@ -1,108 +0,0 @@ -/* -© Dyno Robotics, 2019 -Author: Samuel Lindgren (samuel@dynorobotics.se) -Licensed under the Apache License, Version 2.0 (the "License"); - -You may not use this file except in compliance with the License. -You may obtain a copy of the License at -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using System.Collections; -using System.Collections.Generic; -using UnityEngine; - -public class JointInterface : MonoBehaviour -{ - public string JointName; - - public string JointType; - - public bool EnableJointLimits; - public double UpperLimit; - public double LowerLimit; - - public bool IsMoving; - - public Vector3 Axis; - - public HingeJoint rotatingJoint; - private ConfigurableJoint prismaticJoint; - - private float jointPosition; // rad or meters - - private Quaternion originalRotation; - private Vector3 originalPosition; - - public float Position - { - get - { - //TODO(sam): actually read position... - return jointPosition; - } - set - { - if (EnableJointLimits) - { - jointPosition = Mathf.Clamp(value, (float)LowerLimit, (float)UpperLimit); - } - else - { - jointPosition = value; - } - } - } - - public float Velocity - { - get - { - //TODO(sam): actually read velocity... - return 0.0f; - //return -rotatingJoint.velocity * Mathf.Deg2Rad; - } - } - - public float Effort - { - get - { - //TODO(sam): actually read effort... - return 0.0f; - //return -rotatingJoint.motor.force; - } - } - - - void Start() - { - rotatingJoint = GetComponent(); - originalRotation = transform.localRotation; - originalPosition = transform.localPosition; - } - - void Update() - { - //TODO(sam): use smoothing? - if (JointType == "continuous" || JointType == "revolute") - { - Quaternion newLocalRotation = originalRotation * Quaternion.AngleAxis(-jointPosition * Mathf.Rad2Deg, rotatingJoint.axis); - IsMoving = (transform.localRotation != newLocalRotation); - transform.localRotation = newLocalRotation; - } - else if (JointType == "prismatic") - { - Vector3 newLocalPosition = originalPosition + jointPosition * Axis; - IsMoving = (transform.localPosition != newLocalPosition); - transform.localPosition = newLocalPosition; - } - } - -} diff --git a/Assets/Scripts/Ros/Joints/JointInterface.cs.meta b/Assets/Scripts/Ros/Joints/JointInterface.cs.meta deleted file mode 100644 index 7045187..0000000 --- a/Assets/Scripts/Ros/Joints/JointInterface.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 8b2675943be54f641a797335469e4f45 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Ros/Joints/JointSpinner.cs b/Assets/Scripts/Ros/Joints/JointSpinner.cs deleted file mode 100644 index 2e6c95d..0000000 --- a/Assets/Scripts/Ros/Joints/JointSpinner.cs +++ /dev/null @@ -1,37 +0,0 @@ -using System.Collections; -using System.Collections.Generic; -using UnityEngine; - -public class JointSpinner : BehaviourNode -{ - public string nodeName = "joint_spinner"; - public string JointStateTopic = "/joint_commands"; - public JointInterface Joint; - public double JointVelocity = 0.1d; - - private double jointPosition = 0.0d; - public override string NodeName { get { return nodeName; } } - - private rclcs.Publisher publisher; - private sensor_msgs.msg.JointState jointStateMsg = new sensor_msgs.msg.JointState(); - - void Start() - { - publisher = node.CreatePublisher(JointStateTopic); - - if (Joint != null) - { - jointStateMsg.name = new List { Joint.JointName }; - } - } - - void Update() - { - if (Joint != null) - { - jointPosition += Time.deltaTime * JointVelocity; - jointStateMsg.position = new List { jointPosition }; - publisher.Publish(jointStateMsg); - } - } -} diff --git a/Assets/Scripts/Ros/Joints/JointSpinner.cs.meta b/Assets/Scripts/Ros/Joints/JointSpinner.cs.meta deleted file mode 100644 index 7e5d954..0000000 --- a/Assets/Scripts/Ros/Joints/JointSpinner.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 551081d6741803740968024b715c1014 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Ros/Joints/JointStatePublisher.cs b/Assets/Scripts/Ros/Joints/JointStatePublisher.cs deleted file mode 100644 index e9e3d2e..0000000 --- a/Assets/Scripts/Ros/Joints/JointStatePublisher.cs +++ /dev/null @@ -1,60 +0,0 @@ -/* -© Dyno Robotics, 2019 -Author: Samuel Lindgren (samuel@dynorobotics.se) -Licensed under the Apache License, Version 2.0 (the "License"); - -You may not use this file except in compliance with the License. -You may obtain a copy of the License at -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using System.Collections.Generic; - -using rclcs; - -public class JointStatePublisher : BehaviourNode -{ - public string JointStateTopicName = "/joint_states"; - public override string NodeName { get { return "joint_state_publisher"; } } - - private rclcs.Publisher jointStatePublisher; - private sensor_msgs.msg.JointState jointStateMsg; - private rclcs.Clock clock; - - void Start() - { - jointStateMsg = new sensor_msgs.msg.JointState(); - jointStatePublisher = node.CreatePublisher(JointStateTopicName); - clock = new rclcs.Clock(); - } - - void Update() - { - List jointNames = new List(); - List jointPositions = new List(); - List jointVelocity = new List(); - List jointEffort = new List(); - - foreach (JointInterface jointInterface in GetComponentsInChildren()) - { - jointNames.Add(jointInterface.JointName); - jointPositions.Add(jointInterface.Position); - jointVelocity.Add(jointInterface.Velocity); - jointEffort.Add(jointInterface.Effort); - } - - jointStateMsg.name = jointNames; - jointStateMsg.position = jointPositions; - jointStateMsg.velocity = jointVelocity; - jointStateMsg.effort = jointEffort; - - jointStateMsg.header.Update(clock); - jointStatePublisher.Publish(jointStateMsg); - } -} diff --git a/Assets/Scripts/Ros/Joints/JointStatePublisher.cs.meta b/Assets/Scripts/Ros/Joints/JointStatePublisher.cs.meta deleted file mode 100644 index b458310..0000000 --- a/Assets/Scripts/Ros/Joints/JointStatePublisher.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: fa6ac65235bb5d24eb56ee9b483fbc1c -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Ros/RobotBase.meta b/Assets/Scripts/Ros/RobotBase.meta deleted file mode 100644 index dfd4326..0000000 --- a/Assets/Scripts/Ros/RobotBase.meta +++ /dev/null @@ -1,8 +0,0 @@ -fileFormatVersion: 2 -guid: 7c7c19cd18b4fb6409d96924f0be1403 -folderAsset: yes -DefaultImporter: - externalObjects: {} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Ros/RobotBase/DiffDriveWheelSpinner.cs b/Assets/Scripts/Ros/RobotBase/DiffDriveWheelSpinner.cs deleted file mode 100644 index 8199ec3..0000000 --- a/Assets/Scripts/Ros/RobotBase/DiffDriveWheelSpinner.cs +++ /dev/null @@ -1,64 +0,0 @@ -using System.Collections; -using System.Collections.Generic; -using UnityEngine; -using rclcs; - -public class DiffDriveWheelSpinner : BehaviourNode -{ - public override string NodeName { get { return "diff_drive_wheel_spinner"; } } - - public Rigidbody BaseRigidbody; - public string JointStateTopic = "/joint_commands"; - - public JointInterface LeftWheelJoint; - public JointInterface RightWheelJoint; - - public float WheelRadius = 0.0f; - private float WheelBase = 0.0f; - - private Publisher publisher; - private sensor_msgs.msg.JointState jointStateMsg = new sensor_msgs.msg.JointState(); - - private double leftWheelAngularPosition = 0.0f; - private double rightWheelAngularPosition = 0.0f; - - void Start() - { - publisher = node.CreatePublisher(JointStateTopic); - - if (BaseRigidbody == null) - { - BaseRigidbody = GetComponentInChildren(); - } - - if (LeftWheelJoint != null && RightWheelJoint != null) - { - //TODO(sam): figure out a better way of finding wheel radius... - WheelRadius = LeftWheelJoint.transform.position.y - transform.position.y; - WheelBase = Vector3.Distance(LeftWheelJoint.transform.position, RightWheelJoint.transform.position); - } - } - - void Update() - { - Vector3 localVelocity = BaseRigidbody.transform.InverseTransformDirection(BaseRigidbody.velocity).Unity2Ros(); - Vector3 localAngularVelocity = BaseRigidbody.transform.InverseTransformDirection(BaseRigidbody.angularVelocity).Unity2Ros(); - - if (LeftWheelJoint != null && RightWheelJoint != null) - { - float leftWheelAngularVelocity = (localVelocity.x + localAngularVelocity.z * WheelBase / 2.0f) / WheelRadius; - float rightWheelAngularVelocity = (localVelocity.x - localAngularVelocity.z * WheelBase / 2.0f) / WheelRadius; - - - rightWheelAngularPosition += rightWheelAngularVelocity * Time.deltaTime; - leftWheelAngularPosition += leftWheelAngularVelocity * Time.deltaTime; - - jointStateMsg.name = new List { LeftWheelJoint.JointName, RightWheelJoint.JointName }; - jointStateMsg.position = new List { leftWheelAngularPosition, rightWheelAngularPosition }; - - publisher.Publish(jointStateMsg); - } - - Rclcs.SpinOnce(node, 0.0d); - } -} diff --git a/Assets/Scripts/Ros/RobotBase/DiffDriveWheelSpinner.cs.meta b/Assets/Scripts/Ros/RobotBase/DiffDriveWheelSpinner.cs.meta deleted file mode 100644 index 82e1c4c..0000000 --- a/Assets/Scripts/Ros/RobotBase/DiffDriveWheelSpinner.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 73f160e1c0d740946bb9c21af829d70f -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Ros/RobotBase/OdometryPublisher.cs b/Assets/Scripts/Ros/RobotBase/OdometryPublisher.cs deleted file mode 100644 index 9c2f65d..0000000 --- a/Assets/Scripts/Ros/RobotBase/OdometryPublisher.cs +++ /dev/null @@ -1,92 +0,0 @@ -/* -© Dyno Robotics, 2019 -Author: Samuel Lindgren (samuel@dynorobotics.se) -Licensed under the Apache License, Version 2.0 (the "License"); - -You may not use this file except in compliance with the License. -You may obtain a copy of the License at -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using System.Collections; -using System.Collections.Generic; -using UnityEngine; -using rclcs; - -public class OdometryPublisher : BehaviourNode -{ - public string OdometryTopic = "/odom"; - public Rigidbody BaseRigidbody; - - public bool PublishTf = true; - public string TfTopic = "/tf"; - public uint tfPostDateMilliseconds = 0; // post date to prevent "lookup into future" error for sensor data - - public override string NodeName { get { return "odometry_publisher"; } } - - private rclcs.Clock clock; - - private rclcs.Publisher odometryPublisher; - private rclcs.Publisher tfPublisher; - - private nav_msgs.msg.Odometry odometryMsg; - private geometry_msgs.msg.PoseWithCovariance robotPose; - private geometry_msgs.msg.TwistWithCovariance robotTwist; - - private tf2_msgs.msg.TFMessage tfMsg; - private geometry_msgs.msg.TransformStamped tfTransformStamped; - - private List poseCovarianceDiagonal = new List { 0.001d, 0.001d, 0.001d, 0.001d, 0.001d, 0.03d }; - private List twistCovarianceDiagonal = new List { 0.001d, 0.001d, 0.001d, 0.001d, 0.001d, 0.03d }; - - void Start() - { - odometryPublisher = node.CreatePublisher(OdometryTopic); - tfPublisher = node.CreatePublisher(TfTopic); - - clock = new rclcs.Clock(); - - odometryMsg = new nav_msgs.msg.Odometry(); - odometryMsg.header.frame_id = "/odom"; - odometryMsg.child_frame_id = "/base_footprint"; - robotPose = odometryMsg.pose; - robotTwist = odometryMsg.twist; - - tfMsg = new tf2_msgs.msg.TFMessage(); - tfMsg.transforms_init(1); - tfTransformStamped = tfMsg.transforms[0]; - tfTransformStamped.header.frame_id = "/odom"; - tfTransformStamped.child_frame_id = "/base_footprint"; - - odometryMsg.pose.covariance = poseCovarianceDiagonal.CovarianceMatrixFromDiagonal(); - odometryMsg.twist.covariance = twistCovarianceDiagonal.CovarianceMatrixFromDiagonal(); - - if (BaseRigidbody == null) - { - BaseRigidbody = GetComponentInChildren(); - } - } - - new void FixedUpdate() - { - robotPose.pose.LocalUnity2Ros(BaseRigidbody.transform); - robotTwist.twist.Unity2Ros(BaseRigidbody); - - odometryMsg.header.Update(clock); - odometryPublisher.Publish(odometryMsg); - - if (PublishTf) - { - tfTransformStamped.header.Update(clock); - tfTransformStamped.header.PostDate(tfPostDateMilliseconds); - tfTransformStamped.transform.LocalUnity2Ros(BaseRigidbody.transform); - tfPublisher.Publish(tfMsg); - } - } -} diff --git a/Assets/Scripts/Ros/RobotBase/OdometryPublisher.cs.meta b/Assets/Scripts/Ros/RobotBase/OdometryPublisher.cs.meta deleted file mode 100644 index 0d46f9f..0000000 --- a/Assets/Scripts/Ros/RobotBase/OdometryPublisher.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 2fc9a0bf6ff6acc4b979b9a4c5ab38d3 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Ros/RobotBase/TwistBaseController.cs b/Assets/Scripts/Ros/RobotBase/TwistBaseController.cs deleted file mode 100644 index a477957..0000000 --- a/Assets/Scripts/Ros/RobotBase/TwistBaseController.cs +++ /dev/null @@ -1,70 +0,0 @@ -/* -© Dyno Robotics, 2019 -Author: Samuel Lindgren (samuel@dynorobotics.se) -Licensed under the Apache License, Version 2.0 (the "License"); - -You may not use this file except in compliance with the License. -You may obtain a copy of the License at -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using System.Collections; -using System.Collections.Generic; -using UnityEngine; -using rclcs; - -public class TwistBaseController : BehaviourNode -{ - public override string NodeName { get { return "twist_base_controller"; } } - - public string TwistTopic = "/cmd_vel"; - - public bool IsHolonomic = false; - - public float LinearForwardVelocity = 0.0f; - public float LinearRightVelocity = 0.0f; - public float AngularVelocity = 0.0f; - - public Rigidbody BaseRigidbody; - - void Start() - { - Subscription subscription = node.CreateSubscription( - TwistTopic, (msg) => - { - LinearForwardVelocity = (float)msg.linear.x; - LinearRightVelocity = -(float)msg.linear.y; - AngularVelocity = -(float)msg.angular.z; - }); - - if (BaseRigidbody == null) - { - BaseRigidbody = GetComponentInChildren(); - } - } - - new void FixedUpdate() - { - Vector3 deltaPosition = (BaseRigidbody.transform.forward * LinearForwardVelocity) * Time.fixedDeltaTime; - - if (IsHolonomic) - { - deltaPosition += BaseRigidbody.transform.right * LinearRightVelocity * Time.fixedDeltaTime; - } - - BaseRigidbody.MovePosition(this.BaseRigidbody.position + deltaPosition); - - Quaternion deltaRotation = Quaternion.Euler(new Vector3(0.0f, AngularVelocity * Mathf.Rad2Deg, 0.0f) * - Time.fixedDeltaTime); - - this.BaseRigidbody.MoveRotation(this.BaseRigidbody.rotation * deltaRotation); - - Rclcs.SpinOnce(node, 0.0d); - } -} diff --git a/Assets/Scripts/Ros/RobotBase/TwistBaseController.cs.meta b/Assets/Scripts/Ros/RobotBase/TwistBaseController.cs.meta deleted file mode 100644 index aefcbbd..0000000 --- a/Assets/Scripts/Ros/RobotBase/TwistBaseController.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: d1c691ebd6a424c40ae6849e694f0698 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Ros/Sensors.meta b/Assets/Scripts/Ros/Sensors.meta deleted file mode 100644 index e817122..0000000 --- a/Assets/Scripts/Ros/Sensors.meta +++ /dev/null @@ -1,8 +0,0 @@ -fileFormatVersion: 2 -guid: 2eab5b60bb663c14ea82e8fd42906cda -folderAsset: yes -DefaultImporter: - externalObjects: {} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Ros/Sensors/DistanceSensorPublisher.cs b/Assets/Scripts/Ros/Sensors/DistanceSensorPublisher.cs deleted file mode 100644 index d12c4fa..0000000 --- a/Assets/Scripts/Ros/Sensors/DistanceSensorPublisher.cs +++ /dev/null @@ -1,94 +0,0 @@ -/* -© Dyno Robotics, 2019 -Author: Samuel Lindgren (samuel@dynorobotics.se) -Licensed under the Apache License, Version 2.0 (the "License"); - -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using System.Collections; -using System.Collections.Generic; -using UnityEngine; -using rclcs; - -public class DistanceSensorPublisher : BehaviourNode -{ - public string nodeName = "distance_sensor_publisher"; - public override string NodeName { get { return nodeName; } } - public string FrameId = "distance_sensor_link"; - public string TopicName = "/distance_sensor"; - - public int PublisherFrequency = 10; - - public float MinRange = 0.0f; - public float MaxRange = 0.4f; - - public Transform SensorLink; - public LayerMask LayerMaskDistanceSensor = -1; - - - public bool Visualize = true; - public Color VisualizationColor = Color.red; - - private Publisher publisher; - private sensor_msgs.msg.Range rangeMessage; - - private Clock clock = new Clock(); - private RosTime lastPublishTime; - - private float distance = 0.0f; - private Vector3 ray; - - void Start() - { - if (SensorLink == null) - { - SensorLink = transform; - } - - ray = SensorLink.TransformDirection(Vector3.forward); - - publisher = node.CreatePublisher(TopicName); - rangeMessage = new sensor_msgs.msg.Range(); - rangeMessage.header.frame_id = FrameId; - lastPublishTime = clock.Now; - } - - void Update() - { - if (Visualize && !(distance < MinRange || distance > MaxRange)) - { - Debug.DrawRay(SensorLink.position, ray * distance, VisualizationColor); - } - } - - new void FixedUpdate() - { - if (lastPublishTime.Delay(1.0f/PublisherFrequency).IsInThePast) - { - lastPublishTime = clock.Now; - - - RaycastHit hit; - - if (Physics.Raycast(SensorLink.position, ray, out hit, Mathf.Infinity, LayerMaskDistanceSensor)) - { - distance = hit.distance; - } - - rangeMessage.header.Update(clock); - rangeMessage.range = distance; - - publisher.Publish(rangeMessage); - } - } -} diff --git a/Assets/Scripts/Ros/Sensors/DistanceSensorPublisher.cs.meta b/Assets/Scripts/Ros/Sensors/DistanceSensorPublisher.cs.meta deleted file mode 100644 index abc2dda..0000000 --- a/Assets/Scripts/Ros/Sensors/DistanceSensorPublisher.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: d9a23b943beaec74aa9f40e26174a34c -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Ros/Sensors/LaserScanPublisher.cs b/Assets/Scripts/Ros/Sensors/LaserScanPublisher.cs deleted file mode 100644 index 41d0a5f..0000000 --- a/Assets/Scripts/Ros/Sensors/LaserScanPublisher.cs +++ /dev/null @@ -1,179 +0,0 @@ -/* -© Dyno Robotics, 2019 -Author: Samuel Lindgren (samuel@dynorobotics.se) -Licensed under the Apache License, Version 2.0 (the "License"); - -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using System.Collections; -using System.Collections.Generic; -using UnityEngine; - -using rclcs; - -public class LaserScanPublisher : BehaviourNode -{ - public override string NodeName { get { return "laser_scan_publisher"; } } - - public Transform m_ScanLink; - - public float m_RangeMinimum = 0.05f; - public float m_RangeMaximum = 25.0f; - public float m_ApertureAngle = 270.0f; - - public int m_ScanningFrequency = 10; - public float m_AngularResolution = 0.25f; - public bool m_UseTimeIncrement = false; - - public LayerMask m_LayerMask = -1; - public bool m_Visualize = true; - public Color m_VisualizationColor = Color.red; - - public string m_ScanTopic = "/scan"; - public float m_PublisherDelay = 0.05f; // To prevent lookup into future tf2 errors - - private int m_NumLines; - - private Clock m_Clock = new Clock(); - private Publisher m_LaserScanPublisher; - private Queue m_LaserScanMessageQueue; - - private RosTime m_LastPublishTime; - - private void Start() - { - if (m_ScanLink == null) - { - m_ScanLink = transform; - } - - UpdateNumLines(); - m_LaserScanPublisher = node.CreatePublisher(m_ScanTopic); - - m_LaserScanMessageQueue = new Queue(); - - m_LastPublishTime = m_Clock.Now; - } - - private void UpdateNumLines() - { - m_NumLines = (int)Mathf.Round(m_ApertureAngle / m_AngularResolution) + 1; - } - - private void InitLaserScanMsg(sensor_msgs.msg.LaserScan laserScanMessage) - { - int numLines = (int)Mathf.Round(m_ApertureAngle / m_AngularResolution) + 1; - float timeIncrement = 0.0f; - if (m_UseTimeIncrement) - { - timeIncrement = 1 / ((float)m_ScanningFrequency * (float)numLines); - } - - laserScanMessage.header.frame_id = m_ScanLink.name; - laserScanMessage.angle_min = Mathf.Deg2Rad * -m_ApertureAngle / 2; - laserScanMessage.angle_max = -laserScanMessage.angle_min; - laserScanMessage.angle_increment = Mathf.Deg2Rad * m_AngularResolution; - laserScanMessage.time_increment = timeIncrement; - laserScanMessage.range_max = m_RangeMaximum; - laserScanMessage.range_min = m_RangeMinimum; - - List ranges = new List(); - List intensities = new List(); - - for (int index = 0; index < m_NumLines; index++) - { - ranges.Add(0.0f); - intensities.Add(0.0f); - } - - laserScanMessage.ranges = ranges; - laserScanMessage.intensities = intensities; - } - - void Update() - { - if (m_Visualize) - { - for (int index = 0; index < m_NumLines; index++) - { - GetDistance(index, true); - } - } - } - - new void FixedUpdate() - { - if (m_LastPublishTime.Delay(1.0f/m_ScanningFrequency).IsInThePast) - { - m_LastPublishTime = m_Clock.Now; - sensor_msgs.msg.LaserScan laserScanMessage = new sensor_msgs.msg.LaserScan(); - InitLaserScanMsg(laserScanMessage); - UptateLaserScanMessage(laserScanMessage); - m_LaserScanMessageQueue.Enqueue(laserScanMessage); - } - - PublishScansOlderThan(m_PublisherDelay); - - base.FixedUpdate(); - } - - private void PublishScansOlderThan(float publisherLatency) - { - if (m_LaserScanMessageQueue.Count > 0 && m_LaserScanMessageQueue.Peek().header.IsOlderThan(publisherLatency, m_Clock)) - { - m_LaserScanPublisher.Publish(m_LaserScanMessageQueue.Dequeue()); - } - } - - private void UptateLaserScanMessage(sensor_msgs.msg.LaserScan laserScanMessage) - { - laserScanMessage.header.Update(m_Clock); - UpdateRanges(laserScanMessage); - } - - - private void UpdateRanges(sensor_msgs.msg.LaserScan laserScanMessage) - { - List ranges = new List(); - for (int index = 0; index < m_NumLines; index++) - { - ranges.Add(GetDistance(index, false)); - } - - laserScanMessage.ranges = ranges; - } - - - private float GetDistance(int index, bool visualize) - { - Vector3 ray = m_ScanLink.rotation * Quaternion.AngleAxis(m_ApertureAngle / 2 + (-1 * index * m_AngularResolution), Vector3.up) * Vector3.forward; - - float distance = 0.0f; - RaycastHit hit; - - if (Physics.Raycast(m_ScanLink.position, ray, out hit, m_RangeMaximum, m_LayerMask)) - { - distance = hit.distance; - } - - if (visualize) - { - if (distance > m_RangeMinimum) - { - Debug.DrawRay(m_ScanLink.position, ray * distance, m_VisualizationColor); - } - } - - return distance; - } -} diff --git a/Assets/Scripts/Ros/Sensors/LaserScanPublisher.cs.meta b/Assets/Scripts/Ros/Sensors/LaserScanPublisher.cs.meta deleted file mode 100644 index 7f22e65..0000000 --- a/Assets/Scripts/Ros/Sensors/LaserScanPublisher.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: c5655f7b454a7db438d574dfdb71d3b8 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Ros/Teleop.meta b/Assets/Scripts/Ros/Teleop.meta deleted file mode 100644 index 3d437c3..0000000 --- a/Assets/Scripts/Ros/Teleop.meta +++ /dev/null @@ -1,8 +0,0 @@ -fileFormatVersion: 2 -guid: f95ef8a1f7d5b60499c03c31572dfef9 -folderAsset: yes -DefaultImporter: - externalObjects: {} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Ros/Teleop/UnityInputTeleop.cs b/Assets/Scripts/Ros/Teleop/UnityInputTeleop.cs deleted file mode 100644 index fb14b30..0000000 --- a/Assets/Scripts/Ros/Teleop/UnityInputTeleop.cs +++ /dev/null @@ -1,72 +0,0 @@ -/* -© Dyno Robotics, 2019 -Author: Samuel Lindgren (samuel@dynorobotics.se) -Licensed under the Apache License, Version 2.0 (the "License"); - -You may not use this file except in compliance with the License. -You may obtain a copy of the License at -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using UnityEngine; -using rclcs; - -public class UnityInputTeleop : BehaviourNode -{ - public override string NodeName { get { return "unity_input_teleop"; } } - - public string TwistTopic = "/cmd_vel"; - public float MaxForwardVelocity = 0.5f; - public float MaxSidewaysVelocity = 0.3f; - public float MaxAngularVelocity = 1.0f; - - public bool UseHolonomicControls = false; - - private Publisher publisher; - private geometry_msgs.msg.Twist twistMsg; - - private bool isPublishing; - - void Start() - { - twistMsg = new geometry_msgs.msg.Twist(); - publisher = node.CreatePublisher(TwistTopic); - } - - void Update() - { - var linear = twistMsg.linear; - var angular = twistMsg.angular; - - linear.x = Input.GetAxis("Vertical") * MaxForwardVelocity; - - if (UseHolonomicControls) - { - linear.y = -Input.GetAxis("Horizontal") * MaxSidewaysVelocity; - angular.z = -Input.GetAxis("Turning") * MaxAngularVelocity; - } - else - { - angular.z = -Input.GetAxis("Horizontal") * MaxAngularVelocity; - } - - if (angular.z != 0.0f || linear.x != 0.0f || linear.y != 0.0f) - { - publisher.Publish(twistMsg); - isPublishing = true; - } - else if (isPublishing) - { - linear.x = 0.0f; - angular.z = 0.0f; - publisher.Publish(twistMsg); - isPublishing = false; - } - } -} diff --git a/Assets/Scripts/Ros/Teleop/UnityInputTeleop.cs.meta b/Assets/Scripts/Ros/Teleop/UnityInputTeleop.cs.meta deleted file mode 100644 index c6ae570..0000000 --- a/Assets/Scripts/Ros/Teleop/UnityInputTeleop.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 7f0fb5cff47d06b41b4beec97b918436 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Ros/Visualizer.meta b/Assets/Scripts/Ros/Visualizer.meta deleted file mode 100644 index 50241c8..0000000 --- a/Assets/Scripts/Ros/Visualizer.meta +++ /dev/null @@ -1,8 +0,0 @@ -fileFormatVersion: 2 -guid: 5f6459addcf498043b0ca58f15625f88 -folderAsset: yes -DefaultImporter: - externalObjects: {} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Ros/Visualizer/PathVisualizer.cs b/Assets/Scripts/Ros/Visualizer/PathVisualizer.cs deleted file mode 100644 index 62b7781..0000000 --- a/Assets/Scripts/Ros/Visualizer/PathVisualizer.cs +++ /dev/null @@ -1,40 +0,0 @@ -using System.Collections; -using System.Collections.Generic; -using UnityEngine; -using rclcs; - -[RequireComponent(typeof(LineRenderer))] -public class PathVisualizer : BehaviourNode -{ - public string nodeName = "path_visualizer"; - public override string NodeName { get { return nodeName; } } - public string TopicName = "/plan"; - - public LineRenderer PathLineRenderer; - - private Subscription pathSubscription; - - void Start() - { - if (PathLineRenderer == null) - { - PathLineRenderer = GetComponent(); - } - - PathLineRenderer.positionCount = 0; - - pathSubscription = node.CreateSubscription( - TopicName, (msg) => - { - Vector3[] unityVector3Array = msg.toUnityVector3Array(); - PathLineRenderer.positionCount = unityVector3Array.Length; - PathLineRenderer.SetPositions(unityVector3Array); - }); - - } - - void Update() - { - - } -} diff --git a/Assets/Scripts/Ros/Visualizer/PathVisualizer.cs.meta b/Assets/Scripts/Ros/Visualizer/PathVisualizer.cs.meta deleted file mode 100644 index 44d6d4d..0000000 --- a/Assets/Scripts/Ros/Visualizer/PathVisualizer.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: d12afd9ce8590164d97c06871a0cf3a4 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Ros/Visualizer/TfFrame.cs b/Assets/Scripts/Ros/Visualizer/TfFrame.cs deleted file mode 100644 index 91e6fcb..0000000 --- a/Assets/Scripts/Ros/Visualizer/TfFrame.cs +++ /dev/null @@ -1,49 +0,0 @@ -/* -© Dyno Robotics, 2019 -Author: Samuel Lindgren (samuel@dynorobotics.se) -Licensed under the Apache License, Version 2.0 (the "License"); - -You may not use this file except in compliance with the License. -You may obtain a copy of the License at -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using System.Collections; -using System.Collections.Generic; -using UnityEngine; - -public class TfFrame : MonoBehaviour -{ - //public Vector3 TargetPosition { set { targetPosition = value; } } - //public Quaternion TargetRotation { set { targetRotation = value; } } - - public Vector3 TargetPosition { set { transform.localPosition = value; } } - public Quaternion TargetRotation { set { transform.localRotation = value; } } - - public string ChildFrameId; - - private Vector3 targetPosition; - private Quaternion targetRotation; - - - void Awake() - { - ChildFrameId = name; - } - - void FixedUpdate() - { - //if (targetPosition != null && targetRotation != null) - //{ - // //TODO(sam): add smoothing? - // transform.localPosition = targetPosition; - // transform.localRotation = targetRotation; - //} - } -} \ No newline at end of file diff --git a/Assets/Scripts/Ros/Visualizer/TfFrame.cs.meta b/Assets/Scripts/Ros/Visualizer/TfFrame.cs.meta deleted file mode 100644 index 23e84ac..0000000 --- a/Assets/Scripts/Ros/Visualizer/TfFrame.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 51e54f882e7c6c34db797d09fd821ca2 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Ros/Visualizer/TfSubscriber.cs b/Assets/Scripts/Ros/Visualizer/TfSubscriber.cs deleted file mode 100644 index d5b5e44..0000000 --- a/Assets/Scripts/Ros/Visualizer/TfSubscriber.cs +++ /dev/null @@ -1,95 +0,0 @@ -/* -© Dyno Robotics, 2019 -Author: Samuel Lindgren (samuel@dynorobotics.se) -Licensed under the Apache License, Version 2.0 (the "License"); - -You may not use this file except in compliance with the License. -You may obtain a copy of the License at -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using System.Collections; -using System.Collections.Generic; -using UnityEngine; -using rclcs; - -public class TfSubscriber: MonoBehaviour -{ - public string TfNamespace = "/"; - - rclcs.Context context; - protected rclcs.Node node; - - public string NodeName { get { return "unity_tf_subscriber"; } } - - private Dictionary tfFrameDict = new Dictionary(); - - tf2_msgs.msg.TFMessage testMsg = new tf2_msgs.msg.TFMessage(); - - void Awake() - { - context = new rclcs.Context(); - rclcs.Rclcs.Init(context); - node = new rclcs.Node(NodeName, context); - } - - void Start() - { - foreach (TfFrame tfFrame in GetComponentsInChildren()) - { - tfFrameDict.Add(TfNamespace + tfFrame.ChildFrameId, tfFrame); - } - - QualityOfServiceProfile qos = new QualityOfServiceProfile(QosProfiles.SENSOR_DATA); - - Subscription tfSubscription = node.CreateSubscription( - "/tf", (msg) => - { - UpdateTransforms(msg); - }, - qos); - - Subscription tfStaticSubscription = node.CreateSubscription( - "/tf_static", (msg) => - { - UpdateTransforms(msg); - } - ); - } - - void UpdateTransforms(tf2_msgs.msg.TFMessage msg) - { - foreach (var tfTransform in msg.transforms) - { - TfFrame tfFrame; - tfFrameDict.TryGetValue(tfTransform.child_frame_id, out tfFrame); - if (tfFrame != null) - { - tfFrame.TargetPosition = tfTransform.transform.translation.Ros2Unity(); - tfFrame.TargetRotation = tfTransform.transform.rotation.Ros2Unity(); - } - } - - } - - void Update() - { - // Empty queue (depth is 5 for "SENSOR_DATA") - for (int i = 0; i < 5; i++) - { - rclcs.Rclcs.SpinOnce(node, 0.0d); - } - } - - void OnDestroy() - { - node.Dispose(); - rclcs.Rclcs.Shutdown(context); - } -} diff --git a/Assets/Scripts/Ros/Visualizer/TfSubscriber.cs.meta b/Assets/Scripts/Ros/Visualizer/TfSubscriber.cs.meta deleted file mode 100644 index 863f8fb..0000000 --- a/Assets/Scripts/Ros/Visualizer/TfSubscriber.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 0e7cb01f3afc60a47a3ad249faf05053 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Urdf.meta b/Assets/Scripts/Urdf.meta deleted file mode 100644 index 664ad30..0000000 --- a/Assets/Scripts/Urdf.meta +++ /dev/null @@ -1,8 +0,0 @@ -fileFormatVersion: 2 -guid: 0846b77ff5c345745b965056d9533172 -folderAsset: yes -DefaultImporter: - externalObjects: {} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Urdf/AssetHandlers.meta b/Assets/Scripts/Urdf/AssetHandlers.meta deleted file mode 100644 index a2a1931..0000000 --- a/Assets/Scripts/Urdf/AssetHandlers.meta +++ /dev/null @@ -1,8 +0,0 @@ -fileFormatVersion: 2 -guid: a547e4ca531fec74f9ad39474c3e6d7e -folderAsset: yes -DefaultImporter: - externalObjects: {} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Urdf/AssetHandlers/LocateAssetHandler.cs b/Assets/Scripts/Urdf/AssetHandlers/LocateAssetHandler.cs deleted file mode 100644 index 4e2b3a0..0000000 --- a/Assets/Scripts/Urdf/AssetHandlers/LocateAssetHandler.cs +++ /dev/null @@ -1,111 +0,0 @@ -/* -© Siemens AG, 2018 -Author: Suzannah Smith (suzannah.smith@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using System.IO; -using System; -using UnityEngine; -using UnityEditor; - -namespace RosSharp.Urdf.Editor -{ - public static class LocateAssetHandler - { - public static T FindUrdfAsset(string urdfFileName) where T : UnityEngine.Object - { - string fileAssetPath = UrdfAssetPathHandler.GetRelativeAssetPathFromUrdfPath(urdfFileName); - T assetObject = AssetDatabase.LoadAssetAtPath(fileAssetPath); - - if (assetObject != null) - return assetObject; - - //If asset was not found, let user choose whether to search for - //or ignore the missing asset. - string invalidPath = fileAssetPath ?? urdfFileName; - int option = EditorUtility.DisplayDialogComplex("Urdf Importer: Asset Not Found", - "Current root folder: " + UrdfAssetPathHandler.GetPackageRoot() + - "\n\nExpected asset path: " + invalidPath, - "Locate Asset", - "Ignore Missing Asset", - "Locate Root Folder"); - - switch (option) - { - case 0: - fileAssetPath = LocateAssetFile(invalidPath); - break; - case 1: break; - case 2: - fileAssetPath = LocateRootAssetFolder(urdfFileName); - break; - } - - assetObject = (T) AssetDatabase.LoadAssetAtPath(fileAssetPath, typeof(T)); - if (assetObject != null) - return assetObject; - - ChooseFailureOption(urdfFileName); - return null; - } - - private static string LocateRootAssetFolder(string urdfFileName) where T : UnityEngine.Object - { - string newAssetPath = EditorUtility.OpenFolderPanel( - "Locate package root folder", - Path.Combine(Path.GetDirectoryName(Application.dataPath), "Assets"), - ""); - - if (UrdfAssetPathHandler.IsValidAssetPath(newAssetPath)) - UrdfAssetPathHandler.SetPackageRoot(newAssetPath, true); - else - Debug.LogWarning("Selected package root " + newAssetPath + " is not within the Assets folder."); - - return UrdfAssetPathHandler.GetRelativeAssetPathFromUrdfPath(urdfFileName); - } - - private static string LocateAssetFile(string invalidPath) - { - string fileExtension = Path.GetExtension(invalidPath)?.Replace(".", ""); - - string newPath = EditorUtility.OpenFilePanel( - "Couldn't find asset at " + invalidPath + ". Select correct file.", - UrdfAssetPathHandler.GetPackageRoot(), - fileExtension); - - return UrdfAssetPathHandler.GetRelativeAssetPath(newPath); - } - - private static void ChooseFailureOption(string urdfFilePath) - { - if (!EditorUtility.DisplayDialog( - "Urdf Importer: Missing Asset", - "Missing asset " + Path.GetFileName(urdfFilePath) + - " was ignored or could not be found.\n\nContinue URDF Import?", - "Yes", - "No")) - { - throw new InterruptedUrdfImportException("User cancelled URDF import. Model may be incomplete."); - } - } - - private class InterruptedUrdfImportException : Exception - { - public InterruptedUrdfImportException(string message) : base(message) - { - } - } - } -} diff --git a/Assets/Scripts/Urdf/AssetHandlers/LocateAssetHandler.cs.meta b/Assets/Scripts/Urdf/AssetHandlers/LocateAssetHandler.cs.meta deleted file mode 100644 index 96f8843..0000000 --- a/Assets/Scripts/Urdf/AssetHandlers/LocateAssetHandler.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 7c8466a168c9bdc4085c7a930a64e01a -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Urdf/AssetHandlers/UrdfAssetPathHandler.cs b/Assets/Scripts/Urdf/AssetHandlers/UrdfAssetPathHandler.cs deleted file mode 100644 index b3cb99a..0000000 --- a/Assets/Scripts/Urdf/AssetHandlers/UrdfAssetPathHandler.cs +++ /dev/null @@ -1,108 +0,0 @@ -/* -© Siemens AG, 2017-2018 -Author: Dr. Martin Bischoff (martin.bischoff@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ -using System.IO; -using UnityEditor; -using UnityEngine; - -namespace RosSharp.Urdf.Editor -{ - public static class UrdfAssetPathHandler - { - //Relative to Assets folder - private static string packageRoot; - private const string MaterialFolderName = "Materials"; - - #region SetAssetRootFolder - public static void SetPackageRoot(string newPath, bool correctingIncorrectPackageRoot = false) - { - string oldPackagePath = packageRoot; - - packageRoot = GetRelativeAssetPath(newPath); - - if(!AssetDatabase.IsValidFolder(Path.Combine(packageRoot, MaterialFolderName))) - AssetDatabase.CreateFolder(packageRoot, MaterialFolderName); - - if (correctingIncorrectPackageRoot) - MoveMaterialsToNewLocation(oldPackagePath); - } - #endregion - - #region GetPaths - public static string GetPackageRoot() - { - return packageRoot; - } - - public static string GetRelativeAssetPath(string absolutePath) - { - var absolutePathUnityFormat = absolutePath.SetSeparatorChar(); - if (!absolutePathUnityFormat.StartsWith(Application.dataPath.SetSeparatorChar())) - return null; - - var assetPath = "Assets" + absolutePath.Substring(Application.dataPath.Length); - return assetPath.SetSeparatorChar(); - } - - public static string GetFullAssetPath(string relativePath) - { - string fullPath = Application.dataPath + relativePath.Substring("Assets".Length); - return fullPath.SetSeparatorChar(); - } - - public static string GetRelativeAssetPathFromUrdfPath(string urdfPath) - { - if (!urdfPath.StartsWith(@"package://")) - { - Debug.LogWarning(urdfPath + " is not a valid URDF package file path. Path should start with \"package://\"."); - return null; - } - - var path = urdfPath.Substring(10).SetSeparatorChar(); - - if (Path.GetExtension(path)?.ToLowerInvariant() == ".stl") - path = path.Substring(0, path.Length - 3) + "prefab"; - - return Path.Combine(packageRoot, path); - } - #endregion - - public static bool IsValidAssetPath(string path) - { - return GetRelativeAssetPath(path) != null; - } - - #region Materials - - private static void MoveMaterialsToNewLocation(string oldPackageRoot) - { - if (AssetDatabase.IsValidFolder(Path.Combine(oldPackageRoot, MaterialFolderName))) - AssetDatabase.MoveAsset( - Path.Combine(oldPackageRoot, MaterialFolderName), - Path.Combine(UrdfAssetPathHandler.GetPackageRoot(), MaterialFolderName)); - else - AssetDatabase.CreateFolder(UrdfAssetPathHandler.GetPackageRoot(), MaterialFolderName); - } - - public static string GetMaterialAssetPath(string materialName) - { - return Path.Combine(packageRoot, MaterialFolderName, Path.GetFileName(materialName) + ".mat"); - } - - #endregion - } - -} \ No newline at end of file diff --git a/Assets/Scripts/Urdf/AssetHandlers/UrdfAssetPathHandler.cs.meta b/Assets/Scripts/Urdf/AssetHandlers/UrdfAssetPathHandler.cs.meta deleted file mode 100644 index 26b126c..0000000 --- a/Assets/Scripts/Urdf/AssetHandlers/UrdfAssetPathHandler.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: eda16a4d0a12f154a9ee44b2a9ebadba -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Urdf/AssetHandlers/UrdfExportPathHandler.cs b/Assets/Scripts/Urdf/AssetHandlers/UrdfExportPathHandler.cs deleted file mode 100644 index 7183531..0000000 --- a/Assets/Scripts/Urdf/AssetHandlers/UrdfExportPathHandler.cs +++ /dev/null @@ -1,81 +0,0 @@ -/* -© Siemens AG, 2018 -Author: Suzannah Smith (suzannah.smith@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ -using System.IO; - -namespace RosSharp.Urdf -{ - public static class UrdfExportPathHandler - { - //absolute path to export folder - private static string exportRoot; - //Relative to export root folder - private static string subfolder; - - private const string MeshFolderName = "meshes"; - private const string ResourceFolderName = "resources"; - - public static void SetExportPath(string root, string subRoot = "") - { - exportRoot = root; - subfolder = subRoot; - - Directory.CreateDirectory(GetExportDestination()); - Directory.CreateDirectory(Path.Combine(GetExportDestination(), MeshFolderName)); - Directory.CreateDirectory(Path.Combine(GetExportDestination(), ResourceFolderName)); - } - - #region GetExportPaths - public static string GetExportDestination() - { - return subfolder == null ? exportRoot : Path.Combine(exportRoot, subfolder).SetSeparatorChar(); - } - - //Returns an absolute path to the export destination for the mesh - //meshFileName includes the file extension - public static string GetNewMeshPath(string meshFileName) - { - return Path.Combine(exportRoot, subfolder, MeshFolderName, meshFileName).SetSeparatorChar(); - } - - //Returns an absolute path to the new resource - public static string GetNewResourcePath(string resourceFileName) - { - return Path.Combine(exportRoot, subfolder, ResourceFolderName, resourceFileName) - .SetSeparatorChar(); - } - - public static string GetPackagePathForMesh(string meshPath) - { - //All package paths should use forward slashes - return Path.Combine("package://", subfolder, MeshFolderName, Path.GetFileName(meshPath)).Replace("\\", "/"); - } - - public static string GetPackagePathForResource(string resourcePath) - { - //All package paths should use forward slashes - return Path.Combine("package://", subfolder, ResourceFolderName, Path.GetFileName(resourcePath)).Replace("\\", "/"); - } - #endregion - - public static void Clear() - { - exportRoot = ""; - subfolder = ""; - } - } - -} \ No newline at end of file diff --git a/Assets/Scripts/Urdf/AssetHandlers/UrdfExportPathHandler.cs.meta b/Assets/Scripts/Urdf/AssetHandlers/UrdfExportPathHandler.cs.meta deleted file mode 100644 index 226e755..0000000 --- a/Assets/Scripts/Urdf/AssetHandlers/UrdfExportPathHandler.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 7ebd09bf2a1f1044e8cb83f397cf5bbe -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Urdf/AssetHandlers/UrdfMeshExportHandler.cs b/Assets/Scripts/Urdf/AssetHandlers/UrdfMeshExportHandler.cs deleted file mode 100644 index 94411b8..0000000 --- a/Assets/Scripts/Urdf/AssetHandlers/UrdfMeshExportHandler.cs +++ /dev/null @@ -1,117 +0,0 @@ -/* -© Siemens AG, 2018 -Author: Suzannah Smith (suzannah.smith@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using System.IO; -using UnityEditor; -using UnityEngine; - -namespace RosSharp.Urdf.Editor -{ - public static class UrdfMeshExportHandler - { - public static string CopyOrCreateMesh(GameObject geometryObject, bool isCollisionGeometry) - { - string prefabPath = GetPrefabPath(geometryObject); - - bool foundExistingColladaOrStl = false; - if (prefabPath != null && prefabPath != "") - { - if (Path.GetExtension(prefabPath).ToLower() == ".dae") - foundExistingColladaOrStl = true; - else //Find STL file that corresponds to the prefab, if it already exists - { - string[] foldersToSearch = {Path.GetDirectoryName(prefabPath)}; - string prefabName = Path.GetFileNameWithoutExtension(prefabPath); - - foreach (string guid2 in AssetDatabase.FindAssets(prefabName, foldersToSearch)) - { - string possiblePath = AssetDatabase.GUIDToAssetPath(guid2); - if (possiblePath.ToLower().Contains(".stl")) - { - prefabPath = possiblePath; - foundExistingColladaOrStl = true; - break; - } - } - } - } - - if (foundExistingColladaOrStl) - return CopyMeshToExportDestination(prefabPath); - - return CreateNewStlFile(geometryObject, isCollisionGeometry); - } - - private static string CopyMeshToExportDestination(string prefabPath) - { - string newPrefabPath = UrdfExportPathHandler.GetNewMeshPath(Path.GetFileName(prefabPath)); - - if (Path.GetExtension(prefabPath)?.ToLower() == ".dae") - CopyDaeTextureToExportDestination(prefabPath, Path.GetDirectoryName(newPrefabPath)); - - prefabPath = UrdfAssetPathHandler.GetFullAssetPath(prefabPath); - - CopyFileToNewLocation(prefabPath, newPrefabPath); - - return newPrefabPath; - } - - private static void CopyDaeTextureToExportDestination(string prefabPath, string newFolderLocation) - { - //Get material from Collada prefab - Material material = AssetDatabase.LoadAssetAtPath(prefabPath); - if (material.mainTexture == null) return; - - //Get relative subfolder where texture is, compared to the DAE file. - string commonFolder = Path.GetDirectoryName(prefabPath).SetSeparatorChar(); - string texturePath = AssetDatabase.GetAssetPath(material.mainTexture).SetSeparatorChar(); - string relativeLocation = ""; - if (texturePath.Contains(commonFolder)) - relativeLocation = texturePath.Substring(commonFolder.Length + 1); - string newTexturePath = Path.Combine(newFolderLocation, relativeLocation); - - Directory.CreateDirectory(Path.GetDirectoryName(newTexturePath)); - - CopyFileToNewLocation(UrdfAssetPathHandler.GetFullAssetPath(texturePath), newTexturePath); - } - - private static void CopyFileToNewLocation(string oldPath, string newPath) - { - if (oldPath != newPath) - File.Copy(oldPath, newPath, true); - } - - private static string CreateNewStlFile(GameObject geometryObject, bool isCollisionGeometry) - { - Debug.Log("Did not find an existing STL or DAE file for Geometry Mesh " - + geometryObject.name + ". Exporting a new STL file.", geometryObject); - - string newMeshPath = UrdfExportPathHandler.GetNewMeshPath(geometryObject.name + ".stl"); - - StlExporter stlExporter = new StlExporter(newMeshPath, geometryObject, isCollisionGeometry); - if (!stlExporter.Export()) - Debug.LogWarning("Mesh export for geometry " + geometryObject.name + " failed.", geometryObject); - - return newMeshPath; - } - - private static string GetPrefabPath(GameObject gameObject) - { - return AssetDatabase.GetAssetPath(PrefabUtility.GetCorrespondingObjectFromSource(gameObject)); - } - } -} \ No newline at end of file diff --git a/Assets/Scripts/Urdf/AssetHandlers/UrdfMeshExportHandler.cs.meta b/Assets/Scripts/Urdf/AssetHandlers/UrdfMeshExportHandler.cs.meta deleted file mode 100644 index 97d629d..0000000 --- a/Assets/Scripts/Urdf/AssetHandlers/UrdfMeshExportHandler.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 4fa003382182826448b8df1480e6ce7a -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Urdf/Joint.cs b/Assets/Scripts/Urdf/Joint.cs deleted file mode 100644 index 7181614..0000000 --- a/Assets/Scripts/Urdf/Joint.cs +++ /dev/null @@ -1,299 +0,0 @@ -/* -© Siemens AG, 2017 -Author: Dr. Martin Bischoff (martin.bischoff@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using System.Xml; -using System.Xml.Linq; - -namespace RosSharp.Urdf -{ - public class Joint - { - public string name; - public string type; - public Origin origin; - public string parent; - public string child; - public Axis axis; - public Calibration calibration; - public Dynamics dynamics; - public Limit limit; - public Mimic mimic; - public SafetyController safetyController; - - public Link ChildLink; - - public Joint(XElement node) - { - name = (string)node.Attribute("name"); // required - type = (string)node.Attribute("type"); // required - origin = (node.Element("origin") != null) ? new Origin(node.Element("origin")) : null; // optional - parent = (string)node.Element("parent").Attribute("link"); // required - child = (string)node.Element("child").Attribute("link"); // required - axis = (node.Element("axis") != null) ? new Axis(node.Element("axis")) : null; // optional - calibration = (node.Element("calibration") != null) ? new Calibration(node.Element("calibration")) : null; // optional - dynamics = (node.Element("dynamics") != null) ? new Dynamics(node.Element("dynamics")) : null; // optional - limit = (node.Element("limit") != null) ? new Limit(node.Element("limit")) : null; // required only for revolute and prismatic joints - mimic = (node.Element("mimic") != null) ? new Mimic(node.Element("mimic")) : null; // optional - safetyController = (node.Element("safety_controller") != null) ? new SafetyController(node.Element("safety_controller")) : null; // optional - } - - public Joint(string name, string type, string parent, string child, - Origin origin = null, Axis axis = null, Calibration calibration = null, - Dynamics dynamics = null, Limit limit = null, Mimic mimic = null, SafetyController safetyController = null) - { - this.name = name; - this.type = type; - this.parent = parent; - this.child = child; - this.origin = origin; - this.axis = axis; - this.calibration = calibration; - this.dynamics = dynamics; - this.limit = limit; - this.mimic = mimic; - this.safetyController = safetyController; - } - - public void WriteToUrdf(XmlWriter writer) - { - writer.WriteStartElement("joint"); - - writer.WriteAttributeString("name", name); - writer.WriteAttributeString("type", type); - - origin?.WriteToUrdf(writer); - - writer.WriteStartElement("parent"); - writer.WriteAttributeString("link", parent); - writer.WriteEndElement(); - - writer.WriteStartElement("child"); - writer.WriteAttributeString("link", child); - writer.WriteEndElement(); - - axis?.WriteToUrdf(writer); - calibration?.WriteToUrdf(writer); - dynamics?.WriteToUrdf(writer); - limit?.WriteToUrdf(writer); - mimic?.WriteToUrdf(writer); - safetyController?.WriteToUrdf(writer); - - writer.WriteEndElement(); - } - - public class Axis - { - public double[] xyz; - - public Axis(XElement node) - { - xyz = node.Attribute("xyz") != null ? node.Attribute("xyz").ReadDoubleArray() : null; - } - - public Axis(double[] xyz) - { - this.xyz = xyz; - } - - public void WriteToUrdf(XmlWriter writer) - { - if (!(xyz[0] == 0 && xyz[1] == 0 && xyz[2] == 0)) - { - writer.WriteStartElement("axis"); - writer.WriteAttributeString("xyz", xyz.DoubleArrayToString()); - writer.WriteEndElement(); - } - } - } - - public class Calibration - { - public double rising; - public double falling; - - public Calibration(XElement node) - { - rising = node.Attribute("rising").ReadOptionalDouble(); // optional - falling = node.Attribute("falling").ReadOptionalDouble(); // optional - } - - public Calibration(double rising = 0, double falling = 0) - { - this.rising = rising; - this.falling = falling; - } - - public void WriteToUrdf(XmlWriter writer) - { - writer.WriteStartElement("calibration"); - - //TODO only output one or the other - writer.WriteAttributeString("rising", rising + ""); - writer.WriteAttributeString("falling", falling + ""); - - writer.WriteEndElement(); - } - } - - public class Dynamics - { - public double damping; - public double friction; - - public Dynamics(XElement node) - { - damping = node.Attribute("damping").ReadOptionalDouble(); // optional - friction = node.Attribute("friction").ReadOptionalDouble(); // optional - } - - public Dynamics(double damping, double friction) - { - this.damping = damping; - this.friction = friction; - } - - public void WriteToUrdf(XmlWriter writer) - { - if (damping == 0 & friction == 0) - return; - - writer.WriteStartElement("dynamics"); - - if (damping != 0) - writer.WriteAttributeString("damping", damping + ""); - if (friction != 0) - writer.WriteAttributeString("friction", friction + ""); - - writer.WriteEndElement(); - } - } - - public class Limit - { - public double lower; - public double upper; - public double effort; - public double velocity; - - public Limit(XElement node) - { - lower = node.Attribute("lower").ReadOptionalDouble(); // optional - upper = node.Attribute("upper").ReadOptionalDouble(); // optional - effort = (double)node.Attribute("effort"); // required - velocity = (double)node.Attribute("velocity"); // required - } - - public Limit(double lower, double upper, double effort, double velocity) - { - this.lower = lower; - this.upper = upper; - this.effort = effort; - this.velocity = velocity; - } - - public void WriteToUrdf(XmlWriter writer) - { - writer.WriteStartElement("limit"); - - writer.WriteAttributeString("lower", lower + ""); - writer.WriteAttributeString("upper", upper + ""); - - writer.WriteAttributeString("effort", effort + ""); - writer.WriteAttributeString("velocity", velocity + ""); - - writer.WriteEndElement(); - } - } - - public class Mimic - { - public string joint; - public double multiplier; - public double offset; - - public Mimic(XElement node) - { - joint = (string)node.Attribute("joint"); // required - multiplier = node.Attribute("multiplier").ReadOptionalDouble(); // optional - offset = node.Attribute("offset").ReadOptionalDouble(); // optional - } - - public Mimic(string joint, double multiplier = 0, double offset = 0) - { - this.joint = joint; - this.multiplier = multiplier; - this.offset = offset; - } - - public void WriteToUrdf(XmlWriter writer) - { - if (multiplier == 1 && offset == 0) - return; - - writer.WriteStartElement("mimic"); - - writer.WriteAttributeString("joint", joint); - if (multiplier != 1) - writer.WriteAttributeString("multiplier", multiplier + ""); - if (offset != 0) - writer.WriteAttributeString("offset", offset + ""); - - writer.WriteEndElement(); - } - } - - public class SafetyController - { - public double softLowerLimit; - public double softUpperLimit; - public double kPosition; - public double kVelocity; - - public SafetyController(XElement node) - { - softLowerLimit = node.Attribute("soft_lower_limit").ReadOptionalDouble(); // optional - softUpperLimit = node.Attribute("soft_upper_limit").ReadOptionalDouble(); // optional - kPosition = node.Attribute("k_position").ReadOptionalDouble(); // optional - kVelocity = node.Attribute("k_velocity").ReadOptionalDouble(); // required - } - - public SafetyController(double softLowerLimit, double softUpperLimit, double kPosition, double kVelocity) - { - this.softLowerLimit = softLowerLimit; - this.softUpperLimit = softUpperLimit; - this.kPosition = kPosition; - this.kVelocity = kVelocity; - } - - public void WriteToUrdf(XmlWriter writer) - { - writer.WriteStartElement("safetyController"); - - if (softLowerLimit != 0) - writer.WriteAttributeString("soft_lower_limit", softLowerLimit + ""); - if (softUpperLimit != 0) - writer.WriteAttributeString("soft_upper_limit", softUpperLimit + ""); - if (kPosition != 0) - writer.WriteAttributeString("k_position", kPosition + ""); - writer.WriteAttributeString("k_velocity", kVelocity + ""); - - writer.WriteEndElement(); - } - } - } - -} diff --git a/Assets/Scripts/Urdf/Joint.cs.meta b/Assets/Scripts/Urdf/Joint.cs.meta deleted file mode 100644 index 945b6d7..0000000 --- a/Assets/Scripts/Urdf/Joint.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: d90fcd1e8857808458f1d048f51ed67a -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Urdf/JointLimitsManagers.meta b/Assets/Scripts/Urdf/JointLimitsManagers.meta deleted file mode 100644 index 394c74a..0000000 --- a/Assets/Scripts/Urdf/JointLimitsManagers.meta +++ /dev/null @@ -1,8 +0,0 @@ -fileFormatVersion: 2 -guid: bd08601e1af276a4c978f077e584a3ae -folderAsset: yes -DefaultImporter: - externalObjects: {} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Urdf/JointLimitsManagers/HingeJointLimitsManager.cs b/Assets/Scripts/Urdf/JointLimitsManagers/HingeJointLimitsManager.cs deleted file mode 100644 index 23a922e..0000000 --- a/Assets/Scripts/Urdf/JointLimitsManagers/HingeJointLimitsManager.cs +++ /dev/null @@ -1,169 +0,0 @@ -/* -© Siemens AG, 2017-2018 -Author: Dr. Martin Bischoff (martin.bischoff@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at -. -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using UnityEngine; - -namespace RosSharp -{ - [RequireComponent(typeof(HingeJoint))] - [ExecuteInEditMode] - public class HingeJointLimitsManager : MonoBehaviour - { - public float LargeAngleLimitMin; - public float LargeAngleLimitMax; - - public float Tolerance = 5; - - public float AngleActual { get; private set; } - private float anglePrevious; - - public int RotationNumberActual { get; private set; } - - public int RotationNumberMin { get; private set; } - public int RotationNumberMax { get; private set; } - - public float AngleLimitMin { get; private set; } - public float AngleLimitMax { get; private set; } - - private HingeJoint _hingeJoint; - - private void Awake() - { - _hingeJoint = GetComponent(); - RecalculateJointLimits(); - } - - private void Update() - { - RecalculateJointLimits(); - } - - private void FixedUpdate() - { - RecalculateJointLimits(); - - UpdateAngles(); - } - - private void RecalculateJointLimits() - { - if (LargeAngleLimitMax < LargeAngleLimitMin) - LargeAngleLimitMin = LargeAngleLimitMax; - - AngleLimitMin = GetAngleLimit(LargeAngleLimitMin); - RotationNumberMin = GetRotationLimit(LargeAngleLimitMin); - - AngleLimitMax = GetAngleLimit(LargeAngleLimitMax); - RotationNumberMax = GetRotationLimit(LargeAngleLimitMax); - - FixAngleLimits(); - - ApplyJointLimits(); - } - - //Keeps limits from getting near +/- 180, where the joint gets stuck - private void FixAngleLimits() - { - if (LargeAngleLimitMin < 0 && 180 - AngleLimitMin < Tolerance) - { - AngleLimitMin = -180; - RotationNumberMin += 1; - } - else if (LargeAngleLimitMin > 0 && 180 + AngleLimitMin < Tolerance) - { - AngleLimitMin = 180; - RotationNumberMin -= 1; - } - - if (LargeAngleLimitMax > 0 && 180 + AngleLimitMax < Tolerance) - { - AngleLimitMax = 180; - RotationNumberMax -= 1; - } - else if (LargeAngleLimitMax < 0 && 180 - AngleLimitMax < Tolerance) - { - AngleLimitMax = -180; - RotationNumberMax += 1; - } - } - - private float GetAngleLimit(float largeAngleLimit) - { - if (largeAngleLimit > 0) - return ((largeAngleLimit + 180) % 360) - 180; - else - return ((largeAngleLimit - 180) % 360) + 180; - } - - private int GetRotationLimit(float largeAngleLimit) - { - if (largeAngleLimit > 0) - return (int) ((largeAngleLimit + 180) / 360); - else - return (int) ((largeAngleLimit - 180) / 360); - - } - - private void UpdateAngles() - { - anglePrevious = AngleActual; - - AngleActual = _hingeJoint.angle; - - if (anglePrevious < -90 && AngleActual > 90) - RotationNumberActual -= 1; - else if (anglePrevious > 90 && AngleActual < -90) - RotationNumberActual += 1; - } - - private void ApplyJointLimits() - { - if (RotationNumberActual == RotationNumberMin && RotationNumberActual == RotationNumberMax) - { - _hingeJoint.limits = UpdateLimits(_hingeJoint.limits, AngleLimitMin, AngleLimitMax); - _hingeJoint.useLimits = true; - } - else if (RotationNumberActual == RotationNumberMin && AngleActual - AngleLimitMin <= Tolerance) - { - _hingeJoint.limits = UpdateLimits(_hingeJoint.limits, AngleLimitMin, 180); - _hingeJoint.useLimits = true; - } - else if (RotationNumberActual == RotationNumberMax && AngleLimitMax - AngleActual <= Tolerance) - { - _hingeJoint.limits = UpdateLimits(_hingeJoint.limits, -180, AngleLimitMax); - _hingeJoint.useLimits = true; - } - else - _hingeJoint.useLimits = false; - } - - private static JointLimits UpdateLimits(JointLimits jointLimits, float min, float max) - { - jointLimits.min = min; - jointLimits.max = max; - return jointLimits; - } - - public void InitializeLimits(Urdf.Joint.Limit limit, HingeJoint joint) - { - LargeAngleLimitMin = (float)limit.lower * Mathf.Rad2Deg; - LargeAngleLimitMax = (float)limit.upper * Mathf.Rad2Deg; - - _hingeJoint = joint; - - RecalculateJointLimits(); - } - } -} diff --git a/Assets/Scripts/Urdf/JointLimitsManagers/HingeJointLimitsManager.cs.meta b/Assets/Scripts/Urdf/JointLimitsManagers/HingeJointLimitsManager.cs.meta deleted file mode 100644 index 32cabbc..0000000 --- a/Assets/Scripts/Urdf/JointLimitsManagers/HingeJointLimitsManager.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 5f37dc21ac85e2b4ca12e377369baae4 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Urdf/JointLimitsManagers/PrismaticJointLimitsManager.cs b/Assets/Scripts/Urdf/JointLimitsManagers/PrismaticJointLimitsManager.cs deleted file mode 100644 index e462537..0000000 --- a/Assets/Scripts/Urdf/JointLimitsManagers/PrismaticJointLimitsManager.cs +++ /dev/null @@ -1,80 +0,0 @@ -/* -© Siemens AG, 2017-2018 -Author: Suzannah Smith (suzannah.smith@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at -. -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using UnityEngine; - -namespace RosSharp -{ - public class PrismaticJointLimitsManager : MonoBehaviour - { - public float PositionLimitMin; - public float PositionLimitMax; - - public float Tolerance = 0.01f; - - private ConfigurableJoint configurableJoint; - private float referencePosition; - - private void Awake() - { - configurableJoint = GetComponent(); - referencePosition = Vector3.Dot(transform.localPosition, configurableJoint.axis); - } - - private void FixedUpdate() - { - ApplyLimits(); - } - - private void OnValidate() - { - if (PositionLimitMax < PositionLimitMin) - PositionLimitMax = PositionLimitMin; - } - - private void ApplyLimits() - { - float position = Vector3.Dot(transform.localPosition, configurableJoint.axis) - referencePosition; - - if (position - PositionLimitMin < Tolerance) - { - configurableJoint.xMotion = ConfigurableJointMotion.Limited; - configurableJoint.linearLimit = UpdateLimit(configurableJoint.linearLimit, -PositionLimitMin); - } - else if (PositionLimitMax - position < Tolerance) - { - configurableJoint.xMotion = ConfigurableJointMotion.Limited; - configurableJoint.linearLimit = UpdateLimit(configurableJoint.linearLimit, PositionLimitMax); - } - else - { - configurableJoint.xMotion = ConfigurableJointMotion.Free; - } - } - - private static SoftJointLimit UpdateLimit(SoftJointLimit softJointLimit, float limit) - { - softJointLimit.limit = limit; - return softJointLimit; - } - - public void InitializeLimits(Urdf.Joint.Limit limit) - { - PositionLimitMax = (float)limit.upper; - PositionLimitMin = (float)limit.lower; - } - - } -} diff --git a/Assets/Scripts/Urdf/JointLimitsManagers/PrismaticJointLimitsManager.cs.meta b/Assets/Scripts/Urdf/JointLimitsManagers/PrismaticJointLimitsManager.cs.meta deleted file mode 100644 index a0ef215..0000000 --- a/Assets/Scripts/Urdf/JointLimitsManagers/PrismaticJointLimitsManager.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: a182281fdb64f4b4b8f7149bfd060d97 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Urdf/Link.cs b/Assets/Scripts/Urdf/Link.cs deleted file mode 100644 index bc37200..0000000 --- a/Assets/Scripts/Urdf/Link.cs +++ /dev/null @@ -1,447 +0,0 @@ -/* -© Siemens AG, 2017 -Author: Dr. Martin Bischoff (martin.bischoff@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using System.Collections.Generic; -using System.Linq; -using System.Xml; -using System.Xml.Linq; - -namespace RosSharp.Urdf -{ - public class Link - { - public string name; - public Inertial inertial; - public List visuals; - public List collisions; - public List joints; - - public Link(XElement node) - { - name = (string)node.Attribute("name"); // required - inertial = (node.Element("inertial") != null) ? new Inertial(node.Element("inertial")) : null; // optional - visuals = readVisuals(node); // multiple - collisions = readCollisions(node); // optional - } - - public Link(string name, Inertial inertial = null) - { - this.name = name; - this.inertial = inertial; - - visuals = new List(); - collisions = new List(); - joints = new List(); - } - - public void WriteToUrdf(XmlWriter writer) - { - writer.WriteStartElement("link"); - writer.WriteAttributeString("name", name); - - inertial?.WriteToUrdf(writer); - - foreach (var visual in visuals) - visual.WriteToUrdf(writer); - foreach (var collision in collisions) - collision.WriteToUrdf(writer); - - writer.WriteEndElement(); - } - - private static List readCollisions(XElement node) - { - var collisions = - from child in node.Elements("collision") - select new Collision(child); - return collisions.ToList(); - - } - private static List readVisuals(XElement node) - { - var visuals = - from child in node.Elements("visual") - select new Visual(child); - return visuals.ToList(); - } - - public class Inertial - { - public double mass; - public Origin origin; - public Inertia inertia; - - public Inertial(XElement node) - { - origin = (node.Element("origin") != null) ? new Origin(node.Element("origin")) : null; // optional - mass = (double)node.Element("mass").Attribute("value");// required - inertia = new Inertia(node.Element("inertia")); // required - } - - public Inertial(double mass, Origin origin, Inertia inertia) - { - this.mass = mass; - this.origin = origin; - this.inertia = inertia; - } - - public void WriteToUrdf(XmlWriter writer) - { - writer.WriteStartElement("inertial"); - - origin.WriteToUrdf(writer); - - writer.WriteStartElement("mass"); - writer.WriteAttributeString("value", mass + ""); - writer.WriteEndElement(); - - inertia.WriteToUrdf(writer); - - writer.WriteEndElement(); - } - - public class Inertia - { - public double ixx; - public double ixy; - public double ixz; - public double iyy; - public double iyz; - public double izz; - - public Inertia(XElement node) - { - ixx = (double)node.Attribute("ixx"); - ixy = (double)node.Attribute("ixy"); - ixz = (double)node.Attribute("ixz"); - iyy = (double)node.Attribute("iyy"); - iyz = (double)node.Attribute("iyz"); - izz = (double)node.Attribute("izz"); - } - - public Inertia(double ixx, double ixy, double ixz, double iyy, double iyz, double izz) - { - this.ixx = ixx; - this.ixy = ixy; - this.ixz = ixz; - this.iyy = iyy; - this.iyz = iyz; - this.izz = izz; - } - - public void WriteToUrdf(XmlWriter writer) - { - writer.WriteStartElement("inertia"); - writer.WriteAttributeString("ixx", ixx + ""); - writer.WriteAttributeString("ixy", ixy + ""); - writer.WriteAttributeString("ixz", ixz + ""); - writer.WriteAttributeString("iyy", iyy + ""); - writer.WriteAttributeString("iyz", iyz + ""); - writer.WriteAttributeString("izz", izz + ""); - writer.WriteEndElement(); - } - } - } - - public class Collision - { - public string name; - public Origin origin; - public Geometry geometry; - - public Collision(XElement node) - { - name = (string)node.Attribute("name"); // optional - origin = (node.Element("origin") != null) ? new Origin(node.Element("origin")) : null; // optional - geometry = new Geometry(node.Element("geometry")); // required - } - - public Collision(Geometry geometry, string name = null, Origin origin = null) - { - this.name = name; - this.origin = origin; - this.geometry = geometry; - } - - public void WriteToUrdf(XmlWriter writer) - { - writer.WriteStartElement("collision"); - - if (name != null) - writer.WriteAttributeString("name", name); - - origin?.WriteToUrdf(writer); - geometry?.WriteToUrdf(writer); - - writer.WriteEndElement(); - - } - } - public class Visual - { - public string name; - public Origin origin; - public Geometry geometry; - public Material material; - - public Visual(XElement node) - { - name = (string)node.Attribute("name"); // optional - origin = (node.Element("origin") != null) ? new Origin(node.Element("origin")) : null; // optional - geometry = new Geometry(node.Element("geometry")); // required - material = (node.Element("material") != null) ? new Material(node.Element("material")) : null; // optional - } - - public Visual(Geometry geometry, string name = null, Origin origin = null, Material material = null) - { - this.name = name; - this.origin = origin; - this.geometry = geometry; - this.material = material; - } - - public void WriteToUrdf(XmlWriter writer) - { - writer.WriteStartElement("visual"); - - if (name != null) - writer.WriteAttributeString("name", name); - - origin?.WriteToUrdf(writer); - geometry?.WriteToUrdf(writer); - material?.WriteToUrdf(writer); - - writer.WriteEndElement(); - } - - public class Material - { - public string name; - public Color color; - public Texture texture; - - public Material(XElement node) - { - name = (string)node.Attribute("name"); // required - color = (node.Element("color") != null) ? new Color(node.Element("color")) : null; // optional - texture = (node.Element("texture") != null) ? new Texture(node.Element("texture")) : null; - } - - public Material(string name, Color color = null, Texture texture = null) - { - this.name = name; - this.color = color; - this.texture = texture; - } - - public void WriteToUrdf(XmlWriter writer) - { - writer.WriteStartElement("material"); - writer.WriteAttributeString("name", name); - - color?.WriteToUrdf(writer); - texture?.WriteToUrdf(writer); - - writer.WriteEndElement(); - } - - public class Texture - { - public string filename; - - public Texture(XElement node) - { - filename = (string)node.Attribute("filename"); // required - } - - public Texture(string filename) - { - this.filename = filename; - } - - public void WriteToUrdf(XmlWriter writer) - { - writer.WriteStartElement("texture"); - writer.WriteAttributeString("filename", filename); - writer.WriteEndElement(); - } - } - - public class Color - { - public double[] rgba; - - public Color(XElement node) - { - rgba = node.Attribute("rgba").ReadDoubleArray(); // required - } - - public Color(double[] rgba) - { - this.rgba = rgba; - } - - public void WriteToUrdf(XmlWriter writer) - { - writer.WriteStartElement("color"); - writer.WriteAttributeString("rgba", rgba.DoubleArrayToString()); - writer.WriteEndElement(); - } - } - - } - } - - public class Geometry - { - public Box box; - public Cylinder cylinder; - public Sphere sphere; - public Mesh mesh; - - public Geometry(XElement node) - { - box = (node.Element("box") != null) ? new Box(node.Element("box")) : null; // optional - cylinder = (node.Element("cylinder") != null) ? new Cylinder(node.Element("cylinder")) : null; // optional - sphere = (node.Element("sphere") != null) ? new Sphere(node.Element("sphere")) : null; // optional - mesh = (node.Element("mesh") != null) ? new Mesh(node.Element("mesh")) : null; // optional - } - - public Geometry(Box box = null, Cylinder cylinder = null, Sphere sphere = null, Mesh mesh = null) - { - this.box = box; - this.cylinder = cylinder; - this.sphere = sphere; - this.mesh = mesh; - } - - public void WriteToUrdf(XmlWriter writer) - { - writer.WriteStartElement("geometry"); - - box?.WriteToUrdf(writer); - cylinder?.WriteToUrdf(writer); - sphere?.WriteToUrdf(writer); - mesh?.WriteToUrdf(writer); - - writer.WriteEndElement(); - } - - public class Box - { - public double[] size; - - public Box(XElement node) - { - size = node.Attribute("size") != null ? node.Attribute("size").ReadDoubleArray() : null; - } - - public Box(double[] size) - { - this.size = size; - } - - public void WriteToUrdf(XmlWriter writer) - { - writer.WriteStartElement("box"); - writer.WriteAttributeString("size", size.DoubleArrayToString()); - writer.WriteEndElement(); - } - } - - - public class Cylinder - { - public double radius; - public double length; - - public Cylinder(XElement node) - { - radius = (double)node.Attribute("radius"); - length = (double)node.Attribute("length"); - } - - public Cylinder(double radius, double length) - { - this.radius = radius; - this.length = length; - } - - public void WriteToUrdf(XmlWriter writer) - { - writer.WriteStartElement("cylinder"); - writer.WriteAttributeString("length", length + ""); - writer.WriteAttributeString("radius", radius + ""); - writer.WriteEndElement(); - } - } - - - public class Sphere - { - public double radius; - - public Sphere(XElement node) - { - radius = (double)node.Attribute("radius"); - } - - public Sphere(double radius) - { - this.radius = radius; - } - - public void WriteToUrdf(XmlWriter writer) - { - writer.WriteStartElement("sphere"); - writer.WriteAttributeString("radius", radius + ""); - writer.WriteEndElement(); - } - } - - public class Mesh - { - public string filename; - public double[] scale; - - public Mesh(XElement node) - { - filename = (string)node.Attribute("filename"); - scale = node.Attribute("scale") != null ? node.Attribute("scale").ReadDoubleArray() : null; - } - - public Mesh(string filename, double[] scale) - { - this.filename = filename; - this.scale = scale; - } - - public void WriteToUrdf(XmlWriter writer) - { - writer.WriteStartElement("mesh"); - writer.WriteAttributeString("filename", filename); - - if (scale != null) - writer.WriteAttributeString("scale", scale.DoubleArrayToString()); - - writer.WriteEndElement(); - - } - } - } - } -} diff --git a/Assets/Scripts/Urdf/Link.cs.meta b/Assets/Scripts/Urdf/Link.cs.meta deleted file mode 100644 index 3e0c6ac..0000000 --- a/Assets/Scripts/Urdf/Link.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 2ed6bd6454b3c5046b5702b18b50dd38 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Urdf/Math.meta b/Assets/Scripts/Urdf/Math.meta deleted file mode 100644 index 44442be..0000000 --- a/Assets/Scripts/Urdf/Math.meta +++ /dev/null @@ -1,8 +0,0 @@ -fileFormatVersion: 2 -guid: c94549e62512a3b41b4a9838f73ee6a3 -folderAsset: yes -DefaultImporter: - externalObjects: {} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Urdf/Math/Matrix3x3.cs b/Assets/Scripts/Urdf/Math/Matrix3x3.cs deleted file mode 100644 index efddb8d..0000000 --- a/Assets/Scripts/Urdf/Math/Matrix3x3.cs +++ /dev/null @@ -1,357 +0,0 @@ -/* -© Siemens AG, 2018 -Author: Berkay Alp Cakal (berkay_alp.cakal.ct@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using System.Collections.Generic; -using UnityEngine; - -namespace RosSharp -{ - public class Matrix3x3 - { - public float[][] elements; - - public Matrix3x3(float x = 0) - { - elements = new float[][] { new float[3], new float[3], new float[3] }; - for (int i = 0; i < 3; i++) - for (int j = 0; j < 3; j++) - elements[i][j] = x; - } - - public Matrix3x3(float[] elements) - { - if (elements.Length == 3) // elements = [xx, yy, zz] - this.elements = new float[][] { new float[] { elements[0], 0, 0 }, - new float[] { 0, elements[1], 0 }, - new float[] { 0, 0, elements[2] } }; - - if (elements.Length == 6) // elements = [xx, xy, xz, yy, yz, zz] - this.elements = new float[][] { new float[] { elements[0], elements[1], elements[2] }, - new float[] { elements[1], elements[3], elements[4] }, - new float[] { elements[2], elements[4], elements[5] } }; - - if (elements.Length == 9) // elements = [xx, xy, xz, yx, yy, yz, zx, zy, zz] - this.elements = new float[][] { new float[] { elements[0], elements[1], elements[2] }, - new float[] { elements[3], elements[4], elements[5] }, - new float[] { elements[6], elements[7], elements[8] } }; - } - - public Matrix3x3(float[][] elements) - { - this.elements = new float[][] { new float[3], new float[3], new float[3] }; - for (int i = 0; i < 3; i++) - for (int j = 0; j < 3; j++) - this.elements[i][j] = elements[i][j]; - } - - public Matrix3x3(Vector3[] vectors) - { - elements = new float[][] { new float[] { vectors[0].x, vectors[0].y, vectors[0].z }, - new float[] { vectors[1].x, vectors[1].y, vectors[1].z }, - new float[] { vectors[2].x, vectors[2].y, vectors[2].z } }; - } - - public float[] this[int i] - { - get { return elements[i]; } - set { elements[i] = value; } - } - - public static Matrix3x3 operator +(Matrix3x3 A, Matrix3x3 B) - { - Matrix3x3 result = new Matrix3x3(); - for (int i = 0; i < 3; i++) - for (int j = 0; j < 3; j++) - result[i][j] = A[i][j] + B[i][j]; - return result; - } - - public static Matrix3x3 operator +(Matrix3x3 A, float x) - { - Matrix3x3 result = new Matrix3x3(); - for (int i = 0; i < 3; i++) - for (int j = 0; j < 3; j++) - result[i][j] = A[i][j] + x; - return result; - } - - public static Matrix3x3 operator -(Matrix3x3 A, Matrix3x3 B) - { - Matrix3x3 result = new Matrix3x3(); - for (int i = 0; i < 3; i++) - for (int j = 0; j < 3; j++) - result[i][j] = A[i][j] - B[i][j]; - return result; - } - - public static Matrix3x3 operator -(Matrix3x3 A, float x) - { - Matrix3x3 result = new Matrix3x3(); - for (int i = 0; i < 3; i++) - for (int j = 0; j < 3; j++) - result[i][j] = A[i][j] - x; - return result; - } - - public static Matrix3x3 operator *(Matrix3x3 A, float x) - { - Matrix3x3 result = new Matrix3x3(); - for (int i = 0; i < 3; i++) - for (int j = 0; j < 3; j++) - result[i][j] = A[i][j] * x; - return result; - } - - public static Matrix3x3 operator *(Matrix3x3 A, Matrix3x3 B) - { - Matrix3x3 result = new Matrix3x3(); - for (int i = 0; i < 3; i++) - for (int j = 0; j < 3; j++) - for (int k = 0; k < 3; k++) - result[i][j] += A[i][k] * B[k][j]; - return result; - } - - public static Vector3 operator *(Matrix3x3 A, Vector3 B) - { - Vector3 row0 = new Vector3(A[0][0], A[0][1], A[0][2]); - Vector3 row1 = new Vector3(A[1][0], A[1][1], A[1][2]); - Vector3 row2 = new Vector3(A[2][0], A[2][1], A[2][2]); - return new Vector3(Vector3.Dot(row0, B), Vector3.Dot(row1, B), Vector3.Dot(row2, B)); - } - - public float Determinant() - { - float result = 0.0f; - for (int i = 0; i < 3; i++) - result += (elements[0][i] * (elements[1][(i + 1) % 3] * elements[2][(i + 2) % 3] - elements[1][(i + 2) % 3] * elements[2][(i + 1) % 3])); - return result; - } - - public float Trace() - { - return (elements[0][0] + elements[1][1] + elements[2][2]); - } - - public bool IsDiagonal() - { - for (int i = 0; i < 3; i++) - for (int j = 0; j < 3; j++) - if (i != j && elements[i][j] != 0) - return false; - return true; - } - - public Matrix3x3 Transpose() - { - return new Matrix3x3(new float[] - { elements[0][0], elements[1][0], elements[2][0], - elements[0][1], elements[1][1], elements[2][1], - elements[0][2], elements[1][2], elements[2][2] }); - } - - public void DiagonalizeRealSymmetric(out Vector3 EigenvaluesOut, out Vector3[] EigenvectorsOut) - { - if (IsDiagonal()) - { - EigenvaluesOut = new Vector3(elements[0][0], elements[1][1], elements[2][2]); - EigenvectorsOut = new Vector3[] { new Vector3(1, 0, 0 ), - new Vector3(0, 1, 0 ), - new Vector3(0, 0, 1 ) }; - return; - } - - EigenvaluesOut = Eigenvalues(); - EigenvectorsOut = Eigenvectors(new float[] { EigenvaluesOut[0], EigenvaluesOut[1], EigenvaluesOut[2] }); - - } - - public Vector3 Eigenvalues() - { - /* Smith, Oliver K. (April 1961), "Eigenvalues of a symmetric 3 × 3 matrix." - * Communications of the ACM, 4 (4): 168, doi:10.1145/355578.366316 */ - - Matrix3x3 matrix3x3 = this; - - float traceA = matrix3x3.Trace(); - float q = traceA / 3; - float p1 = matrix3x3[0][1] * matrix3x3[0][1] + matrix3x3[0][2] * matrix3x3[0][2] + matrix3x3[1][2] * matrix3x3[1][2]; - float p2 = (matrix3x3[0][0] - q) * (matrix3x3[0][0] - q) + (matrix3x3[1][1] - q) * (matrix3x3[1][1] - q) + (matrix3x3[2][2] - q) * (matrix3x3[2][2] - q) + 2 * p1; - float p = Mathf.Sqrt(p2 / 6); - - Matrix3x3 B = (matrix3x3 * (1f / p)) + (new Matrix3x3(new float[] { -q / p, -q / p, -q / p })); - float angle = Mathf.Clamp(B.Determinant() / 2f, -1, 1); - float theta = Mathf.Acos(angle) / 3; - - Vector3 beta = new Vector3(); - Vector3 alpha = new Vector3(); - for (int k = 0; k < 3; k++) - { - beta[k] = 2f * Mathf.Cos(theta + (2 * Mathf.PI * k) / 3); - alpha[k] = p * beta[k] + q; - } - - return alpha; - } - - private Vector3[] Eigenvectors(float[] eigenvalues_unsorted) - { - float[] eigenvalues = (float[])eigenvalues_unsorted.Clone(); - System.Array.Sort(eigenvalues); - - Vector3 eigenvector0 = GetEigenvector0(eigenvalues); - Vector3 eigenvector1 = GetEigenvector1(eigenvalues, eigenvector0); - Vector3 eigenvector2 = GetEigenvector2(eigenvalues, eigenvector0, eigenvector1); - - List values = new List { eigenvalues[0], eigenvalues[1], eigenvalues[2] }; - List vectors = new List(){ - new float[] { eigenvector0[0], eigenvector0[1], eigenvector0[2] }, - new float[] { eigenvector1[0], eigenvector1[1], eigenvector1[2] }, - new float[] { eigenvector2[0], eigenvector2[1], eigenvector2[2] } - }; - List values_unsorted = new List(); - List vectors_unsorted = new List(); - - for (int i = 0; i < 3; i++) - { - int idx = values.IndexOf(eigenvalues_unsorted[i]); - values_unsorted.Add(values[idx]); - vectors_unsorted.Add(vectors[idx]); - values.RemoveAt(idx); - vectors.RemoveAt(idx); - } - - return new Vector3[] { new Vector3(vectors_unsorted[0][0], vectors_unsorted[0][1], vectors_unsorted[0][2]), - new Vector3(vectors_unsorted[1][0], vectors_unsorted[1][1], vectors_unsorted[1][2]), - new Vector3(vectors_unsorted[2][0], vectors_unsorted[2][1], vectors_unsorted[2][2]) }; - } - - private Vector3 GetEigenvector0(float[] eigenvalues) - { - if (IsTwoEigenvaluesEqual(eigenvalues)) - return new Vector3(1, 0, 0); - - Vector3 eigenvector0; - - Vector3 row0 = new Vector3(elements[0][0] - eigenvalues[0], elements[0][1], elements[0][2]); - Vector3 row1 = new Vector3(elements[1][0], elements[1][1] - eigenvalues[0], elements[1][2]); - Vector3 row2 = new Vector3(elements[2][0], elements[2][1], elements[2][2] - eigenvalues[0]); - - Vector3 cross_r0r1 = Vector3.Cross(row0, row1); - Vector3 cross_r0r2 = Vector3.Cross(row0, row2); - Vector3 cross_r1r2 = Vector3.Cross(row1, row2); - - float dot0 = Vector3.Dot(cross_r0r1, cross_r0r1); - float dot1 = Vector3.Dot(cross_r0r2, cross_r0r2); - float dot2 = Vector3.Dot(cross_r1r2, cross_r1r2); - float dmax = dot0; - int imax = 0; - - if (dot1 > dmax) { dmax = dot1; imax = 1; } - if (dot2 > dmax) { imax = 2; } - - if (imax == 0) - eigenvector0 = new Vector3(cross_r0r1[0] / Mathf.Sqrt(dot0), cross_r0r1[1] / Mathf.Sqrt(dot0), cross_r0r1[2] / Mathf.Sqrt(dot0)); - else if (imax == 1) - eigenvector0 = new Vector3(cross_r0r2[0] / Mathf.Sqrt(dot1), cross_r0r2[1] / Mathf.Sqrt(dot1), cross_r0r2[2] / Mathf.Sqrt(dot1)); - else - eigenvector0 = new Vector3(cross_r1r2[0] / Mathf.Sqrt(dot2), cross_r1r2[1] / Mathf.Sqrt(dot2), cross_r1r2[2] / Mathf.Sqrt(dot2)); - - return eigenvector0; - } - - private Vector3 GetEigenvector1(float[] eigenvalues, Vector3 eigenvector0) - { - Matrix3x3 inertiaTensor = this; - - if (IsTwoEigenvaluesEqual(eigenvalues)) - return new Vector3(0, 1, 0); - - Vector3 eigenvector1 = Vector3.zero; - Vector3[] UV = CalculateOrthogonalComplement(eigenvector0); - Vector3 AU = inertiaTensor * UV[0]; - Vector3 AV = inertiaTensor * UV[1]; - - float m00 = Vector3.Dot(UV[0], AU) - eigenvalues[1]; - float m01 = Vector3.Dot(UV[0], AV); - float m11 = Vector3.Dot(UV[1], AV) - eigenvalues[1]; - - if (Mathf.Abs(m00) > Mathf.Abs(m11)) - { - float maxAbscomp = Mathf.Max(Mathf.Abs(m00), Mathf.Abs(m01)); - if (maxAbscomp > 0) - { - if (Mathf.Abs(m00) >= Mathf.Abs(m01)) { m01 /= m00; m00 = 1 / Mathf.Sqrt(1 + m01 * m01); m01 *= m00; } - else { m00 /= m01; m01 = 1 / Mathf.Sqrt(1 + m00 * m00); m00 *= m01; } - eigenvector1 = (UV[0] * m01) + (UV[1] * -m00); - } - else - eigenvector1 = UV[0]; - } - - else - { - float maxAbscomp = Mathf.Max(Mathf.Abs(m11), Mathf.Abs(m01)); - if (maxAbscomp > 0) - { - if (Mathf.Abs(m11) >= Mathf.Abs(m01)) { m01 /= m11; m11 = 1 / Mathf.Sqrt(1 + m01 * m01); m01 *= m11; } - else { m11 /= m01; m01 = 1 / Mathf.Sqrt(1 + m11 * m11); m11 *= m01; } - eigenvector1 = (UV[0] * m11) + (UV[1] * -m00); - } - else - eigenvector1 = UV[0]; - } - - return eigenvector1; - } - - private Vector3 GetEigenvector2(float[] eigenvalues, Vector3 eigenvector0, Vector3 eigenvector1) - { - if (IsTwoEigenvaluesEqual(eigenvalues)) - return new Vector3(0, 0, 1); - - return Vector3.Cross(eigenvector0, eigenvector1); - } - - private Vector3[] CalculateOrthogonalComplement(Vector3 W) - { - Vector3 U; Vector3 V; - float invLength = 0; - - if (Mathf.Abs(W[0]) > Mathf.Abs(W[1])) - { - invLength = 1 / Mathf.Sqrt(W[0] * W[0] + W[2] * W[2]); - U = new Vector3(-W[2] * invLength, 0, W[0] * invLength); - } - else - { - invLength = 1 / Mathf.Sqrt(W[1] * W[1] + W[2] * W[2]); - U = new Vector3(0, W[2] * invLength, -W[1] * invLength); - } - - V = Vector3.Cross(W, U); - - return new Vector3[] { U, V }; - } - - private bool IsTwoEigenvaluesEqual(float[] eigenvalues) - { - return (eigenvalues[0] == eigenvalues[1] || eigenvalues[1] == eigenvalues[2] || eigenvalues[0] == eigenvalues[2]); - } - - } -} \ No newline at end of file diff --git a/Assets/Scripts/Urdf/Math/Matrix3x3.cs.meta b/Assets/Scripts/Urdf/Math/Matrix3x3.cs.meta deleted file mode 100644 index cb0b109..0000000 --- a/Assets/Scripts/Urdf/Math/Matrix3x3.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: b7cea3296f0c91b42822533ef3060a64 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Urdf/MeshProcessing.meta b/Assets/Scripts/Urdf/MeshProcessing.meta deleted file mode 100644 index 2b22d8f..0000000 --- a/Assets/Scripts/Urdf/MeshProcessing.meta +++ /dev/null @@ -1,8 +0,0 @@ -fileFormatVersion: 2 -guid: 966c6874f0eb0f145850fefea1eb8616 -folderAsset: yes -DefaultImporter: - externalObjects: {} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Urdf/MeshProcessing/ColladaAssetPostProcessor.cs b/Assets/Scripts/Urdf/MeshProcessing/ColladaAssetPostProcessor.cs deleted file mode 100644 index 3ae3da4..0000000 --- a/Assets/Scripts/Urdf/MeshProcessing/ColladaAssetPostProcessor.cs +++ /dev/null @@ -1,112 +0,0 @@ -/* -© Siemens AG, 2017 -Author: Dr. Martin Bischoff (martin.bischoff@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using System.Xml.Linq; -using System.Globalization; -using UnityEditor; -using UnityEngine; -using System.IO; - -namespace RosSharp -{ - public class ColladaAssetPostProcessor : AssetPostprocessor - { - private bool isCollada; - private string orientation; - - public void OnPreprocessModel() - { - ModelImporter modelImporter = (ModelImporter)assetImporter; - isCollada = Path.GetExtension(modelImporter.assetPath).ToLowerInvariant() == ".dae"; - - if (!isCollada) - return; - - modelImporter.globalScale = readGlobalScale(getAbsolutePath(modelImporter.assetPath)); - modelImporter.animationType = ModelImporterAnimationType.None; - modelImporter.importCameras = false; - modelImporter.importLights = false; - orientation = readColladaOrientation(getAbsolutePath(modelImporter.assetPath)); - } - - public void OnPostprocessModel(GameObject gameObject) - { - if (!isCollada) - return; - - gameObject.transform.SetPositionAndRotation( - getColladaPositionFix(gameObject.transform.position, orientation), - Quaternion.Euler(getColladaRotationFix(orientation)) * gameObject.transform.rotation); - } - - private static string getAbsolutePath(string relativeAssetPath) - { - return Path.Combine(Path.GetDirectoryName(Application.dataPath), relativeAssetPath); - } - - private Vector3 getColladaPositionFix(Vector3 position, string orientation) - { - switch (orientation) - { - case "X_UP": return position; // not tested - case "Y_UP": return position; // not tested - case "Z_UP": return new Vector3(-position.z, position.y, -position.x); // tested - default: return position; // not tested - } - } - - private static Vector3 getColladaRotationFix(string orientation) - { - switch (orientation) - { - case "X_UP": return new Vector3(-90, 90, 90); // not tested - case "Y_UP": return new Vector3(-90, 90, 0); // tested - case "Z_UP": return new Vector3(0, 90, 0); // tested - default: return new Vector3(-90, 90, 0); // tested - } - } - - private string readColladaOrientation(string absolutePath) - { - try - { - XNamespace xmlns = "http://www.collada.org/2005/11/COLLADASchema"; - XDocument xdoc = XDocument.Load(absolutePath); - return xdoc.Element(xmlns + "COLLADA").Element(xmlns + "asset").Element(xmlns + "up_axis").Value; - } - catch - { - return "undefined"; - } - } - - private float readGlobalScale(string absolutePath) - { - try - { - XNamespace xmlns = "http://www.collada.org/2005/11/COLLADASchema"; - XDocument xdoc = XDocument.Load(absolutePath); - string str = xdoc.Element(xmlns + "COLLADA").Element(xmlns + "asset").Element(xmlns + "unit").Attribute("meter").Value; - return float.Parse(str, CultureInfo.InvariantCulture.NumberFormat); - } - catch - { - return 1.0f; - } - } - } -} \ No newline at end of file diff --git a/Assets/Scripts/Urdf/MeshProcessing/ColladaAssetPostProcessor.cs.meta b/Assets/Scripts/Urdf/MeshProcessing/ColladaAssetPostProcessor.cs.meta deleted file mode 100644 index 4282ae7..0000000 --- a/Assets/Scripts/Urdf/MeshProcessing/ColladaAssetPostProcessor.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 4501824caf23d264ca7719b00bb19ea9 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Urdf/MeshProcessing/StlAssetPostProcessor.cs b/Assets/Scripts/Urdf/MeshProcessing/StlAssetPostProcessor.cs deleted file mode 100644 index bb4e059..0000000 --- a/Assets/Scripts/Urdf/MeshProcessing/StlAssetPostProcessor.cs +++ /dev/null @@ -1,76 +0,0 @@ -/* -© Siemens AG, 2017 -Author: Dr. Martin Bischoff (martin.bischoff@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using UnityEngine; -using UnityEditor; -using System.Linq; -using System.IO; - -namespace RosSharp -{ - public class StlAssetPostProcessor : AssetPostprocessor - { - private static void OnPostprocessAllAssets(string[] importedAssets, string[] deletedAssets, string[] movedAssets, string[] movedFromPath) - { - foreach (string stlFile in importedAssets.Where(x => x.ToLowerInvariant().EndsWith(".stl"))) - createStlPrefab(stlFile); - } - - private static void createStlPrefab(string stlFile) - { - GameObject gameObject = CreateStlParent(stlFile); - if (gameObject == null) - return; - - PrefabUtility.CreatePrefab(getPrefabAssetPath(stlFile), gameObject, ReplacePrefabOptions.Default); - Object.DestroyImmediate(gameObject); - } - - private static GameObject CreateStlParent(string stlFile) - { - Mesh[] meshes = Urdf.StlImporter.ImportMesh(stlFile); - if (meshes == null) - return null; - - GameObject parent = new GameObject(Path.GetFileNameWithoutExtension(stlFile)); - Material material = AssetDatabase.GetBuiltinExtraResource("Default-Diffuse.mat"); - for (int i = 0; i < meshes.Length; i++) - { - string meshAssetPath = getMeshAssetPath(stlFile, i); - AssetDatabase.CreateAsset(meshes[i], meshAssetPath); - GameObject gameObject = CreateStlGameObject(meshAssetPath, material); - gameObject.transform.SetParent(parent.transform, false); - } - return parent; - } - private static GameObject CreateStlGameObject(string meshAssetPath, Material material) - { - GameObject gameObject = new GameObject(Path.GetFileNameWithoutExtension(meshAssetPath)); - gameObject.AddComponent().sharedMesh = AssetDatabase.LoadAssetAtPath(meshAssetPath); - gameObject.AddComponent().sharedMaterial = material; - return gameObject; - } - private static string getMeshAssetPath(string stlFile, int i) - { - return stlFile.Substring(0, stlFile.Length - 4) + "_" + i.ToString() + ".asset"; - } - private static string getPrefabAssetPath(string stlFile) - { - return stlFile.Substring(0, stlFile.Length - 4) + ".prefab"; - } - } -} \ No newline at end of file diff --git a/Assets/Scripts/Urdf/MeshProcessing/StlAssetPostProcessor.cs.meta b/Assets/Scripts/Urdf/MeshProcessing/StlAssetPostProcessor.cs.meta deleted file mode 100644 index 7e32ee8..0000000 --- a/Assets/Scripts/Urdf/MeshProcessing/StlAssetPostProcessor.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 0f8c12836d114cc4c81c90d1cddde476 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Urdf/MeshProcessing/StlExporter.cs b/Assets/Scripts/Urdf/MeshProcessing/StlExporter.cs deleted file mode 100644 index 8eb23e9..0000000 --- a/Assets/Scripts/Urdf/MeshProcessing/StlExporter.cs +++ /dev/null @@ -1,111 +0,0 @@ -/* -© Siemens AG, 2018 -Author: Suzannah Smith (suzannah.smith@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using UnityEngine; -using System.Collections.Generic; - -namespace RosSharp.Urdf -{ - public class StlExporter - { - private readonly bool exportCollision; - private readonly string exportPath; - private readonly GameObject gameObject; - - public StlExporter(string path, GameObject toExport, bool collision = false) - { - exportPath = path; - gameObject = toExport; - exportCollision = collision; - } - - public bool Export() - { - List meshes = CreateWorldSpaceMeshes(); - bool success = false; - - if(meshes != null && meshes.Count > 0) - { - if(!(exportPath == "" || exportPath == null)) - success = new StlWriter(exportPath, meshes).WriteFile(); - } - - for(int i = 0; meshes != null && i < meshes.Count; i++) - Object.DestroyImmediate(meshes[i]); - - return success; - } - - private List CreateWorldSpaceMeshes() - { - //Create a clone with no scale, rotation or transform, so that mesh will be - //at original size and position when exported. - GameObject clone = Object.Instantiate(gameObject, Vector3.zero, Quaternion.identity); - clone.name = gameObject.name; - clone.transform.localScale = Vector3.one; - - GameObject root = new GameObject(); - clone.transform.SetParent(root.transform, true); - - List meshes = new List(); - if(exportCollision) - { - MeshCollider[] meshColliders = root.GetComponentsInChildren(); - - foreach (MeshCollider meshCollider in meshColliders) - { - if(meshCollider.sharedMesh != null) - meshes.Add(TransformMeshToWorldSpace(meshCollider.transform, meshCollider.sharedMesh)); - } - } - else - { - MeshFilter[] meshFilters = root.transform.GetComponentsInChildren(); - - foreach (MeshFilter meshFilter in meshFilters) - { - if(meshFilter.sharedMesh != null) - meshes.Add(TransformMeshToWorldSpace(meshFilter.transform, meshFilter.sharedMesh)); - } - } - - Object.DestroyImmediate(root); - - return meshes; - } - - private static Mesh TransformMeshToWorldSpace(Transform meshTransform, Mesh sharedMesh) - { - Vector3[] v = sharedMesh.vertices; - Vector3[] n = sharedMesh.normals; - - for (int it = 0; it < v.Length; it++) - { - v[it] = meshTransform.TransformPoint(v[it]); - n[it] = meshTransform.TransformDirection(n[it]); - } - - return new Mesh - { - name = meshTransform.name, - vertices = v, - normals = n, - triangles = sharedMesh.triangles - }; - } - } -} diff --git a/Assets/Scripts/Urdf/MeshProcessing/StlExporter.cs.meta b/Assets/Scripts/Urdf/MeshProcessing/StlExporter.cs.meta deleted file mode 100644 index 931b198..0000000 --- a/Assets/Scripts/Urdf/MeshProcessing/StlExporter.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 583545228adda674c95a96e8a8249d7b -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Urdf/MeshProcessing/StlImporter.cs b/Assets/Scripts/Urdf/MeshProcessing/StlImporter.cs deleted file mode 100644 index 546e021..0000000 --- a/Assets/Scripts/Urdf/MeshProcessing/StlImporter.cs +++ /dev/null @@ -1,87 +0,0 @@ -/* -© Siemens AG, 2017-18 -Author: Dr. Martin Bischoff (martin.bischoff@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using UnityEngine; -using System.Collections.Generic; -using System.IO; - -namespace RosSharp.Urdf -{ - public static class StlImporter - { - public static Mesh[] ImportMesh(string path) - { - IList facets; - if (IsBinary(path)) - facets = StlReader.ReadBinaryFile(path); - else - facets = StlReader.ReadAsciiFile(path); - - return CreateMesh(facets); - } - - private static bool IsBinary(string path) - { - int maxCharsToCheck = 100; - - using (StreamReader reader = new StreamReader(path)) - for (int i = 0; i < maxCharsToCheck; i++) - if (reader.Read() == '\0') - return true; - - return false; - } - - private static Mesh[] CreateMesh(IList facets) - { - int maxVerticesPerMesh = 65535; - int totalNumberOfFacets = facets.Count; - int totalFacetIndex = 0; - int[] order = new int[] { 0, 2, 1 }; - - Mesh[] meshes = new Mesh[totalNumberOfFacets / (maxVerticesPerMesh / 3) + 1]; - Vector3[] vertices; - Vector3[] normals; - int[] triangles; - - for (int meshIndex = 0; meshIndex < meshes.Length; meshIndex++) - { - int meshSize = Mathf.Min(maxVerticesPerMesh, (totalNumberOfFacets - totalFacetIndex) * 3); - - vertices = new Vector3[meshSize]; - normals = new Vector3[meshSize]; - triangles = new int[meshSize]; - for (int facetIndex = 0; facetIndex < meshSize; facetIndex += 3) - { - for (int vertexIndex = 0; vertexIndex < 3; vertexIndex++) - { - vertices[facetIndex + vertexIndex] = facets[totalFacetIndex].vertices[order[vertexIndex]]; - normals[facetIndex + vertexIndex] = facets[totalFacetIndex].normal; - triangles[facetIndex + vertexIndex] = facetIndex + vertexIndex; - } - totalFacetIndex++; - } - - meshes[meshIndex] = new Mesh(); - meshes[meshIndex].vertices = vertices; - meshes[meshIndex].normals = normals; - meshes[meshIndex].triangles = triangles; - } - return meshes; - } - } -} \ No newline at end of file diff --git a/Assets/Scripts/Urdf/MeshProcessing/StlImporter.cs.meta b/Assets/Scripts/Urdf/MeshProcessing/StlImporter.cs.meta deleted file mode 100644 index 71d8c05..0000000 --- a/Assets/Scripts/Urdf/MeshProcessing/StlImporter.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 435393e343c62ef49abb40c864150c94 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Urdf/MeshProcessing/StlReader.cs b/Assets/Scripts/Urdf/MeshProcessing/StlReader.cs deleted file mode 100644 index e762811..0000000 --- a/Assets/Scripts/Urdf/MeshProcessing/StlReader.cs +++ /dev/null @@ -1,148 +0,0 @@ -/* -© Siemens AG, 2018 -Author: Suzannah Smith (suzannah.smith@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using System.Collections.Generic; -using System.IO; -using System.Text; -using UnityEngine; - -namespace RosSharp.Urdf -{ - public static class StlReader - { - - #region Binary - - public static Facet[] ReadBinaryFile(string path) - { - Facet[] facets; - - using (FileStream fileStream = new FileStream(path, FileMode.Open, FileAccess.Read)) - { - using (BinaryReader binaryReader = new BinaryReader(fileStream, new ASCIIEncoding())) - { - binaryReader.ReadBytes(80); // header - - uint facetCount = binaryReader.ReadUInt32(); - facets = new Facet[facetCount]; - - for (uint i = 0; i < facetCount; i++) - facets[i] = binaryReader.ReadFacet(); - } - - return facets; - } - } - - private static Facet ReadFacet(this BinaryReader binaryReader) - { - Facet facet = new Facet - { - normal = binaryReader.ReadVector3(), - vertices = new Vector3[3] - }; - - for (int i = 0; i < 3; i++) - facet.vertices[i] = binaryReader.ReadVector3(); - - binaryReader.ReadUInt16(); // padding - - return facet; - } - - private static Vector3 ReadVector3(this BinaryReader binaryReader) - { - Vector3 vector3 = new Vector3(); - for (int i = 0; i < 3; i++) - vector3[i] = binaryReader.ReadSingle(); - return vector3.Ros2Unity(); - } - - #endregion - - #region Ascii - - public static List ReadAsciiFile(string path) - { - List facets = new List(); - Facet facet; - using (StreamReader streamReader = new StreamReader(path)) - while ((facet = ReadFacet(streamReader)) != null) - { - facets.Add(facet); - } - - return facets; - } - - private static Facet ReadFacet(this StreamReader streamReader) - { - string line; - Facet facet = new Facet(); - while ((line = streamReader.ReadLine()) != null) - { - line = line.Trim(); - if (line.StartsWith("facet")) - { - facet.normal = ReadVector3(line.Substring(13)); - facet.vertices = streamReader.GetVertices(); - return facet; - } - } - - return null; - } - - private static Vector3[] GetVertices(this StreamReader streamReader) - { - Vector3[] vertices = new Vector3[3]; - int i = 0; - string line; - while ((line = streamReader.ReadLine()) != null) - { - line = line.Trim(); - if (line.StartsWith("vertex")) - vertices[i++] = ReadVector3(line.Replace("vertex ", "")); - if (i == 3) - return vertices; - } - - return null; - } - - private static Vector3 ReadVector3(string _string) - { - string[] strings = _string.Trim().Split(); - - Vector3 vector3 = new Vector3(); - - float.TryParse(strings[0], out vector3.x); - float.TryParse(strings[1], out vector3.y); - float.TryParse(strings[2], out vector3.z); - - return vector3.Ros2Unity(); - } - - #endregion - - public class Facet - { - public Vector3 normal; - public Vector3[] vertices; - } - } -} \ No newline at end of file diff --git a/Assets/Scripts/Urdf/MeshProcessing/StlReader.cs.meta b/Assets/Scripts/Urdf/MeshProcessing/StlReader.cs.meta deleted file mode 100644 index cd16092..0000000 --- a/Assets/Scripts/Urdf/MeshProcessing/StlReader.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: cd6ec4b5ec84e214b8458c4836a50d05 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Urdf/MeshProcessing/StlWriter.cs b/Assets/Scripts/Urdf/MeshProcessing/StlWriter.cs deleted file mode 100644 index f54c620..0000000 --- a/Assets/Scripts/Urdf/MeshProcessing/StlWriter.cs +++ /dev/null @@ -1,181 +0,0 @@ -/* -© Siemens AG, 2018 -Author: Suzannah Smith (suzannah.smith@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using System.Collections.Generic; -using System.IO; -using System.Linq; -using System.Text; -using UnityEngine; - -namespace RosSharp.Urdf -{ - public class StlWriter - { - private readonly string exportPath; - private List meshes; - private readonly bool convertToRightHandedCoordinates; - - public enum FileType - { - Ascii, - Binary - } - public static FileType fileType; - - public StlWriter(string exportPath, List meshes, bool convertToRightHandedCoordinates = true) - { - this.exportPath = exportPath; - this.meshes = meshes; - this.convertToRightHandedCoordinates = convertToRightHandedCoordinates; - } - - public bool WriteFile() - { - try - { - if (fileType == FileType.Binary) - WriteToBinaryFile(); - else - WriteToAsciiFile(); - - return true; - } - catch (System.Exception e) - { - Debug.LogError(e.ToString()); - return false; - } - } - - private void WriteToBinaryFile() - { - using (BinaryWriter writer = new BinaryWriter(File.Open(exportPath, FileMode.Create), new ASCIIEncoding())) - { - //80 byte header - writer.Write(new byte[80]); - - uint totalTriangleCount = (uint) (meshes.Sum(x => x.triangles.Length) / 3); - writer.Write(totalTriangleCount); - - foreach (Mesh mesh in meshes) - WriteBinaryMesh(mesh, writer); - } - } - - private void WriteBinaryMesh(Mesh mesh, BinaryWriter writer) - { - Vector3[] v = convertToRightHandedCoordinates ? Left2Right(mesh.vertices) : mesh.vertices; - Vector3[] n = convertToRightHandedCoordinates ? Left2Right(mesh.normals) : mesh.normals; - int[] t = mesh.triangles; - int triangleCount = t.Length; - - if (convertToRightHandedCoordinates) - System.Array.Reverse(t); - - for (int i = 0; i < triangleCount; i += 3) - { - int a = t[i], b = t[i + 1], c = t[i + 2]; - - Vector3 avg = AverageNormal(n[a], n[b], n[c]); - - writer.Write(avg.x); - writer.Write(avg.y); - writer.Write(avg.z); - - writer.Write(v[a].x); - writer.Write(v[a].y); - writer.Write(v[a].z); - - writer.Write(v[b].x); - writer.Write(v[b].y); - writer.Write(v[b].z); - - writer.Write(v[c].x); - writer.Write(v[c].y); - writer.Write(v[c].z); - - // specification says attribute byte count should be set to 0. - writer.Write((ushort)0); - } - } - - private void WriteToAsciiFile() - { - string model = BuildAsciiString(); - File.WriteAllText(exportPath, model); - } - - private string BuildAsciiString() - { - StringBuilder sb = new StringBuilder(); - - string name = meshes.Count == 1 ? meshes[0].name : "Composite Mesh"; - - sb.AppendLine($"solid {name}"); - - foreach(Mesh mesh in meshes) - { - Vector3[] v = convertToRightHandedCoordinates ? Left2Right(mesh.vertices) : mesh.vertices; - Vector3[] n = convertToRightHandedCoordinates ? Left2Right(mesh.normals) : mesh.normals; - int[] t = mesh.triangles; - if(convertToRightHandedCoordinates) System.Array.Reverse(t); - int triLen = t.Length; - - for(int i = 0; i < triLen; i+=3) - { - int a = t[i]; - int b = t[i+1]; - int c = t[i+2]; - - Vector3 nrm = AverageNormal(n[a], n[b], n[c]); - - sb.AppendLine($"facet normal {nrm.x} {nrm.y} {nrm.z}"); - - sb.AppendLine("outer loop"); - - sb.AppendLine($"\tvertex {v[a].x} {v[a].y} {v[a].z}"); - sb.AppendLine($"\tvertex {v[b].x} {v[b].y} {v[b].z}"); - sb.AppendLine($"\tvertex {v[c].x} {v[c].y} {v[c].z}"); - - sb.AppendLine("endloop"); - - sb.AppendLine("endfacet"); - } - } - - sb.AppendLine($"endsolid {name}"); - - return sb.ToString(); - } - - private static Vector3[] Left2Right(Vector3[] v) - { - Vector3[] r = new Vector3[v.Length]; - for (int i = 0; i < v.Length; i++) - r[i] = v[i].Unity2Ros(); - return r; - } - - private static Vector3 AverageNormal(Vector3 a, Vector3 b, Vector3 c) - { - return new Vector3( - (a.x + b.x + c.x) / 3f, - (a.y + b.y + c.y) / 3f, - (a.z + b.z + c.z) / 3f ); - } - } -} diff --git a/Assets/Scripts/Urdf/MeshProcessing/StlWriter.cs.meta b/Assets/Scripts/Urdf/MeshProcessing/StlWriter.cs.meta deleted file mode 100644 index 45f60a6..0000000 --- a/Assets/Scripts/Urdf/MeshProcessing/StlWriter.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 060d5de32bca2894da7fe215e4996438 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Urdf/Origin.cs b/Assets/Scripts/Urdf/Origin.cs deleted file mode 100644 index 1946385..0000000 --- a/Assets/Scripts/Urdf/Origin.cs +++ /dev/null @@ -1,50 +0,0 @@ -/* -© Siemens AG, 2017 -Author: Dr. Martin Bischoff (martin.bischoff@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using System.Xml; -using System.Xml.Linq; - -namespace RosSharp.Urdf -{ - public class Origin - { - public double[] Xyz; - public double[] Rpy; - - public Origin(XElement node) - { - Xyz = node.Attribute("xyz") != null ? node.Attribute("xyz").ReadDoubleArray() : null; - Rpy = node.Attribute("rpy") != null ? node.Attribute("rpy").ReadDoubleArray() : null; - } - - public Origin(double[] xyz, double[] rpy) - { - Xyz = xyz; - Rpy = rpy; - } - - public void WriteToUrdf(XmlWriter writer) - { - writer.WriteStartElement("origin"); - if(Rpy != null) - writer.WriteAttributeString("rpy", Rpy.DoubleArrayToString()); - if(Xyz != null) - writer.WriteAttributeString("xyz", Xyz.DoubleArrayToString()); - writer.WriteEndElement(); - } - } -} diff --git a/Assets/Scripts/Urdf/Origin.cs.meta b/Assets/Scripts/Urdf/Origin.cs.meta deleted file mode 100644 index fa2f698..0000000 --- a/Assets/Scripts/Urdf/Origin.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: c527b6923e926a94eac71d6f76a0ab50 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Urdf/Plugin.cs b/Assets/Scripts/Urdf/Plugin.cs deleted file mode 100644 index e25e0c1..0000000 --- a/Assets/Scripts/Urdf/Plugin.cs +++ /dev/null @@ -1,45 +0,0 @@ -/* -© Siemens AG, 2018 -Author: Suzannah Smith (suzannah.smith@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using System.Xml; -using System.Xml.Linq; - -namespace RosSharp.Urdf -{ - public class Plugin - { - public string text; - - public Plugin(XElement node) - { - text = node.ToString(); - } - - public Plugin(string text) - { - this.text = text; - } - - public void WriteToUrdf(XmlWriter writer) - { - XmlDocument xDoc = new XmlDocument {PreserveWhitespace = true}; - xDoc.LoadXml(text); - xDoc.WriteContentTo(writer); - writer.WriteWhitespace("\n"); - } - } -} diff --git a/Assets/Scripts/Urdf/Plugin.cs.meta b/Assets/Scripts/Urdf/Plugin.cs.meta deleted file mode 100644 index 745ed8b..0000000 --- a/Assets/Scripts/Urdf/Plugin.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 2bfee90b7d93bcd4c94eabc38bfce6f0 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Urdf/Properties.meta b/Assets/Scripts/Urdf/Properties.meta deleted file mode 100644 index 92e8d04..0000000 --- a/Assets/Scripts/Urdf/Properties.meta +++ /dev/null @@ -1,8 +0,0 @@ -fileFormatVersion: 2 -guid: a79818601bc1f834eb606ba3f86cfa7b -folderAsset: yes -DefaultImporter: - externalObjects: {} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Urdf/Properties/AssemblyInfo.cs b/Assets/Scripts/Urdf/Properties/AssemblyInfo.cs deleted file mode 100644 index 7b5b268..0000000 --- a/Assets/Scripts/Urdf/Properties/AssemblyInfo.cs +++ /dev/null @@ -1,36 +0,0 @@ -using System.Reflection; -using System.Runtime.CompilerServices; -using System.Runtime.InteropServices; - -// General Information about an assembly is controlled through the following -// set of attributes. Change these attribute values to modify the information -// associated with an assembly. -[assembly: AssemblyTitle("Urdf")] -[assembly: AssemblyDescription("")] -[assembly: AssemblyConfiguration("")] -[assembly: AssemblyCompany("Licence Owner")] -[assembly: AssemblyProduct("Urdf")] -[assembly: AssemblyCopyright("Copyright © Licence Owner 2017")] -[assembly: AssemblyTrademark("")] -[assembly: AssemblyCulture("")] - -// Setting ComVisible to false makes the types in this assembly not visible -// to COM components. If you need to access a type in this assembly from -// COM, set the ComVisible attribute to true on that type. -[assembly: ComVisible(false)] - -// The following GUID is for the ID of the typelib if this project is exposed to COM -[assembly: Guid("d33101da-7196-4545-b708-c8e0c308c5fa")] - -// Version information for an assembly consists of the following four values: -// -// Major Version -// Minor Version -// Build Number -// Revision -// -// You can specify all the values or you can default the Build and Revision Numbers -// by using the '*' as shown below: -// [assembly: AssemblyVersion("1.0.*")] -[assembly: AssemblyVersion("1.0.0.0")] -[assembly: AssemblyFileVersion("1.0.0.0")] diff --git a/Assets/Scripts/Urdf/Properties/AssemblyInfo.cs.meta b/Assets/Scripts/Urdf/Properties/AssemblyInfo.cs.meta deleted file mode 100644 index 087aa9d..0000000 --- a/Assets/Scripts/Urdf/Properties/AssemblyInfo.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 7e527f60e14006743ab5082fd6521361 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Urdf/README.md b/Assets/Scripts/Urdf/README.md deleted file mode 100644 index c5c6319..0000000 --- a/Assets/Scripts/Urdf/README.md +++ /dev/null @@ -1,10 +0,0 @@ -# [UrdfImporter](https://github.com/siemens/ros-sharp/tree/master/UrdfImporter) # -[URDF](http://wiki.ros.org/urdf) file parser for [.NET](https://www.microsoft.com/net) applications - -__Please see the [Wiki](https://github.com/siemens/ros-sharp/wiki) for further info.__ - ---- - -© Siemens AG, 2017-2018 - -Author: Dr. Martin Bischoff (martin.bischoff@siemens.com) diff --git a/Assets/Scripts/Urdf/README.md.meta b/Assets/Scripts/Urdf/README.md.meta deleted file mode 100644 index 13c55c1..0000000 --- a/Assets/Scripts/Urdf/README.md.meta +++ /dev/null @@ -1,7 +0,0 @@ -fileFormatVersion: 2 -guid: f008805dd77a7c74d8085d1ecb5f499e -TextScriptImporter: - externalObjects: {} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Urdf/Robot.cs b/Assets/Scripts/Urdf/Robot.cs deleted file mode 100644 index c9ecb58..0000000 --- a/Assets/Scripts/Urdf/Robot.cs +++ /dev/null @@ -1,163 +0,0 @@ -/* -© Siemens AG, 2017 -Author: Dr. Martin Bischoff (martin.bischoff@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. - -Added urdf from string option (C) Dyno Robotics, 2019, Samuel Lindgren (samuel@dynorobotics.se)> -*/ - -using System.Collections.Generic; -using System.IO; -using System.Linq; -using System.Xml; -using System.Xml.Linq; - -namespace RosSharp.Urdf -{ - public class Robot - { - public string filename; - public string name; - public Link root; - public List materials; - - public List links; - public List joints; - public List plugins; - - public Robot() - { - } - - public void ConstructFromString(string urdfString, string name = "") - { - XDocument xdoc = XDocument.Parse(urdfString); - XElement node = xdoc.Element("robot"); - - - Construct(node, name); - } - - public void ConstructFromFile(string filename, string name = "") - { - this.filename = filename; - XDocument xdoc = XDocument.Load(filename); - XElement node = xdoc.Element("robot"); - - Construct(node, name); - } - - private void Construct(XElement node, string name) - { - if (name == "") - { - this.name = node.Attribute("name").Value; - } - else - { - this.name = name; - } - - materials = ReadMaterials(node); - links = ReadLinks(node); - joints = ReadJoints(node); - plugins = ReadPlugins(node); - - // build tree structure from link and joint lists: - foreach (Link link in links) - link.joints = joints.FindAll(v => v.parent == link.name); - foreach (Joint joint in joints) - joint.ChildLink = links.Find(v => v.name == joint.child); - - // save root node only: - root = FindRootLink(links, joints); - } - - private static List ReadMaterials(XElement node) - { - var materials = - from child in node.Elements("material") - select new Link.Visual.Material(child); - return materials.ToList(); - } - - private static List ReadLinks(XElement node) - { - var links = - from child in node.Elements("link") - select new Link(child); - return links.ToList(); - } - - private static List ReadJoints(XElement node) - { - var joints = - from child in node.Elements("joint") - select new Joint(child); - return joints.ToList(); - } - - private List ReadPlugins(XElement node) - { - var plugins = - from child in node.Elements() - where child.Name != "link" && child.Name != "joint" && child.Name != "material" - select new Plugin(child.ToString()); - return plugins.ToList(); - } - - private static Link FindRootLink(List links, List joints) - { - if (joints.Count == 0) - return links[0]; - - Joint joint = joints[0]; - string parent; - do - { - parent = joint.parent; - joint = joints.Find(v => v.child == parent); - } - while (joint != null); - return links.Find(v => v.name == parent); - } - - public void WriteToUrdf() - { - Directory.CreateDirectory(Path.GetDirectoryName(filename)); - XmlWriterSettings settings = new XmlWriterSettings { Indent = true, NewLineOnAttributes = false }; - - using (XmlWriter writer = XmlWriter.Create(filename, settings)) - { - writer.WriteStartDocument(); - writer.WriteStartElement("robot"); - writer.WriteAttributeString("name", name); - - foreach (var material in materials) - material.WriteToUrdf(writer); - foreach (var link in links) - link.WriteToUrdf(writer); - foreach (var joint in joints) - joint.WriteToUrdf(writer); - foreach (var plugin in plugins) - plugin.WriteToUrdf(writer); - - writer.WriteEndElement(); - writer.WriteEndDocument(); - - writer.Close(); - } - } - } -} diff --git a/Assets/Scripts/Urdf/Robot.cs.meta b/Assets/Scripts/Urdf/Robot.cs.meta deleted file mode 100644 index f9785f1..0000000 --- a/Assets/Scripts/Urdf/Robot.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 38ce4e165be9d714784257c48ad61360 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Urdf/UrdfComponents.meta b/Assets/Scripts/Urdf/UrdfComponents.meta deleted file mode 100644 index 04acfc2..0000000 --- a/Assets/Scripts/Urdf/UrdfComponents.meta +++ /dev/null @@ -1,8 +0,0 @@ -fileFormatVersion: 2 -guid: c8c4832c3e883d5419e7fa56176ca4e8 -folderAsset: yes -DefaultImporter: - externalObjects: {} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Urdf/UrdfComponents/UrdfCollision.cs b/Assets/Scripts/Urdf/UrdfComponents/UrdfCollision.cs deleted file mode 100644 index baa3071..0000000 --- a/Assets/Scripts/Urdf/UrdfComponents/UrdfCollision.cs +++ /dev/null @@ -1,29 +0,0 @@ -/* -© Siemens AG, 2018 -Author: Suzannah Smith (suzannah.smith@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using UnityEngine; - -namespace RosSharp.Urdf -{ - [SelectionBase] - public class UrdfCollision : MonoBehaviour - { - [SerializeField] - public GeometryTypes geometryType; - - } -} \ No newline at end of file diff --git a/Assets/Scripts/Urdf/UrdfComponents/UrdfCollision.cs.meta b/Assets/Scripts/Urdf/UrdfComponents/UrdfCollision.cs.meta deleted file mode 100644 index 658195e..0000000 --- a/Assets/Scripts/Urdf/UrdfComponents/UrdfCollision.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 1c0c8ba1123c5f949b20e50d5dd6afe4 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Urdf/UrdfComponents/UrdfCollisionExtensions.cs b/Assets/Scripts/Urdf/UrdfComponents/UrdfCollisionExtensions.cs deleted file mode 100644 index 6a6e5e5..0000000 --- a/Assets/Scripts/Urdf/UrdfComponents/UrdfCollisionExtensions.cs +++ /dev/null @@ -1,71 +0,0 @@ -/* -© Siemens AG, 2018 -Author: Suzannah Smith (suzannah.smith@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using UnityEngine; - -namespace RosSharp.Urdf.Editor -{ - public static class UrdfCollisionExtensions - { - public static void Create(Transform parent, GeometryTypes type, Transform visualToCopy = null) - { - GameObject collisionObject = new GameObject("unnamed"); - collisionObject.transform.SetParentAndAlign(parent); - - UrdfCollision urdfCollision = collisionObject.AddComponent(); - urdfCollision.geometryType = type; - - if (visualToCopy != null) - { - if (urdfCollision.geometryType == GeometryTypes.Mesh) - UrdfGeometryCollision.CreateMatchingMeshCollision(collisionObject.transform, visualToCopy); - else - UrdfGeometryCollision.Create(collisionObject.transform, type); - - //copy transform values from corresponding UrdfVisual - collisionObject.transform.position = visualToCopy.position; - collisionObject.transform.localScale = visualToCopy.localScale; - collisionObject.transform.rotation = visualToCopy.rotation; - } - else - UrdfGeometryCollision.Create(collisionObject.transform, type); - - UnityEditor.EditorGUIUtility.PingObject(collisionObject); - } - - public static void Create(Transform parent, Link.Collision collision) - { - GameObject collisionObject = new GameObject("unnamed"); - collisionObject.transform.SetParentAndAlign(parent); - UrdfCollision urdfCollision = collisionObject.AddComponent(); - urdfCollision.geometryType = UrdfGeometry.GetGeometryType(collision.geometry); - - UrdfGeometryCollision.Create(collisionObject.transform, urdfCollision.geometryType, collision.geometry); - UrdfOrigin.ImportOriginData(collisionObject.transform, collision.origin); - } - - public static Link.Collision ExportCollisionData(this UrdfCollision urdfCollision) - { - UrdfGeometry.CheckForUrdfCompatibility(urdfCollision.transform, urdfCollision.geometryType); - - Link.Geometry geometry = UrdfGeometry.ExportGeometryData(urdfCollision.geometryType, urdfCollision.transform, true); - string collisionName = urdfCollision.name == "unnamed" ? null : urdfCollision.name; - - return new Link.Collision(geometry, collisionName, UrdfOrigin.ExportOriginData(urdfCollision.transform)); - } - } -} \ No newline at end of file diff --git a/Assets/Scripts/Urdf/UrdfComponents/UrdfCollisionExtensions.cs.meta b/Assets/Scripts/Urdf/UrdfComponents/UrdfCollisionExtensions.cs.meta deleted file mode 100644 index e614292..0000000 --- a/Assets/Scripts/Urdf/UrdfComponents/UrdfCollisionExtensions.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 11c78635e185ce14ba7c9c92ee5f44a3 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Urdf/UrdfComponents/UrdfCollisions.cs b/Assets/Scripts/Urdf/UrdfComponents/UrdfCollisions.cs deleted file mode 100644 index 90bd716..0000000 --- a/Assets/Scripts/Urdf/UrdfComponents/UrdfCollisions.cs +++ /dev/null @@ -1,24 +0,0 @@ -/* -© Siemens AG, 2018 -Author: Suzannah Smith (suzannah.smith@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ -using UnityEngine; - -namespace RosSharp.Urdf -{ - public class UrdfCollisions : MonoBehaviour - { - } -} \ No newline at end of file diff --git a/Assets/Scripts/Urdf/UrdfComponents/UrdfCollisions.cs.meta b/Assets/Scripts/Urdf/UrdfComponents/UrdfCollisions.cs.meta deleted file mode 100644 index 2cb5d4c..0000000 --- a/Assets/Scripts/Urdf/UrdfComponents/UrdfCollisions.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 46398bc5d6905ad429a6d2d973afe002 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Urdf/UrdfComponents/UrdfCollisionsExtensions.cs b/Assets/Scripts/Urdf/UrdfComponents/UrdfCollisionsExtensions.cs deleted file mode 100644 index 4c533b1..0000000 --- a/Assets/Scripts/Urdf/UrdfComponents/UrdfCollisionsExtensions.cs +++ /dev/null @@ -1,48 +0,0 @@ -/* -© Siemens AG, 2018 -Author: Suzannah Smith (suzannah.smith@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using System.Collections.Generic; -using System.Linq; -using UnityEngine; - -namespace RosSharp.Urdf.Editor -{ - public static class UrdfCollisionsExtensions - { - public static void Create(Transform parent, List collisions = null) - { - GameObject collisionsObject = new GameObject("Collisions"); - collisionsObject.transform.SetParentAndAlign(parent); - UrdfCollisions urdfCollisions = collisionsObject.AddComponent(); - - collisionsObject.hideFlags = HideFlags.NotEditable; - urdfCollisions.hideFlags = HideFlags.None; - - if (collisions != null) - { - foreach (Link.Collision collision in collisions) - UrdfCollisionExtensions.Create(urdfCollisions.transform, collision); - } - } - - public static List ExportCollisionsData(this UrdfCollisions urdfCollisions) - { - UrdfCollision[] urdfCollisionsList = urdfCollisions.GetComponentsInChildren(); - return urdfCollisionsList.Select(urdfCollision => urdfCollision.ExportCollisionData()).ToList(); - } - } -} \ No newline at end of file diff --git a/Assets/Scripts/Urdf/UrdfComponents/UrdfCollisionsExtensions.cs.meta b/Assets/Scripts/Urdf/UrdfComponents/UrdfCollisionsExtensions.cs.meta deleted file mode 100644 index 7a67b84..0000000 --- a/Assets/Scripts/Urdf/UrdfComponents/UrdfCollisionsExtensions.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: e50273b4e5a1b7a428bf69774b415b35 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Urdf/UrdfComponents/UrdfGeometry.cs b/Assets/Scripts/Urdf/UrdfComponents/UrdfGeometry.cs deleted file mode 100644 index 7509c1d..0000000 --- a/Assets/Scripts/Urdf/UrdfComponents/UrdfGeometry.cs +++ /dev/null @@ -1,339 +0,0 @@ -/* -© Siemens AG, 2018 -Author: Suzannah Smith (suzannah.smith@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using System; -using UnityEngine; - -namespace RosSharp.Urdf.Editor -{ - public class UrdfGeometry - { - private const int RoundDigits = 6; - - public static Link.Geometry ExportGeometryData(GeometryTypes geometryType, Transform transform, bool isCollisionGeometry = false) - { - Link.Geometry geometry = null; - switch (geometryType) - { - case GeometryTypes.Box: - geometry = new Link.Geometry(new Link.Geometry.Box(ExportUrdfSize(transform))); - break; - case GeometryTypes.Cylinder: - geometry = new Link.Geometry( - null, - new Link.Geometry.Cylinder(ExportUrdfRadius(transform), ExportCylinderHeight(transform))); - break; - case GeometryTypes.Sphere: - geometry = new Link.Geometry(null, null, new Link.Geometry.Sphere(ExportUrdfRadius(transform))); - break; - case GeometryTypes.Mesh: - geometry = ExportGeometryMeshData(transform.GetChild(0).gameObject, ExportUrdfSize(transform), isCollisionGeometry); - break; - } - - return geometry; - } - - #region Import Helpers - - public static GeometryTypes GetGeometryType(Link.Geometry geometry) - { - if (geometry.box != null) - return GeometryTypes.Box; - if (geometry.cylinder != null) - return GeometryTypes.Cylinder; - if (geometry.sphere != null) - return GeometryTypes.Sphere; - - return GeometryTypes.Mesh; - } - - public static void SetScale(Transform transform, Link.Geometry geometry, GeometryTypes geometryType) - { - switch (geometryType) - { - case GeometryTypes.Box: - transform.localScale = - new Vector3((float)geometry.box.size[1], (float)geometry.box.size[2], (float)geometry.box.size[0]); - break; - case GeometryTypes.Cylinder: - transform.localScale = new Vector3( - (float)geometry.cylinder.radius * 2, - (float)geometry.cylinder.length / 2, - (float)geometry.cylinder.radius * 2); - break; - case GeometryTypes.Sphere: - transform.localScale = new Vector3( - (float)geometry.sphere.radius * 2, - (float)geometry.sphere.radius * 2, - (float)geometry.sphere.radius * 2); - break; - case GeometryTypes.Mesh: - if (geometry?.mesh?.scale != null) - { - Vector3 scale = geometry.mesh.scale.ToVector3().Ros2UnityScale(); - - transform.localScale = Vector3.Scale(transform.localScale, scale); - transform.localPosition = Vector3.Scale(transform.localPosition, scale); - } - break; - } - } - - public static Mesh CreateCylinderMesh(Link.Geometry.Cylinder cylinder) - { - float height = (float)cylinder.length; - float bottomRadius = (float)cylinder.radius; - float topRadius = (float)cylinder.radius; - int nbSides = 30; - int nbHeightSeg = 30; - - int nbVerticesCap = nbSides + 1; - - #region Vertices - - // bottom + top + sides - Vector3[] vertices = new Vector3[nbVerticesCap + nbVerticesCap + nbSides * nbHeightSeg * 2 + 2]; - int vert = 0; - float _2pi = Mathf.PI * 2f; - - // Bottom cap - float top = 0.5f * height; - float bottom = -0.5f * height; - vertices[vert++] = new Vector3(0f, bottom, 0f); - while (vert <= nbSides) - { - float rad = (float)vert / nbSides * _2pi; - vertices[vert] = new Vector3(Mathf.Cos(rad) * bottomRadius, bottom, Mathf.Sin(rad) * bottomRadius); - vert++; - } - - // Top cap - vertices[vert++] = new Vector3(0f, top, 0f); - while (vert <= nbSides * 2 + 1) - { - float rad = (float)(vert - nbSides - 1) / nbSides * _2pi; - vertices[vert] = new Vector3(Mathf.Cos(rad) * topRadius, top, Mathf.Sin(rad) * topRadius); - vert++; - } - - // Sides - int v = 0; - while (vert <= vertices.Length - 4) - { - float rad = (float)v / nbSides * _2pi; - vertices[vert] = new Vector3(Mathf.Cos(rad) * topRadius, top, Mathf.Sin(rad) * topRadius); - vertices[vert + 1] = new Vector3(Mathf.Cos(rad) * bottomRadius, bottom, Mathf.Sin(rad) * bottomRadius); - vert += 2; - v++; - } - vertices[vert] = vertices[nbSides * 2 + 2]; - vertices[vert + 1] = vertices[nbSides * 2 + 3]; - #endregion - - #region Normales - - // bottom + top + sides - Vector3[] normales = new Vector3[vertices.Length]; - vert = 0; - - // Bottom cap - while (vert <= nbSides) - { - normales[vert++] = Vector3.down; - } - - // Top cap - while (vert <= nbSides * 2 + 1) - { - normales[vert++] = Vector3.up; - } - - // Sides - v = 0; - while (vert <= vertices.Length - 4) - { - float rad = (float)v / nbSides * _2pi; - float cos = Mathf.Cos(rad); - float sin = Mathf.Sin(rad); - - normales[vert] = new Vector3(cos, 0f, sin); - normales[vert + 1] = normales[vert]; - - vert += 2; - v++; - } - normales[vert] = normales[nbSides * 2 + 2]; - normales[vert + 1] = normales[nbSides * 2 + 3]; - #endregion - - #region UVs - Vector2[] uvs = new Vector2[vertices.Length]; - - // Bottom cap - int u = 0; - uvs[u++] = new Vector2(0.5f, 0.5f); - while (u <= nbSides) - { - float rad = (float)u / nbSides * _2pi; - uvs[u] = new Vector2(Mathf.Cos(rad) * .5f + .5f, Mathf.Sin(rad) * .5f + .5f); - u++; - } - - // Top cap - uvs[u++] = new Vector2(0.5f, 0.5f); - while (u <= nbSides * 2 + 1) - { - float rad = (float)u / nbSides * _2pi; - uvs[u] = new Vector2(Mathf.Cos(rad) * .5f + .5f, Mathf.Sin(rad) * .5f + .5f); - u++; - } - - // Sides - int u_sides = 0; - while (u <= uvs.Length - 4) - { - float t = (float)u_sides / nbSides; - uvs[u] = new Vector3(t, 1f); - uvs[u + 1] = new Vector3(t, 0f); - u += 2; - u_sides++; - } - uvs[u] = new Vector2(1f, 1f); - uvs[u + 1] = new Vector2(1f, 0f); - #endregion - - #region Triangles - int nbTriangles = nbSides + nbSides + nbSides * 2; - int[] triangles = new int[nbTriangles * 3 + 3]; - - // Bottom cap - int tri = 0; - int i = 0; - while (tri < nbSides - 1) - { - triangles[i] = 0; - triangles[i + 1] = tri + 1; - triangles[i + 2] = tri + 2; - tri++; - i += 3; - } - triangles[i] = 0; - triangles[i + 1] = tri + 1; - triangles[i + 2] = 1; - tri++; - i += 3; - - // Top cap - //tri++; - while (tri < nbSides * 2) - { - triangles[i] = tri + 2; - triangles[i + 1] = tri + 1; - triangles[i + 2] = nbVerticesCap; - tri++; - i += 3; - } - - triangles[i] = nbVerticesCap + 1; - triangles[i + 1] = tri + 1; - triangles[i + 2] = nbVerticesCap; - tri++; - i += 3; - tri++; - - // Sides - while (tri <= nbTriangles) - { - triangles[i] = tri + 2; - triangles[i + 1] = tri + 1; - triangles[i + 2] = tri + 0; - tri++; - i += 3; - - triangles[i] = tri + 1; - triangles[i + 1] = tri + 2; - triangles[i + 2] = tri + 0; - tri++; - i += 3; - } - #endregion - - Mesh mesh = new Mesh - { - vertices = vertices, - normals = normales, - uv = uvs, - triangles = triangles - }; - - mesh.RecalculateBounds(); - return mesh; - } - - #endregion - - #region Export Helpers - - private static double[] ExportUrdfSize(Transform transform) - { - return transform.localScale.Unity2RosScale().ToRoundedDoubleArray(); - } - - private static double ExportUrdfRadius(Transform transform) - { - return Math.Round(transform.localScale.x / 2, RoundDigits); - } - - private static double ExportCylinderHeight(Transform transform) - { - return Math.Round(transform.localScale.y * 2, RoundDigits); - } - - private static Link.Geometry ExportGeometryMeshData(GameObject geometryObject, double[] urdfSize, bool isCollisionGeometry) - { - string newFilePath = UrdfMeshExportHandler.CopyOrCreateMesh(geometryObject, isCollisionGeometry); - string packagePath = UrdfExportPathHandler.GetPackagePathForMesh(newFilePath); - - return new Link.Geometry(null, null, null, new Link.Geometry.Mesh(packagePath, urdfSize)); - } - - public static void CheckForUrdfCompatibility(Transform transform, GeometryTypes type) - { - Transform childTransform = transform.GetChild(0); - if (IsTransformed(childTransform, type)) - { - Debug.LogWarning("Changes to the transform of " + childTransform.name + " cannot be exported to URDF. " + - "Make any translation, rotation, or scale changes to the parent Visual or Collision object instead.", - childTransform); - } - - if (!transform.HasExactlyOneChild()) - Debug.LogWarning("Only one Geometry element is allowed for each Visual or Collision element. In " - + transform.parent.parent.name + ", move each Geometry into its own Visual or Collision.", transform); - } - - public static bool IsTransformed(Transform transform, GeometryTypes type) - { - return transform.localPosition != Vector3.zero - || transform.localScale != Vector3.one - || (type != GeometryTypes.Mesh && transform.localRotation != Quaternion.identity); - } - - #endregion - } -} \ No newline at end of file diff --git a/Assets/Scripts/Urdf/UrdfComponents/UrdfGeometry.cs.meta b/Assets/Scripts/Urdf/UrdfComponents/UrdfGeometry.cs.meta deleted file mode 100644 index f9a7119..0000000 --- a/Assets/Scripts/Urdf/UrdfComponents/UrdfGeometry.cs.meta +++ /dev/null @@ -1,3 +0,0 @@ -fileFormatVersion: 2 -guid: de9bf6e29caa435697a1dfc99340c2d7 -timeCreated: 1535012948 \ No newline at end of file diff --git a/Assets/Scripts/Urdf/UrdfComponents/UrdfGeometryCollision.cs b/Assets/Scripts/Urdf/UrdfComponents/UrdfGeometryCollision.cs deleted file mode 100644 index 8547bd9..0000000 --- a/Assets/Scripts/Urdf/UrdfComponents/UrdfGeometryCollision.cs +++ /dev/null @@ -1,127 +0,0 @@ -/* -© Siemens AG, 2018 -Author: Suzannah Smith (suzannah.smith@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using UnityEngine; -using UnityEditor; - -namespace RosSharp.Urdf.Editor -{ - public class UrdfGeometryCollision : UrdfGeometry - { - public static void Create(Transform parent, GeometryTypes geometryType, Link.Geometry geometry = null) - { - GameObject geometryGameObject = null; - - switch (geometryType) - { - case GeometryTypes.Box: - geometryGameObject = new GameObject(geometryType.ToString()); - geometryGameObject.AddComponent(); - break; - case GeometryTypes.Cylinder: - geometryGameObject = CreateCylinderCollider(); - break; - case GeometryTypes.Sphere: - geometryGameObject = new GameObject(geometryType.ToString()); - geometryGameObject.AddComponent(); - break; - case GeometryTypes.Mesh: - if (geometry != null) - geometryGameObject = CreateMeshCollider(geometry.mesh); - else - { - geometryGameObject = new GameObject(geometryType.ToString()); - geometryGameObject.AddComponent(); - } - break; - } - - if(geometryGameObject != null) - { - geometryGameObject.transform.SetParentAndAlign(parent); - if (geometry != null) - SetScale(parent, geometry, geometryType); - } - } - - private static GameObject CreateMeshCollider(Link.Geometry.Mesh mesh) - { - GameObject prefabObject = LocateAssetHandler.FindUrdfAsset(mesh.filename); - - if (prefabObject == null) - return null; - - GameObject meshObject = (GameObject)PrefabUtility.InstantiatePrefab(prefabObject); - ConvertMeshToColliders(meshObject); - - return meshObject; - } - - private static GameObject CreateCylinderCollider() - { - GameObject gameObject = new GameObject("Cylinder"); - MeshCollider meshCollider = gameObject.AddComponent(); - - Link.Geometry.Cylinder cylinder = new Link.Geometry.Cylinder(0.5, 2); //Default unity cylinder sizes - - meshCollider.sharedMesh = CreateCylinderMesh(cylinder); - meshCollider.convex = true; - - return gameObject; - } - - public static void CreateMatchingMeshCollision(Transform parent, Transform visualToCopy) - { - if (visualToCopy.childCount == 0) return; - - GameObject objectToCopy = visualToCopy.GetChild(0).gameObject; - GameObject prefabObject = (GameObject)PrefabUtility.GetCorrespondingObjectFromSource(objectToCopy); - - GameObject collisionObject; - if (prefabObject != null) - collisionObject = (GameObject)PrefabUtility.InstantiatePrefab(prefabObject); - else - collisionObject = Object.Instantiate(objectToCopy); - - collisionObject.name = objectToCopy.name; - ConvertMeshToColliders(collisionObject, true); - - collisionObject.transform.SetParentAndAlign(parent); - } - - private static void ConvertMeshToColliders(GameObject gameObject, bool inflateColliders = false) - { - MeshFilter[] meshFilters = gameObject.GetComponentsInChildren(); - foreach (MeshFilter meshFilter in meshFilters) - { - GameObject child = meshFilter.gameObject; - MeshCollider meshCollider = child.AddComponent(); - meshCollider.sharedMesh = meshFilter.sharedMesh; - - if (inflateColliders) - { - meshCollider.inflateMesh = true; - meshCollider.convex = true; - meshCollider.skinWidth = 0.001f; - } - - Object.DestroyImmediate(child.GetComponent()); - Object.DestroyImmediate(meshFilter); - } - } - } -} diff --git a/Assets/Scripts/Urdf/UrdfComponents/UrdfGeometryCollision.cs.meta b/Assets/Scripts/Urdf/UrdfComponents/UrdfGeometryCollision.cs.meta deleted file mode 100644 index 204479a..0000000 --- a/Assets/Scripts/Urdf/UrdfComponents/UrdfGeometryCollision.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 2be518c44448ef843b2c87a724f76d38 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Urdf/UrdfComponents/UrdfGeometryVisual.cs b/Assets/Scripts/Urdf/UrdfComponents/UrdfGeometryVisual.cs deleted file mode 100644 index c73b308..0000000 --- a/Assets/Scripts/Urdf/UrdfComponents/UrdfGeometryVisual.cs +++ /dev/null @@ -1,63 +0,0 @@ -/* -© Siemens AG, 2018 -Author: Suzannah Smith (suzannah.smith@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using UnityEngine; - -namespace RosSharp.Urdf.Editor -{ - public class UrdfGeometryVisual : UrdfGeometry - { - public static void Create(Transform parent, GeometryTypes geometryType, Link.Geometry geometry = null) - { - GameObject geometryGameObject = null; - - switch (geometryType) - { - case GeometryTypes.Box: - geometryGameObject = GameObject.CreatePrimitive(PrimitiveType.Cube); - geometryGameObject.transform.DestroyImmediateIfExists(); - break; - case GeometryTypes.Cylinder: - geometryGameObject = GameObject.CreatePrimitive(PrimitiveType.Cylinder); - geometryGameObject.transform.DestroyImmediateIfExists(); - break; - case GeometryTypes.Sphere: - geometryGameObject = GameObject.CreatePrimitive(PrimitiveType.Sphere); - geometryGameObject.transform.DestroyImmediateIfExists(); - break; - case GeometryTypes.Mesh: - if (geometry != null) - geometryGameObject = CreateMeshVisual(geometry.mesh); - //else, let user add their own mesh gameObject - break; - } - - if (geometryGameObject != null) - { - geometryGameObject.transform.SetParentAndAlign(parent); - if (geometry != null) - SetScale(parent, geometry, geometryType); - } - } - - private static GameObject CreateMeshVisual(Link.Geometry.Mesh mesh) - { - GameObject meshObject = LocateAssetHandler.FindUrdfAsset(mesh.filename); - return meshObject == null ? null : (GameObject)UnityEditor.PrefabUtility.InstantiatePrefab(meshObject); - } - } -} diff --git a/Assets/Scripts/Urdf/UrdfComponents/UrdfGeometryVisual.cs.meta b/Assets/Scripts/Urdf/UrdfComponents/UrdfGeometryVisual.cs.meta deleted file mode 100644 index 7b9e203..0000000 --- a/Assets/Scripts/Urdf/UrdfComponents/UrdfGeometryVisual.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 6ffdcf00a5ee82147ba4b022b873628d -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Urdf/UrdfComponents/UrdfInertial.cs b/Assets/Scripts/Urdf/UrdfComponents/UrdfInertial.cs deleted file mode 100644 index 1807162..0000000 --- a/Assets/Scripts/Urdf/UrdfComponents/UrdfInertial.cs +++ /dev/null @@ -1,256 +0,0 @@ -/* -© Siemens AG, 2018 -Author: Suzannah Smith (suzannah.smith@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using System; -using UnityEngine; - -namespace RosSharp.Urdf -{ - [RequireComponent(typeof(Rigidbody))] - public class UrdfInertial : MonoBehaviour - { - public bool DisplayInertiaGizmo; - - public bool UseUrdfData; - public Vector3 CenterOfMass; - public Vector3 InertiaTensor; - public Quaternion InertiaTensorRotation; - - private const int RoundDigits = 10; - private const float MinInertia = 1e-8f; - - public static void Create(GameObject linkObject, Link.Inertial inertial = null) - { - UrdfInertial urdfInertial = linkObject.AddComponent(); - Rigidbody _rigidbody = urdfInertial.GetComponent(); - - if (inertial != null) - { - _rigidbody.mass = (float)inertial.mass; - - if (inertial.origin != null) - _rigidbody.centerOfMass = UrdfOrigin.GetPositionFromUrdf(inertial.origin); - - urdfInertial.ImportInertiaData(inertial.inertia); - - urdfInertial.UseUrdfData = true; - } - - urdfInertial.DisplayInertiaGizmo = false; - - //Save original rigidbody data from URDF - urdfInertial.CenterOfMass = _rigidbody.centerOfMass; - urdfInertial.InertiaTensor = _rigidbody.inertiaTensor; - urdfInertial.InertiaTensorRotation = _rigidbody.inertiaTensorRotation; - } - - #region Runtime - - private void Start() - { - UpdateRigidBodyData(); - } - - public void UpdateRigidBodyData() - { - Rigidbody _rigidbody = GetComponent(); - - if (UseUrdfData) - { - _rigidbody.centerOfMass = CenterOfMass; - _rigidbody.inertiaTensor = InertiaTensor; - _rigidbody.inertiaTensorRotation = InertiaTensorRotation; - } - else - { - _rigidbody.ResetCenterOfMass(); - _rigidbody.ResetInertiaTensor(); - } - } - - private void OnDrawGizmosSelected() - { - if (DisplayInertiaGizmo) - { - Gizmos.color = Color.blue; - Gizmos.DrawRay(transform.position, GetComponent().inertiaTensorRotation * Vector3.forward * GetComponent().inertiaTensor.z); - Gizmos.color = Color.green; - Gizmos.DrawRay(transform.position, GetComponent().inertiaTensorRotation * Vector3.up * GetComponent().inertiaTensor.y); - Gizmos.color = Color.red; - Gizmos.DrawRay(transform.position, GetComponent().inertiaTensorRotation * Vector3.right * GetComponent().inertiaTensor.x); - } - } - - #endregion - - #region Import - - private void ImportInertiaData(Link.Inertial.Inertia inertia) - { - Vector3 eigenvalues; - Vector3[] eigenvectors; - Matrix3x3 rotationMatrix = ToMatrix3x3(inertia); - rotationMatrix.DiagonalizeRealSymmetric(out eigenvalues, out eigenvectors); - - Rigidbody _rigidbody = GetComponent(); - - _rigidbody.inertiaTensor = ToUnityInertiaTensor(FixMinInertia(eigenvalues)); - _rigidbody.inertiaTensorRotation = ToQuaternion(eigenvectors[0], eigenvectors[1], eigenvectors[2]).Ros2Unity(); - } - - private static Vector3 ToUnityInertiaTensor(Vector3 vector3) - { - return new Vector3(vector3.y, vector3.z, vector3.x); - } - - private static Matrix3x3 ToMatrix3x3(Link.Inertial.Inertia inertia) - { - return new Matrix3x3( - new[] { (float)inertia.ixx, (float)inertia.ixy, (float)inertia.ixz, - (float)inertia.iyy, (float)inertia.iyz, - (float)inertia.izz }); - } - - private static Vector3 FixMinInertia(Vector3 vector3) - { - for (int i = 0; i < 3; i++) - { - if (vector3[i] < MinInertia) - vector3[i] = MinInertia; - } - return vector3; - } - - private static Quaternion ToQuaternion(Vector3 eigenvector0, Vector3 eigenvector1, Vector3 eigenvector2) - { - //From http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToQuaternion/ - float tr = eigenvector0[0] + eigenvector1[1] + eigenvector2[2]; - float qw, qx, qy, qz; - if (tr > 0) - { - float s = Mathf.Sqrt((tr + 1.0f) * 2f); // S=4*qw - qw = 0.25f * s; - qx = (eigenvector2[1] - eigenvector1[2]) / s; - qy = (eigenvector0[2] - eigenvector2[0]) / s; - qz = (eigenvector1[0] - eigenvector0[1]) / s; - } - else if ((eigenvector0[0] > eigenvector1[1]) & (eigenvector0[0] > eigenvector2[2])) - { - float s = Mathf.Sqrt(1.0f + eigenvector0[0] - eigenvector1[1] - eigenvector2[2]) * 2; // S=4*qx - qw = (eigenvector2[1] - eigenvector1[2]) / s; - qx = 0.25f * s; - qy = (eigenvector0[1] + eigenvector1[0]) / s; - qz = (eigenvector0[2] + eigenvector2[0]) / s; - } - else if (eigenvector1[1] > eigenvector2[2]) - { - float s = Mathf.Sqrt(1.0f + eigenvector1[1] - eigenvector0[0] - eigenvector2[2]) * 2; // S=4*qy - qw = (eigenvector0[2] - eigenvector2[0]) / s; - qx = (eigenvector0[1] + eigenvector1[0]) / s; - qy = 0.25f * s; - qz = (eigenvector1[2] + eigenvector2[1]) / s; - } - else - { - float s = Mathf.Sqrt(1.0f + eigenvector2[2] - eigenvector0[0] - eigenvector1[1]) * 2; // S=4*qz - qw = (eigenvector1[0] - eigenvector0[1]) / s; - qx = (eigenvector0[2] + eigenvector2[0]) / s; - qy = (eigenvector1[2] + eigenvector2[1]) / s; - qz = 0.25f * s; - } - return new Quaternion(qx, qy, qz, qw); - } - - #endregion - - #region Export - public Link.Inertial ExportInertialData() - { - Rigidbody _rigidbody = GetComponent(); - - if (_rigidbody == null) - return null; - - UpdateRigidBodyData(); - Origin inertialOrigin = new Origin(_rigidbody.centerOfMass.Unity2Ros().ToRoundedDoubleArray(), new double[] { 0, 0, 0 }); - Link.Inertial.Inertia inertia = ExportInertiaData(_rigidbody); - - return new Link.Inertial(Math.Round(_rigidbody.mass, RoundDigits), inertialOrigin, inertia); - } - - private static Link.Inertial.Inertia ExportInertiaData(Rigidbody _rigidbody) - { - Matrix3x3 lamdaMatrix = new Matrix3x3(new[] { - _rigidbody.inertiaTensor[0], - _rigidbody.inertiaTensor[1], - _rigidbody.inertiaTensor[2] }); - - Matrix3x3 qMatrix = Quaternion2Matrix(_rigidbody.inertiaTensorRotation); - - Matrix3x3 qMatrixTransposed = qMatrix.Transpose(); - - Matrix3x3 inertiaMatrix = qMatrix * lamdaMatrix * qMatrixTransposed; - - return ToRosCoordinates(ToInertia(inertiaMatrix)); - } - - private static Matrix3x3 Quaternion2Matrix(Quaternion quaternion) - { - Quaternion rosQuaternion = Quaternion.Normalize(quaternion); - float qx = rosQuaternion.x; - float qy = rosQuaternion.y; - float qz = rosQuaternion.z; - float qw = rosQuaternion.w; - - //From http://www.euclideanspace.com/maths/geometry/rotations/conversions/quaternionToMatrix/index.htm - return new Matrix3x3(new float[] { - 1 - (2 * qy * qy) - (2 * qz * qz), - (2 * qx * qy) - (2 * qz * qw), - (2 * qx * qz) + (2 * qy * qw), - - (2 * qx * qy) + (2 * qz * qw), - 1 - (2 * qx * qx) - (2 * qz * qz), - (2 * qy * qz) - (2 * qx * qw), - - (2 * qx * qz) - (2 * qy * qw), - (2 * qy * qz) + (2 * qx * qw), - 1 - (2 * qx * qx) - (2 * qy * qy)}); - } - - private static Link.Inertial.Inertia ToInertia(Matrix3x3 matrix) - { - return new Link.Inertial.Inertia(matrix[0][0], matrix[0][1], matrix[0][2], - matrix[1][1], matrix[1][2], - matrix[2][2]); - } - - private static Link.Inertial.Inertia ToRosCoordinates(Link.Inertial.Inertia unityInertia) - { - return new Link.Inertial.Inertia(0, 0, 0, 0, 0, 0) - { - ixx = unityInertia.izz, - iyy = unityInertia.ixx, - izz = unityInertia.iyy, - - ixy = -unityInertia.ixz, - ixz = unityInertia.iyz, - iyz = -unityInertia.ixy - }; - } - #endregion - } -} diff --git a/Assets/Scripts/Urdf/UrdfComponents/UrdfInertial.cs.meta b/Assets/Scripts/Urdf/UrdfComponents/UrdfInertial.cs.meta deleted file mode 100644 index d1067d7..0000000 --- a/Assets/Scripts/Urdf/UrdfComponents/UrdfInertial.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 7631001c063f69d4495bca90731abab2 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Urdf/UrdfComponents/UrdfLink.cs b/Assets/Scripts/Urdf/UrdfComponents/UrdfLink.cs deleted file mode 100644 index 106f020..0000000 --- a/Assets/Scripts/Urdf/UrdfComponents/UrdfLink.cs +++ /dev/null @@ -1,26 +0,0 @@ -/* -© Siemens AG, 2018 -Author: Suzannah Smith (suzannah.smith@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using UnityEngine; - -namespace RosSharp.Urdf -{ - public class UrdfLink : MonoBehaviour - { - public bool IsBaseLink; - } -} \ No newline at end of file diff --git a/Assets/Scripts/Urdf/UrdfComponents/UrdfLink.cs.meta b/Assets/Scripts/Urdf/UrdfComponents/UrdfLink.cs.meta deleted file mode 100644 index 8afd0d0..0000000 --- a/Assets/Scripts/Urdf/UrdfComponents/UrdfLink.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: fba5fd74d37a6cf4284698624eb8f6aa -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Urdf/UrdfComponents/UrdfLinkExtensions.cs b/Assets/Scripts/Urdf/UrdfComponents/UrdfLinkExtensions.cs deleted file mode 100644 index 0aa4c5d..0000000 --- a/Assets/Scripts/Urdf/UrdfComponents/UrdfLinkExtensions.cs +++ /dev/null @@ -1,88 +0,0 @@ -/* -© Siemens AG, 2018 -Author: Suzannah Smith (suzannah.smith@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using UnityEngine; - -namespace RosSharp.Urdf.Editor -{ - public static class UrdfLinkExtensions - { - public static UrdfLink Create(Transform parent, Link link = null, Joint joint = null) - { - GameObject linkObject = new GameObject("link"); - linkObject.transform.SetParentAndAlign(parent); - UrdfLink urdfLink = linkObject.AddComponent(); - - UrdfVisualsExtensions.Create(linkObject.transform, link?.visuals); - UrdfCollisionsExtensions.Create(linkObject.transform, link?.collisions); - - if (link != null) - urdfLink.ImportLinkData(link, joint); - else - { - UrdfInertial.Create(linkObject); - UnityEditor.EditorGUIUtility.PingObject(linkObject); - } - - return urdfLink; - } - - private static void ImportLinkData(this UrdfLink urdfLink, Link link, Joint joint) - { - if (link.inertial == null && joint == null) - urdfLink.IsBaseLink = true; - - urdfLink.gameObject.name = link.name; - - if (joint?.origin != null) - UrdfOrigin.ImportOriginData(urdfLink.transform, joint.origin); - - if (link.inertial != null) - { - UrdfInertial.Create(urdfLink.gameObject, link.inertial); - - if (joint != null) - UrdfJoint.Create(urdfLink.gameObject, UrdfJoint.GetJointType(joint.type), joint); - } - else if (joint != null) - Debug.LogWarning("No Joint Component will be created in GameObject \"" + urdfLink.gameObject.name + "\" as it has no Rigidbody Component.\n" - + "Please define an Inertial for Link \"" + link.name + "\" in the URDF file to create a Rigidbody Component.\n", urdfLink.gameObject); - - foreach (Joint childJoint in link.joints) - { - Link child = childJoint.ChildLink; - UrdfLinkExtensions.Create(urdfLink.transform, child, childJoint); - } - } - - public static Link ExportLinkData(this UrdfLink urdfLink) - { - if(urdfLink.transform.localScale != Vector3.one) - Debug.LogWarning("Only visuals should be scaled. Scale on link \"" + urdfLink.gameObject.name + "\" cannot be saved to the URDF file.", urdfLink.gameObject); - - UrdfInertial urdfInertial = urdfLink.gameObject.GetComponent(); - Link link = new Link(urdfLink.gameObject.name) - { - visuals = urdfLink.GetComponentInChildren().ExportVisualsData(), - collisions = urdfLink.GetComponentInChildren().ExportCollisionsData(), - inertial = urdfInertial == null ? null : urdfInertial.ExportInertialData() - }; - - return link; - } - } -} \ No newline at end of file diff --git a/Assets/Scripts/Urdf/UrdfComponents/UrdfLinkExtensions.cs.meta b/Assets/Scripts/Urdf/UrdfComponents/UrdfLinkExtensions.cs.meta deleted file mode 100644 index 1d79465..0000000 --- a/Assets/Scripts/Urdf/UrdfComponents/UrdfLinkExtensions.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: eb905a4fd3a609d42badeefe2f25ce9a -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Urdf/UrdfComponents/UrdfMaterial.cs b/Assets/Scripts/Urdf/UrdfComponents/UrdfMaterial.cs deleted file mode 100644 index 673ba64..0000000 --- a/Assets/Scripts/Urdf/UrdfComponents/UrdfMaterial.cs +++ /dev/null @@ -1,193 +0,0 @@ -/* -© Siemens AG, 2018 -Author: Suzannah Smith (suzannah.smith@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using System; -using System.Collections.Generic; -using System.IO; -using UnityEngine; -using UnityEditor; - -namespace RosSharp.Urdf.Editor -{ - public static class UrdfMaterial - { - private const string DefaultMaterialName = "Default"; - private const int RoundDigits = 4; - - public static Dictionary Materials = - new Dictionary(); - - #region Import - private static Material CreateMaterial(this Link.Visual.Material urdfMaterial) - { - if (urdfMaterial.name == "") - urdfMaterial.name = GenerateMaterialName(urdfMaterial); - - var material = AssetDatabase.LoadAssetAtPath(UrdfAssetPathHandler.GetMaterialAssetPath(urdfMaterial.name)); - if (material != null) //material already exists - return material; - - material = InitializeMaterial(); - - if (urdfMaterial.color != null) - material.color = CreateColor(urdfMaterial.color); - else if (urdfMaterial.texture != null) - material.mainTexture = LoadTexture(urdfMaterial.texture.filename); - - AssetDatabase.CreateAsset(material, UrdfAssetPathHandler.GetMaterialAssetPath(urdfMaterial.name)); - return material; - } - - private static void CreateDefaultMaterial() - { - var material = AssetDatabase.LoadAssetAtPath(UrdfAssetPathHandler.GetMaterialAssetPath(DefaultMaterialName)); - if (material != null) - return; - - material = InitializeMaterial(); - material.color = new Color(0.33f, 0.33f, 0.33f, 0.0f); - - AssetDatabase.CreateAsset(material, UrdfAssetPathHandler.GetMaterialAssetPath(DefaultMaterialName)); - } - - private static Material InitializeMaterial() - { - var material = new Material(Shader.Find("Standard")); - material.SetFloat("_Metallic", 0.75f); - material.SetFloat("_Glossiness", 0.75f); - return material; - } - - private static string GenerateMaterialName(Link.Visual.Material urdfMaterial) - { - var materialName = ""; - if (urdfMaterial.color != null) - { - materialName = "rgba-"; - for (var i = 0; i < urdfMaterial.color.rgba.Length; i++) - { - materialName += urdfMaterial.color.rgba[i]; - if (i != urdfMaterial.color.rgba.Length - 1) - materialName += "-"; - } - } - else if (urdfMaterial.texture != null) - materialName = "texture-" + Path.GetFileName(urdfMaterial.texture.filename); - - return materialName; - } - - private static Color CreateColor(Link.Visual.Material.Color urdfColor) - { - return new Color( - (float)urdfColor.rgba[0], - (float)urdfColor.rgba[1], - (float)urdfColor.rgba[2], - (float)urdfColor.rgba[3]); - } - - private static Texture LoadTexture(string filename) - { - return filename == "" ? null : LocateAssetHandler.FindUrdfAsset(filename); - } - - - public static void InitializeRobotMaterials(Robot robot) - { - CreateDefaultMaterial(); - foreach (var material in robot.materials) - CreateMaterial(material); - } - - public static void SetUrdfMaterial(GameObject gameObject, Link.Visual.Material urdfMaterial) - { - if (urdfMaterial != null) - { - var material = CreateMaterial(urdfMaterial); - SetMaterial(gameObject, material); - } - else - { - //If the URDF material is not defined, and the renderer is missing - //a material, assign the default material. - Renderer renderer = gameObject.GetComponentInChildren(); - if (renderer != null && renderer.sharedMaterial == null) - { - var defaultMaterial = AssetDatabase.LoadAssetAtPath(UrdfAssetPathHandler.GetMaterialAssetPath(DefaultMaterialName)); - SetMaterial(gameObject, defaultMaterial); - } - } - } - - private static void SetMaterial(GameObject gameObject, Material material) - { - var renderers = gameObject.GetComponentsInChildren(); - foreach (var renderer in renderers) - renderer.sharedMaterial = material; - } - #endregion - - #region Export - - public static Link.Visual.Material ExportMaterialData(Material material) - { - if (material == null) return null; - - if (!Materials.ContainsKey(material.name)) - { - if (material.mainTexture != null) - { - Link.Visual.Material.Texture texture = ExportTextureData(material.mainTexture); - Materials[material.name] = new Link.Visual.Material(material.name, null, texture); - } - else if (!material.color.Equals(Color.clear)) - { - Link.Visual.Material.Color color = new Link.Visual.Material.Color(ExportRgbaData(material)); - Materials[material.name] = new Link.Visual.Material(material.name, color); - } - else - return null; - } - - return new Link.Visual.Material(material.name); - } - - private static double[] ExportRgbaData(Material material) - { - return new double[] - { - Math.Round(material.color.r, RoundDigits), - Math.Round(material.color.g, RoundDigits), - Math.Round(material.color.b, RoundDigits), - Math.Round(material.color.a, RoundDigits) - }; - } - - private static Link.Visual.Material.Texture ExportTextureData(Texture texture) - { - string oldTexturePath = UrdfAssetPathHandler.GetFullAssetPath(AssetDatabase.GetAssetPath(texture)); - string newTexturePath = UrdfExportPathHandler.GetNewResourcePath(Path.GetFileName(oldTexturePath)); - if(oldTexturePath != newTexturePath) - File.Copy(oldTexturePath, newTexturePath, true); - - string packagePath = UrdfExportPathHandler.GetPackagePathForResource(newTexturePath); - return new Link.Visual.Material.Texture(packagePath); - } - - #endregion - } -} \ No newline at end of file diff --git a/Assets/Scripts/Urdf/UrdfComponents/UrdfMaterial.cs.meta b/Assets/Scripts/Urdf/UrdfComponents/UrdfMaterial.cs.meta deleted file mode 100644 index 585c781..0000000 --- a/Assets/Scripts/Urdf/UrdfComponents/UrdfMaterial.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 211062c8ee35252428353eafb7e3e498 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Urdf/UrdfComponents/UrdfOrigin.cs b/Assets/Scripts/Urdf/UrdfComponents/UrdfOrigin.cs deleted file mode 100644 index f7e2bb2..0000000 --- a/Assets/Scripts/Urdf/UrdfComponents/UrdfOrigin.cs +++ /dev/null @@ -1,85 +0,0 @@ -/* -© Siemens AG, 2018 -Author: Suzannah Smith (suzannah.smith@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using UnityEngine; - -namespace RosSharp.Urdf -{ - public static class UrdfOrigin - { - #region Import - - public static void ImportOriginData(Transform transform, Origin origin) - { - if (origin != null) - { - transform.Translate(GetPositionFromUrdf(origin)); - transform.Rotate(GetRotationFromUrdf(origin)); - } - } - public static Vector3 GetPositionFromUrdf(Origin origin) - { - if (origin.Xyz != null) - return origin.Xyz.ToVector3().Ros2Unity(); - - return Vector3.zero; - } - public static Vector3 GetRotationFromUrdf(Origin origin) - { - if (origin.Rpy != null) - return new Vector3( - (float)+origin.Rpy[1] * Mathf.Rad2Deg, - (float)-origin.Rpy[2] * Mathf.Rad2Deg, - (float)-origin.Rpy[0] * Mathf.Rad2Deg); - - return Vector3.zero; - } - - #endregion - - #region Export - - public static Origin ExportOriginData(Transform transform) - { - double[] xyz = ExportXyzData(transform); - double[] rpy = ExportRpyData(transform); - - if (xyz != null || rpy != null) - return new Origin(xyz, rpy); - - return null; - } - - private static double[] ExportXyzData(Transform transform) - { - Vector3 xyzVector = transform.localPosition.Unity2Ros(); - return xyzVector == Vector3.zero ? null : xyzVector.ToRoundedDoubleArray(); - } - - private static double[] ExportRpyData(Transform transform) - { - Vector3 rpyVector = new Vector3( - -transform.localEulerAngles.z * Mathf.Deg2Rad, - transform.localEulerAngles.x * Mathf.Deg2Rad, - -transform.localEulerAngles.y * Mathf.Deg2Rad); - - return rpyVector == Vector3.zero ? null : rpyVector.ToRoundedDoubleArray(); - } - - #endregion - } -} diff --git a/Assets/Scripts/Urdf/UrdfComponents/UrdfOrigin.cs.meta b/Assets/Scripts/Urdf/UrdfComponents/UrdfOrigin.cs.meta deleted file mode 100644 index c0e1a78..0000000 --- a/Assets/Scripts/Urdf/UrdfComponents/UrdfOrigin.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: f64152e2bbda97a4399862faf81b51dd -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Urdf/UrdfComponents/UrdfPlugin.cs b/Assets/Scripts/Urdf/UrdfComponents/UrdfPlugin.cs deleted file mode 100644 index f71b4e7..0000000 --- a/Assets/Scripts/Urdf/UrdfComponents/UrdfPlugin.cs +++ /dev/null @@ -1,54 +0,0 @@ -/* -© Siemens AG, 2018 -Author: Suzannah Smith (suzannah.smith@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using System.Xml; -using UnityEngine; - -namespace RosSharp.Urdf -{ - public class UrdfPlugin : MonoBehaviour - { - [TextArea(maxLines: 8, minLines: 4)] - public string PluginText; - - public static void Create(Transform parent, Plugin plugin = null) - { - UrdfPlugin urdfPlugin = parent.gameObject.AddComponent(); - if (plugin != null) - urdfPlugin.PluginText = plugin.text; - } - - public Plugin ExportPluginData() - { - if (PluginText == null || PluginText == "") return null; - - try - { - XmlDocument xDoc = new XmlDocument(); - xDoc.LoadXml(PluginText); - - return new Plugin(PluginText); - } - catch (XmlException e) - { - Debug.LogWarning("UrdfPlugin contains invalid XML. The contents of this plugin will not be " + - "written to the URDF file.\nXML Error: " + e.Message, this); - return null; - } - } - } -} diff --git a/Assets/Scripts/Urdf/UrdfComponents/UrdfPlugin.cs.meta b/Assets/Scripts/Urdf/UrdfComponents/UrdfPlugin.cs.meta deleted file mode 100644 index 0fcc7fc..0000000 --- a/Assets/Scripts/Urdf/UrdfComponents/UrdfPlugin.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 76add797bdb1d8c4b8276633f6e67167 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Urdf/UrdfComponents/UrdfPlugins.cs b/Assets/Scripts/Urdf/UrdfComponents/UrdfPlugins.cs deleted file mode 100644 index ebdec68..0000000 --- a/Assets/Scripts/Urdf/UrdfComponents/UrdfPlugins.cs +++ /dev/null @@ -1,47 +0,0 @@ -/* -© Siemens AG, 2018 -Author: Suzannah Smith (suzannah.smith@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using System.Collections.Generic; -using System.Linq; -using UnityEngine; - -namespace RosSharp.Urdf -{ - public class UrdfPlugins : MonoBehaviour - { - public static void Create(Transform robot, List plugins = null) - { - GameObject pluginsObject = new GameObject("Plugins"); - pluginsObject.transform.SetParentAndAlign(robot); - pluginsObject.AddComponent(); - - if (plugins == null) return; - - foreach (var plugin in plugins) - UrdfPlugin.Create(pluginsObject.transform, plugin); - } - - public List ExportPluginsData() - { - return GetComponents() - .Select(urdfPlugin => urdfPlugin.ExportPluginData()) - .Where(plugin => plugin != null) - .ToList(); - } - } - -} \ No newline at end of file diff --git a/Assets/Scripts/Urdf/UrdfComponents/UrdfPlugins.cs.meta b/Assets/Scripts/Urdf/UrdfComponents/UrdfPlugins.cs.meta deleted file mode 100644 index 4f311a6..0000000 --- a/Assets/Scripts/Urdf/UrdfComponents/UrdfPlugins.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: fae53a797b5479c43b9a3aeac7e35e5c -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Urdf/UrdfComponents/UrdfRobot.cs b/Assets/Scripts/Urdf/UrdfComponents/UrdfRobot.cs deleted file mode 100644 index 63603d5..0000000 --- a/Assets/Scripts/Urdf/UrdfComponents/UrdfRobot.cs +++ /dev/null @@ -1,62 +0,0 @@ -/* -© Siemens AG, 2018 -Author: Suzannah Smith (suzannah.smith@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using UnityEngine; - -namespace RosSharp.Urdf -{ - public enum GeometryTypes { Box, Cylinder, Sphere, Mesh } - - public class UrdfRobot : MonoBehaviour - { - public string FilePath; - - #region Configure Robot - - public void SetCollidersConvex(bool convex) - { - foreach (MeshCollider meshCollider in GetComponentsInChildren()) - meshCollider.convex = convex; - } - - public void SetRigidbodiesIsKinematic(bool isKinematic) - { - foreach (Rigidbody rb in GetComponentsInChildren()) - rb.isKinematic = isKinematic; - } - - public void SetUseUrdfInertiaData(bool useUrdfData) - { - foreach (UrdfInertial urdfInertial in GetComponentsInChildren()) - urdfInertial.UseUrdfData = useUrdfData; - } - - public void SetRigidbodiesUseGravity(bool useGravity) - { - foreach (Rigidbody rb in GetComponentsInChildren()) - rb.useGravity = useGravity; - } - - public void GenerateUniqueJointNames() - { - foreach (UrdfJoint urdfJoint in GetComponentsInChildren()) - urdfJoint.GenerateUniqueJointName(); - } - - #endregion - } -} diff --git a/Assets/Scripts/Urdf/UrdfComponents/UrdfRobot.cs.meta b/Assets/Scripts/Urdf/UrdfComponents/UrdfRobot.cs.meta deleted file mode 100644 index 7cfbe4a..0000000 --- a/Assets/Scripts/Urdf/UrdfComponents/UrdfRobot.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: fbf4c79288754864b8d522b69f4b52a8 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Urdf/UrdfComponents/UrdfRobotExtensions.cs b/Assets/Scripts/Urdf/UrdfComponents/UrdfRobotExtensions.cs deleted file mode 100644 index fde1aa9..0000000 --- a/Assets/Scripts/Urdf/UrdfComponents/UrdfRobotExtensions.cs +++ /dev/null @@ -1,129 +0,0 @@ -/* -© Siemens AG, 2018 -Author: Suzannah Smith (suzannah.smith@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using System.Collections.Generic; -using System.IO; -using System.Linq; -using UnityEditor; -using UnityEngine; - -namespace RosSharp.Urdf.Editor -{ - public static class UrdfRobotExtensions - { - public static void Create() - { - GameObject robotGameObject = new GameObject("Robot"); - robotGameObject.AddComponent(); - - UrdfPlugins.Create(robotGameObject.transform); - - UrdfLink urdfLink = UrdfLinkExtensions.Create(robotGameObject.transform); - urdfLink.name = "base_link"; - urdfLink.IsBaseLink = true; - } - - - #region Import - - public static void Create(string filename) - { - Robot robot = new Robot(); - robot.ConstructFromFile(filename); - - if (!UrdfAssetPathHandler.IsValidAssetPath(robot.filename)) - { - Debug.LogError("URDF file and ressources must be placed in Assets Folder:\n" + Application.dataPath); - return; - } - - GameObject robotGameObject = new GameObject(robot.name); - robotGameObject.AddComponent(); - - UrdfAssetPathHandler.SetPackageRoot(Path.GetDirectoryName(robot.filename)); - UrdfMaterial.InitializeRobotMaterials(robot); - UrdfPlugins.Create(robotGameObject.transform, robot.plugins); - - UrdfLinkExtensions.Create(robotGameObject.transform, robot.root); - - GameObjectUtility.SetParentAndAlign(robotGameObject, Selection.activeObject as GameObject); - Undo.RegisterCreatedObjectUndo(robotGameObject, "Create " + robotGameObject.name); - Selection.activeObject = robotGameObject; - } - - - #endregion - - #region Export - - public static void ExportRobotToUrdf(this UrdfRobot urdfRobot, string exportRootFolder, string exportDestination) - { - UrdfExportPathHandler.SetExportPath(exportRootFolder, exportDestination); - - urdfRobot.FilePath = Path.Combine(UrdfExportPathHandler.GetExportDestination(), urdfRobot.name + ".urdf"); - - Robot robot = urdfRobot.ExportRobotData(); - if (robot == null) return; - - robot.WriteToUrdf(); - - Debug.Log(robot.name + " was exported to " + UrdfExportPathHandler.GetExportDestination()); - - UrdfMaterial.Materials.Clear(); - UrdfExportPathHandler.Clear(); - AssetDatabase.Refresh(); - } - - private static Robot ExportRobotData(this UrdfRobot urdfRobot) - { - Robot robot = new Robot(); - robot.ConstructFromFile(urdfRobot.FilePath, urdfRobot.gameObject.name); - - List linkNames = new List(); - - foreach (UrdfLink urdfLink in urdfRobot.GetComponentsInChildren()) - { - //Link export - if (linkNames.Contains(urdfLink.name)) - { - EditorUtility.DisplayDialog("URDF Export Error", - "URDF export failed. There are several links with the name " + - urdfLink.name + ". Make sure all link names are unique before exporting this robot.", - "Ok"); - return null; - } - robot.links.Add(urdfLink.ExportLinkData()); - linkNames.Add(urdfLink.name); - - //Joint export - UrdfJoint urdfJoint = urdfLink.gameObject.GetComponent(); - if (urdfJoint != null) - robot.joints.Add(urdfJoint.ExportJointData()); - else if (!urdfLink.IsBaseLink) - //Make sure that links with no rigidbodies are still connected to the robot by a default joint - robot.joints.Add(UrdfJoint.ExportDefaultJoint(urdfLink.transform)); - } - - robot.materials = UrdfMaterial.Materials.Values.ToList(); - robot.plugins = urdfRobot.GetComponentInChildren().ExportPluginsData(); - - return robot; - } - - #endregion - } -} diff --git a/Assets/Scripts/Urdf/UrdfComponents/UrdfRobotExtensions.cs.meta b/Assets/Scripts/Urdf/UrdfComponents/UrdfRobotExtensions.cs.meta deleted file mode 100644 index bab9522..0000000 --- a/Assets/Scripts/Urdf/UrdfComponents/UrdfRobotExtensions.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: dc1741ab62e85ff4eb2ad00e3482cca8 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Urdf/UrdfComponents/UrdfVisual.cs b/Assets/Scripts/Urdf/UrdfComponents/UrdfVisual.cs deleted file mode 100644 index cb0a3d4..0000000 --- a/Assets/Scripts/Urdf/UrdfComponents/UrdfVisual.cs +++ /dev/null @@ -1,28 +0,0 @@ -/* -© Siemens AG, 2018 -Author: Suzannah Smith (suzannah.smith@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using UnityEngine; - -namespace RosSharp.Urdf -{ - [SelectionBase] - public class UrdfVisual : MonoBehaviour - { - [SerializeField] - public GeometryTypes GeometryType; - } -} \ No newline at end of file diff --git a/Assets/Scripts/Urdf/UrdfComponents/UrdfVisual.cs.meta b/Assets/Scripts/Urdf/UrdfComponents/UrdfVisual.cs.meta deleted file mode 100644 index c41b381..0000000 --- a/Assets/Scripts/Urdf/UrdfComponents/UrdfVisual.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 8b2685e7e7719cd43814f41f35664c0b -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Urdf/UrdfComponents/UrdfVisualExtensions.cs b/Assets/Scripts/Urdf/UrdfComponents/UrdfVisualExtensions.cs deleted file mode 100644 index f7c1fc5..0000000 --- a/Assets/Scripts/Urdf/UrdfComponents/UrdfVisualExtensions.cs +++ /dev/null @@ -1,69 +0,0 @@ -/* -© Siemens AG, 2018 -Author: Suzannah Smith (suzannah.smith@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using UnityEngine; - -namespace RosSharp.Urdf.Editor -{ - public static class UrdfVisualExtensions - { - public static void Create(Transform parent, GeometryTypes type) - { - GameObject visualObject = new GameObject("unnamed"); - visualObject.transform.SetParentAndAlign(parent); - UrdfVisual urdfVisual = visualObject.AddComponent(); - - urdfVisual.GeometryType = type; - UrdfGeometryVisual.Create(visualObject.transform, type); - UnityEditor.EditorGUIUtility.PingObject(visualObject); - } - - public static void Create(Transform parent, Link.Visual visual) - { - GameObject visualObject = new GameObject(visual.name ?? "unnamed"); - visualObject.transform.SetParentAndAlign(parent); - UrdfVisual urdfVisual = visualObject.AddComponent(); - - urdfVisual.GeometryType = UrdfGeometry.GetGeometryType(visual.geometry); - UrdfGeometryVisual.Create(visualObject.transform, urdfVisual.GeometryType, visual.geometry); - - UrdfMaterial.SetUrdfMaterial(visualObject, visual.material); - UrdfOrigin.ImportOriginData(visualObject.transform, visual.origin); - } - - public static void AddCorrespondingCollision(this UrdfVisual urdfVisual) - { - UrdfCollisions collisions = urdfVisual.GetComponentInParent().GetComponentInChildren(); - UrdfCollisionExtensions.Create(collisions.transform, urdfVisual.GeometryType, urdfVisual.transform); - } - - public static Link.Visual ExportVisualData(this UrdfVisual urdfVisual) - { - UrdfGeometry.CheckForUrdfCompatibility(urdfVisual.transform, urdfVisual.GeometryType); - - Link.Geometry geometry = UrdfGeometry.ExportGeometryData(urdfVisual.GeometryType, urdfVisual.transform); - - Link.Visual.Material material = null; - if (!(geometry.mesh != null && geometry.mesh.filename.ToLower().EndsWith(".dae"))) //Collada files contain their own materials - material = UrdfMaterial.ExportMaterialData(urdfVisual.GetComponentInChildren().sharedMaterial); - - string visualName = urdfVisual.name == "unnamed" ? null : urdfVisual.name; - - return new Link.Visual(geometry, visualName, UrdfOrigin.ExportOriginData(urdfVisual.transform), material); - } - } -} \ No newline at end of file diff --git a/Assets/Scripts/Urdf/UrdfComponents/UrdfVisualExtensions.cs.meta b/Assets/Scripts/Urdf/UrdfComponents/UrdfVisualExtensions.cs.meta deleted file mode 100644 index e4143b8..0000000 --- a/Assets/Scripts/Urdf/UrdfComponents/UrdfVisualExtensions.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: efb784c3312ba8f4f959fbdb12f80252 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Urdf/UrdfComponents/UrdfVisuals.cs b/Assets/Scripts/Urdf/UrdfComponents/UrdfVisuals.cs deleted file mode 100644 index fa10fbe..0000000 --- a/Assets/Scripts/Urdf/UrdfComponents/UrdfVisuals.cs +++ /dev/null @@ -1,25 +0,0 @@ -/* -© Siemens AG, 2018 -Author: Suzannah Smith (suzannah.smith@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ -using UnityEngine; - -namespace RosSharp.Urdf -{ - public class UrdfVisuals : MonoBehaviour - { - } -} - diff --git a/Assets/Scripts/Urdf/UrdfComponents/UrdfVisuals.cs.meta b/Assets/Scripts/Urdf/UrdfComponents/UrdfVisuals.cs.meta deleted file mode 100644 index 7a2cc2d..0000000 --- a/Assets/Scripts/Urdf/UrdfComponents/UrdfVisuals.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: e9090ae501ff9cd459bec5271d40249c -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Urdf/UrdfComponents/UrdfVisualsExtensions.cs b/Assets/Scripts/Urdf/UrdfComponents/UrdfVisualsExtensions.cs deleted file mode 100644 index b861675..0000000 --- a/Assets/Scripts/Urdf/UrdfComponents/UrdfVisualsExtensions.cs +++ /dev/null @@ -1,49 +0,0 @@ -/* -© Siemens AG, 2018 -Author: Suzannah Smith (suzannah.smith@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ -using System.Collections.Generic; -using System.Linq; -using UnityEngine; - -namespace RosSharp.Urdf.Editor -{ - public static class UrdfVisualsExtensions - { - public static void Create(Transform parent, List visuals = null) - { - GameObject visualsObject = new GameObject("Visuals"); - visualsObject.transform.SetParentAndAlign(parent); - UrdfVisuals urdfVisuals = visualsObject.AddComponent(); - - visualsObject.hideFlags = HideFlags.NotEditable; - urdfVisuals.hideFlags = HideFlags.None; - - if (visuals != null) - { - foreach (Link.Visual visual in visuals) - UrdfVisualExtensions.Create(urdfVisuals.transform, visual); - } - } - - public static List ExportVisualsData(this UrdfVisuals urdfVisuals) - { - UrdfVisual[] urdfVisualsList = urdfVisuals.GetComponentsInChildren(); - - return urdfVisualsList.Select(urdfCollision => urdfCollision.ExportVisualData()).ToList(); - } - } -} - diff --git a/Assets/Scripts/Urdf/UrdfComponents/UrdfVisualsExtensions.cs.meta b/Assets/Scripts/Urdf/UrdfComponents/UrdfVisualsExtensions.cs.meta deleted file mode 100644 index 34dfd0b..0000000 --- a/Assets/Scripts/Urdf/UrdfComponents/UrdfVisualsExtensions.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 06d52ff46881bce4a865382c85a05965 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Urdf/UrdfJoints.meta b/Assets/Scripts/Urdf/UrdfJoints.meta deleted file mode 100644 index 5bf1af0..0000000 --- a/Assets/Scripts/Urdf/UrdfJoints.meta +++ /dev/null @@ -1,8 +0,0 @@ -fileFormatVersion: 2 -guid: caef1eccc4ef92342aff03c313f8772f -folderAsset: yes -DefaultImporter: - externalObjects: {} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Urdf/UrdfJoints/UrdfJoint.cs b/Assets/Scripts/Urdf/UrdfJoints/UrdfJoint.cs deleted file mode 100644 index 1e3cfde..0000000 --- a/Assets/Scripts/Urdf/UrdfJoints/UrdfJoint.cs +++ /dev/null @@ -1,289 +0,0 @@ -/* -© Siemens AG, 2017-2018 -Author: Dr. Martin Bischoff (martin.bischoff@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at -. -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using System; -using UnityEngine; - -namespace RosSharp.Urdf -{ - [RequireComponent(typeof(Joint))] - public abstract class UrdfJoint : MonoBehaviour - { - public enum JointTypes - { - Fixed, - Continuous, - Revolute, - Floating, - Prismatic, - Planar - } - - protected UnityEngine.Joint UnityJoint; - public string JointName; - - public abstract JointTypes JointType { get; } - public bool IsRevoluteOrContinuous => JointType == JointTypes.Revolute || JointType == JointTypes.Revolute; - - public double EffortLimit = double.PositiveInfinity; - public double VelocityLimit = double.PositiveInfinity; - - protected const int RoundDigits = 6; - protected const float Tolerance = 0.0000001f; - - public static void Create(GameObject linkObject, JointTypes jointType, Joint joint = null) - { - Rigidbody parentRigidbody = linkObject.transform.parent.gameObject.GetComponent(); - if (parentRigidbody == null) return; - - UrdfJoint urdfJoint = AddCorrectJointType(linkObject, jointType); - - if (joint != null) - { - urdfJoint.JointName = joint.name; - urdfJoint.ImportJointData(joint); - } - } - - private static UrdfJoint AddCorrectJointType(GameObject linkObject, JointTypes jointType) - { - UrdfJoint urdfJoint = null; - - switch (jointType) - { - case JointTypes.Fixed: - urdfJoint = UrdfJointFixed.Create(linkObject); - break; - case JointTypes.Continuous: - urdfJoint = UrdfJointContinuous.Create(linkObject); - break; - case JointTypes.Revolute: - urdfJoint = UrdfJointRevolute.Create(linkObject); - break; - case JointTypes.Floating: - urdfJoint = UrdfJointFloating.Create(linkObject); - break; - case JointTypes.Prismatic: - urdfJoint = UrdfJointPrismatic.Create(linkObject); - break; - case JointTypes.Planar: - urdfJoint = UrdfJointPlanar.Create(linkObject); - break; - } - - UnityEngine.Joint unityJoint = linkObject.GetComponent(); - unityJoint.connectedBody = linkObject.transform.parent.gameObject.GetComponent(); - unityJoint.autoConfigureConnectedAnchor = true; - - return urdfJoint; - } - public static void ChangeJointType(GameObject linkObject, JointTypes newJointType) - { - linkObject.transform.DestroyImmediateIfExists(); - linkObject.transform.DestroyImmediateIfExists(); - linkObject.transform.DestroyImmediateIfExists(); - linkObject.transform.DestroyImmediateIfExists(); - - AddCorrectJointType(linkObject, newJointType); - } - - #region Runtime - - public void Start() - { - UnityJoint = GetComponent(); - } - public virtual float GetPosition() - { - return 0; - } - public virtual float GetVelocity() - { - return 0; - } - public virtual float GetEffort() - { - return 0; - } - - public void UpdateJointState(float deltaState) - { - OnUpdateJointState(deltaState); - } - protected virtual void OnUpdateJointState(float deltaState) { } - - #endregion - - #region Import Helpers - - public static JointTypes GetJointType(string jointType) - { - switch (jointType) - { - case "fixed": - return JointTypes.Fixed; - case "continuous": - return JointTypes.Continuous; - case "revolute": - return JointTypes.Revolute; - case "floating": - return JointTypes.Floating; - case "prismatic": - return JointTypes.Prismatic; - case "planar": - return JointTypes.Planar; - default: - return JointTypes.Fixed; - } - } - - protected virtual void ImportJointData(Joint joint) { } - - protected static Vector3 GetAxis(Joint.Axis axis) - { - return axis.xyz.ToVector3().Ros2Unity(); - } - - protected static Vector3 GetDefaultAxis() - { - return new Vector3(-1, 0, 0); - } - - protected static JointDrive GetJointDrive(Joint.Dynamics dynamics) - { - return new JointDrive - { - maximumForce = float.MaxValue, - positionDamper = (float) dynamics.damping, - positionSpring = (float) dynamics.friction - }; - } - - protected static JointSpring GetJointSpring(Joint.Dynamics dynamics) - { - return new JointSpring - { - damper = (float) dynamics.damping, - spring = (float) dynamics.friction, - targetPosition = 0 - }; - } - - protected static SoftJointLimit GetLinearLimit(Joint.Limit limit) - { - return new SoftJointLimit { limit = (float) limit.upper }; - } - - #endregion - - #region Export - - public Joint ExportJointData() - { - UnityJoint = GetComponent(); - - CheckForUrdfCompatibility(); - GenerateUniqueJointName(); - - //Data common to all joints - Joint joint = new Joint( - JointName, - JointType.ToString().ToLower(), - gameObject.transform.parent.name, - gameObject.name, - UrdfOrigin.ExportOriginData(transform)); - - joint.limit = ExportLimitData(); - - return ExportSpecificJointData(joint); - } - - public static Joint ExportDefaultJoint(Transform transform) - { - return new Joint( - transform.parent.name + "_" + transform.name + "_joint", - JointTypes.Fixed.ToString().ToLower(), - transform.parent.name, - transform.name, - UrdfOrigin.ExportOriginData(transform)); - } - - #region ExportHelpers - - protected virtual Joint ExportSpecificJointData(Joint joint) - { - return joint; - } - - protected virtual Joint.Limit ExportLimitData() - { - return null; // limits aren't used - } - - public virtual bool AreLimitsCorrect() - { - return true; // limits aren't needed - } - - protected virtual bool IsJointAxisDefined() - { - UnityEngine.Joint joint = GetComponent(); - return !(Math.Abs(joint.axis.x) < Tolerance && - Math.Abs(joint.axis.y) < Tolerance && - Math.Abs(joint.axis.z) < Tolerance); - } - - public void GenerateUniqueJointName() - { - JointName = transform.parent.name + "_" + transform.name + "_joint"; - } - - protected Joint.Axis GetAxisData(Vector3 axis) - { - double[] rosAxis = axis.Unity2Ros().ToRoundedDoubleArray(); - return new Joint.Axis(rosAxis); - } - - private bool IsAnchorTransformed() - { - UnityEngine.Joint joint = GetComponent(); - - return Math.Abs(joint.anchor.x) > Tolerance || - Math.Abs(joint.anchor.x) > Tolerance || - Math.Abs(joint.anchor.x) > Tolerance; - } - - private void CheckForUrdfCompatibility() - { - if (!AreLimitsCorrect()) - Debug.LogWarning("Limits are not defined correctly for Joint " + JointName + " in Link " + name + - ". This may cause problems when visualizing the robot in RVIZ or Gazebo.", - gameObject); - if (!IsJointAxisDefined()) - Debug.LogWarning("Axis for joint " + JointName + " is undefined. Axis will not be written to URDF, " + - "and the default axis will be used instead.", - gameObject); - if(IsAnchorTransformed()) - Debug.LogWarning("The anchor position defined in the joint connected to " + name + " will be" + - " ignored in URDF. Instead of modifying anchor, change the position of the link.", - gameObject); - } - - #endregion - - #endregion - } -} - diff --git a/Assets/Scripts/Urdf/UrdfJoints/UrdfJoint.cs.meta b/Assets/Scripts/Urdf/UrdfJoints/UrdfJoint.cs.meta deleted file mode 100644 index 9ea1835..0000000 --- a/Assets/Scripts/Urdf/UrdfJoints/UrdfJoint.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 94ba922549128684c9c569471c662850 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Urdf/UrdfJoints/UrdfJointContinuous.cs b/Assets/Scripts/Urdf/UrdfJoints/UrdfJointContinuous.cs deleted file mode 100644 index 186e40c..0000000 --- a/Assets/Scripts/Urdf/UrdfJoints/UrdfJointContinuous.cs +++ /dev/null @@ -1,77 +0,0 @@ -/* -© Siemens AG, 2018 -Author: Suzannah Smith (suzannah.smith@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at -. -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using UnityEngine; - -namespace RosSharp.Urdf -{ - public class UrdfJointContinuous : UrdfJoint - { - public override JointTypes JointType => JointTypes.Continuous; - - public static UrdfJoint Create(GameObject linkObject) - { - Debug.Log(linkObject); - UrdfJointContinuous urdfJoint = linkObject.AddComponent(); - - urdfJoint.UnityJoint = linkObject.AddComponent(); - urdfJoint.UnityJoint.autoConfigureConnectedAnchor = true; - - return urdfJoint; - } - - #region Runtime - - public override float GetPosition() - { - return -((HingeJoint)UnityJoint).angle * Mathf.Deg2Rad; - } - public override float GetVelocity() - { - return -((HingeJoint)UnityJoint).velocity * Mathf.Deg2Rad; - } - public override float GetEffort() - { - return -((HingeJoint)UnityJoint).motor.force; - } - - protected override void OnUpdateJointState(float deltaState) - { - Quaternion rot = Quaternion.AngleAxis(-deltaState * Mathf.Rad2Deg, UnityJoint.axis); - transform.rotation = transform.rotation * rot; - } - - #endregion - - protected override void ImportJointData(Joint joint) - { - UnityJoint.axis = (joint.axis != null) ? GetAxis(joint.axis) : GetDefaultAxis(); - - if (joint.dynamics != null) - ((HingeJoint)UnityJoint).spring = GetJointSpring(joint.dynamics); - } - - protected override Joint ExportSpecificJointData(Joint joint) - { - joint.axis = GetAxisData(UnityJoint.axis); - joint.dynamics = new Joint.Dynamics( - ((HingeJoint)UnityJoint).spring.damper, - ((HingeJoint)UnityJoint).spring.spring); - - return joint; - } - } -} - diff --git a/Assets/Scripts/Urdf/UrdfJoints/UrdfJointContinuous.cs.meta b/Assets/Scripts/Urdf/UrdfJoints/UrdfJointContinuous.cs.meta deleted file mode 100644 index 185c782..0000000 --- a/Assets/Scripts/Urdf/UrdfJoints/UrdfJointContinuous.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 5b6e27abb4aa1a64bbcf79a845601047 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Urdf/UrdfJoints/UrdfJointFixed.cs b/Assets/Scripts/Urdf/UrdfJoints/UrdfJointFixed.cs deleted file mode 100644 index cb47777..0000000 --- a/Assets/Scripts/Urdf/UrdfJoints/UrdfJointFixed.cs +++ /dev/null @@ -1,40 +0,0 @@ -/* -© Siemens AG, 2018 -Author: Suzannah Smith (suzannah.smith@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at -. -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using UnityEngine; - -namespace RosSharp.Urdf -{ - public class UrdfJointFixed : UrdfJoint - { - public override JointTypes JointType => JointTypes.Fixed; - - public static UrdfJoint Create(GameObject linkObject) - { - UrdfJointFixed urdfJoint = linkObject.AddComponent(); - - urdfJoint.UnityJoint = linkObject.AddComponent(); - urdfJoint.UnityJoint.autoConfigureConnectedAnchor = true; - - return urdfJoint; - } - - protected override bool IsJointAxisDefined() - { - return true; //Axis isn't used - } - } -} - diff --git a/Assets/Scripts/Urdf/UrdfJoints/UrdfJointFixed.cs.meta b/Assets/Scripts/Urdf/UrdfJoints/UrdfJointFixed.cs.meta deleted file mode 100644 index dbc5544..0000000 --- a/Assets/Scripts/Urdf/UrdfJoints/UrdfJointFixed.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 074632cab556f5b408839af8574308df -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Urdf/UrdfJoints/UrdfJointFloating.cs b/Assets/Scripts/Urdf/UrdfJoints/UrdfJointFloating.cs deleted file mode 100644 index 50d5ecd..0000000 --- a/Assets/Scripts/Urdf/UrdfJoints/UrdfJointFloating.cs +++ /dev/null @@ -1,49 +0,0 @@ -/* -© Siemens AG, 2018 -Author: Suzannah Smith (suzannah.smith@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at -. -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using UnityEngine; - -namespace RosSharp.Urdf -{ - public class UrdfJointFloating : UrdfJoint - { - public override JointTypes JointType => JointTypes.Floating; - - public static UrdfJoint Create(GameObject linkObject) - { - UrdfJointFloating urdfJoint = linkObject.AddComponent(); - urdfJoint.UnityJoint = linkObject.AddComponent(); - - return urdfJoint; - } - - #region Runtime - - public override float GetPosition() - { - Vector3 distanceFromAnchor = ((ConfigurableJoint)UnityJoint).transform.localPosition - - ((ConfigurableJoint)UnityJoint).connectedAnchor; - return distanceFromAnchor.magnitude; - } - - #endregion - - protected override bool IsJointAxisDefined() - { - return true; //Axis isn't used - } - } -} - diff --git a/Assets/Scripts/Urdf/UrdfJoints/UrdfJointFloating.cs.meta b/Assets/Scripts/Urdf/UrdfJoints/UrdfJointFloating.cs.meta deleted file mode 100644 index 49f05c9..0000000 --- a/Assets/Scripts/Urdf/UrdfJoints/UrdfJointFloating.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: d7e5edcd03b4c4040bc550e77e4028b0 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Urdf/UrdfJoints/UrdfJointPlanar.cs b/Assets/Scripts/Urdf/UrdfJoints/UrdfJointPlanar.cs deleted file mode 100644 index 4dbdd96..0000000 --- a/Assets/Scripts/Urdf/UrdfJoints/UrdfJointPlanar.cs +++ /dev/null @@ -1,115 +0,0 @@ -/* -© Siemens AG, 2018 -Author: Suzannah Smith (suzannah.smith@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at -. -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using System; -using UnityEngine; - -namespace RosSharp.Urdf -{ - public class UrdfJointPlanar : UrdfJoint - { - public override JointTypes JointType => JointTypes.Planar; - - public static UrdfJoint Create(GameObject linkObject) - { - UrdfJointPlanar urdfJoint = linkObject.AddComponent(); - - urdfJoint.UnityJoint = linkObject.AddComponent(); - urdfJoint.UnityJoint.autoConfigureConnectedAnchor = true; - - ConfigurableJoint configurableJoint = (ConfigurableJoint) urdfJoint.UnityJoint; - - // degrees of freedom: - configurableJoint.xMotion = ConfigurableJointMotion.Free; - configurableJoint.yMotion = ConfigurableJointMotion.Free; - configurableJoint.zMotion = ConfigurableJointMotion.Locked; - configurableJoint.angularXMotion = ConfigurableJointMotion.Locked; - configurableJoint.angularYMotion = ConfigurableJointMotion.Locked; - configurableJoint.angularZMotion = ConfigurableJointMotion.Locked; - - return urdfJoint; - } - - public override float GetPosition() - { - Vector3 distanceFromAnchor = UnityJoint.transform.localPosition - UnityJoint.connectedAnchor; - return distanceFromAnchor.magnitude; - } - - protected override void ImportJointData(Joint joint) - { - ConfigurableJoint configurableJoint = (ConfigurableJoint) UnityJoint; - - Vector3 normal = (joint.axis != null) ? GetAxis(joint.axis) : GetDefaultAxis(); - Vector3 axisX = Vector3.forward; - Vector3 axisY = Vector3.left; - Vector3.OrthoNormalize(ref normal, ref axisX, ref axisY); - configurableJoint.axis = axisX; - configurableJoint.secondaryAxis = axisY; - - // spring, damper & max. force: - if (joint.dynamics != null) - { - configurableJoint.xDrive = GetJointDrive(joint.dynamics); - configurableJoint.yDrive = GetJointDrive(joint.dynamics); - } - - if (joint.limit != null) - configurableJoint.linearLimit = GetLinearLimit(joint.limit); - } - - #region Export - - protected override Joint ExportSpecificJointData(Joint joint) - { - ConfigurableJoint configurableJoint = (ConfigurableJoint) UnityJoint; - - joint.axis = GetAxisData(Vector3.Cross(configurableJoint.axis, configurableJoint.secondaryAxis)); - joint.dynamics = new Joint.Dynamics(configurableJoint.xDrive.positionDamper, configurableJoint.xDrive.positionSpring); - joint.limit = ExportLimitData(); - - return joint; - } - - protected override Joint.Limit ExportLimitData() - { - ConfigurableJoint configurableJoint = (ConfigurableJoint)UnityJoint; - return new Joint.Limit( - Math.Round(-configurableJoint.linearLimit.limit, RoundDigits), - Math.Round(configurableJoint.linearLimit.limit, RoundDigits), - EffortLimit, VelocityLimit); - } - - public override bool AreLimitsCorrect() - { - ConfigurableJoint joint = (ConfigurableJoint)UnityJoint; - return joint != null && joint.linearLimit.limit != 0; - } - - protected override bool IsJointAxisDefined() - { - ConfigurableJoint joint = (ConfigurableJoint)UnityJoint; - return !(Math.Abs(joint.axis.x) < Tolerance && - Math.Abs(joint.axis.y) < Tolerance && - Math.Abs(joint.axis.z) < Tolerance) - && !(Math.Abs(joint.secondaryAxis.x) < Tolerance && - Math.Abs(joint.secondaryAxis.y) < Tolerance && - Math.Abs(joint.secondaryAxis.z) < Tolerance); - } - - #endregion - } -} - diff --git a/Assets/Scripts/Urdf/UrdfJoints/UrdfJointPlanar.cs.meta b/Assets/Scripts/Urdf/UrdfJoints/UrdfJointPlanar.cs.meta deleted file mode 100644 index 0972243..0000000 --- a/Assets/Scripts/Urdf/UrdfJoints/UrdfJointPlanar.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: acce561d2a005d848ac314822ae51192 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Urdf/UrdfJoints/UrdfJointPrismatic.cs b/Assets/Scripts/Urdf/UrdfJoints/UrdfJointPrismatic.cs deleted file mode 100644 index 4abdc09..0000000 --- a/Assets/Scripts/Urdf/UrdfJoints/UrdfJointPrismatic.cs +++ /dev/null @@ -1,113 +0,0 @@ -/* -© Siemens AG, 2018 -Author: Suzannah Smith (suzannah.smith@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at -. -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using System; -using UnityEngine; - -namespace RosSharp.Urdf -{ - public class UrdfJointPrismatic : UrdfJoint - { - public override JointTypes JointType => JointTypes.Prismatic; - - public static UrdfJoint Create(GameObject linkObject) - { - UrdfJointPrismatic urdfJoint = linkObject.AddComponent(); - - urdfJoint.UnityJoint = linkObject.AddComponent(); - urdfJoint.UnityJoint.autoConfigureConnectedAnchor = true; - - ConfigurableJoint configurableJoint = (ConfigurableJoint) urdfJoint.UnityJoint; - - // degrees of freedom: - configurableJoint.xMotion = ConfigurableJointMotion.Limited; - configurableJoint.yMotion = ConfigurableJointMotion.Locked; - configurableJoint.zMotion = ConfigurableJointMotion.Locked; - configurableJoint.angularXMotion = ConfigurableJointMotion.Locked; - configurableJoint.angularYMotion = ConfigurableJointMotion.Locked; - configurableJoint.angularZMotion = ConfigurableJointMotion.Locked; - - linkObject.AddComponent(); - - return urdfJoint; - } - - #region Runtime - - public override float GetPosition() - { - return Vector3.Dot(UnityJoint.transform.localPosition - UnityJoint.connectedAnchor, UnityJoint.axis); - } - - protected override void OnUpdateJointState(float deltaState) - { - Vector3 axis = transform.TransformDirection(UnityJoint.axis); - transform.Translate(axis * deltaState); - } - - #endregion - - #region Import - - protected override void ImportJointData(Joint joint) - { - ConfigurableJoint prismaticJoint = (ConfigurableJoint) UnityJoint; - prismaticJoint.axis = (joint.axis != null) ? GetAxis(joint.axis) : GetDefaultAxis(); - - if (joint.dynamics != null) - prismaticJoint.xDrive = GetJointDrive(joint.dynamics); - - if (joint.limit != null) - { - PrismaticJointLimitsManager prismaticLimits = GetComponent(); - prismaticLimits.InitializeLimits(joint.limit); - } - } - - #endregion - - #region Export - - protected override Joint ExportSpecificJointData(Joint joint) - { - ConfigurableJoint configurableJoint = (ConfigurableJoint)UnityJoint; - - joint.axis = GetAxisData(configurableJoint.axis); - joint.dynamics = new Joint.Dynamics(configurableJoint.xDrive.positionDamper, configurableJoint.xDrive.positionSpring); - joint.limit = ExportLimitData(); - - return joint; - } - - public override bool AreLimitsCorrect() - { - PrismaticJointLimitsManager limits = GetComponent(); - return limits != null && limits.PositionLimitMin < limits.PositionLimitMax; - } - - protected override Joint.Limit ExportLimitData() - { - PrismaticJointLimitsManager prismaticLimits = GetComponent(); - return new Joint.Limit( - Math.Round(prismaticLimits.PositionLimitMin, RoundDigits), - Math.Round(prismaticLimits.PositionLimitMax, RoundDigits), - EffortLimit, - VelocityLimit); - } - - #endregion - } -} - diff --git a/Assets/Scripts/Urdf/UrdfJoints/UrdfJointPrismatic.cs.meta b/Assets/Scripts/Urdf/UrdfJoints/UrdfJointPrismatic.cs.meta deleted file mode 100644 index 371d156..0000000 --- a/Assets/Scripts/Urdf/UrdfJoints/UrdfJointPrismatic.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: c2739b11a8980aa48b52271bc429c745 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Urdf/UrdfJoints/UrdfJointRevolute.cs b/Assets/Scripts/Urdf/UrdfJoints/UrdfJointRevolute.cs deleted file mode 100644 index 86f8dfc..0000000 --- a/Assets/Scripts/Urdf/UrdfJoints/UrdfJointRevolute.cs +++ /dev/null @@ -1,100 +0,0 @@ -/* -© Siemens AG, 2018 -Author: Suzannah Smith (suzannah.smith@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at -. -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using System; -using UnityEngine; - -namespace RosSharp.Urdf -{ - public class UrdfJointRevolute : UrdfJoint - { - public override JointTypes JointType => JointTypes.Revolute; - - public static UrdfJoint Create(GameObject linkObject) - { - UrdfJointRevolute urdfJoint = linkObject.AddComponent(); - - urdfJoint.UnityJoint = linkObject.AddComponent(); - urdfJoint.UnityJoint.autoConfigureConnectedAnchor = true; - ((HingeJoint)urdfJoint.UnityJoint).useLimits = true; - linkObject.AddComponent(); - - return urdfJoint; - } - - #region Runtime - - public override float GetPosition() - { - return -((HingeJoint)UnityJoint).angle * Mathf.Deg2Rad; - } - - public override float GetVelocity() - { - return -((HingeJoint)UnityJoint).velocity * Mathf.Deg2Rad; - } - - public override float GetEffort() - { - return -((HingeJoint)UnityJoint).motor.force; - } - - protected override void OnUpdateJointState(float deltaState) - { - Quaternion rot = Quaternion.AngleAxis(-deltaState * Mathf.Rad2Deg, UnityJoint.axis); - transform.rotation = transform.rotation * rot; - } - - #endregion - - protected override void ImportJointData(Joint joint) - { - UnityJoint.axis = (joint.axis != null) ? GetAxis(joint.axis) : GetDefaultAxis(); - - if (joint.dynamics != null) - ((HingeJoint)UnityJoint).spring = GetJointSpring(joint.dynamics); - - if (joint.limit != null) - GetComponent().InitializeLimits(joint.limit, (HingeJoint)UnityJoint); - } - - protected override Joint ExportSpecificJointData(Joint joint) - { - joint.axis = GetAxisData(UnityJoint.axis); - joint.dynamics = new Joint.Dynamics(((HingeJoint)UnityJoint).spring.damper, ((HingeJoint)UnityJoint).spring.spring); - - joint.limit = ExportLimitData(); - - return joint; - } - - public override bool AreLimitsCorrect() - { - HingeJointLimitsManager limits = GetComponent(); - return limits != null && limits.LargeAngleLimitMin < limits.LargeAngleLimitMax; - } - - protected override Joint.Limit ExportLimitData() - { - HingeJointLimitsManager hingeJointLimits = GetComponent(); - return new Joint.Limit( - Math.Round(hingeJointLimits.LargeAngleLimitMin * Mathf.Deg2Rad, RoundDigits), - Math.Round(hingeJointLimits.LargeAngleLimitMax * Mathf.Deg2Rad, RoundDigits), - EffortLimit, - VelocityLimit); - } - } -} - diff --git a/Assets/Scripts/Urdf/UrdfJoints/UrdfJointRevolute.cs.meta b/Assets/Scripts/Urdf/UrdfJoints/UrdfJointRevolute.cs.meta deleted file mode 100644 index 4adf6f1..0000000 --- a/Assets/Scripts/Urdf/UrdfJoints/UrdfJointRevolute.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 63b6193734b4c8444bcfdf4e9953fe2b -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Urdf/UrdfSimulatedComponents.meta b/Assets/Scripts/Urdf/UrdfSimulatedComponents.meta deleted file mode 100644 index c8b4c18..0000000 --- a/Assets/Scripts/Urdf/UrdfSimulatedComponents.meta +++ /dev/null @@ -1,8 +0,0 @@ -fileFormatVersion: 2 -guid: 7592e70c17c74c144b5f7d138636f145 -folderAsset: yes -DefaultImporter: - externalObjects: {} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Urdf/UrdfSimulatedComponents/UrdfSimulatedRobot.cs b/Assets/Scripts/Urdf/UrdfSimulatedComponents/UrdfSimulatedRobot.cs deleted file mode 100644 index 1c2d46f..0000000 --- a/Assets/Scripts/Urdf/UrdfSimulatedComponents/UrdfSimulatedRobot.cs +++ /dev/null @@ -1,27 +0,0 @@ -/* -© Dyno Robotics, 2019 -Author: Samuel Lindgren (samuel@dynorobotics.se) -Licensed under the Apache License, Version 2.0 (the "License"); - -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using UnityEngine; - -namespace RosSharp.Urdf -{ - - public class UrdfSimulatedRobot : MonoBehaviour - { - - } -} diff --git a/Assets/Scripts/Urdf/UrdfSimulatedComponents/UrdfSimulatedRobot.cs.meta b/Assets/Scripts/Urdf/UrdfSimulatedComponents/UrdfSimulatedRobot.cs.meta deleted file mode 100644 index 864fad1..0000000 --- a/Assets/Scripts/Urdf/UrdfSimulatedComponents/UrdfSimulatedRobot.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 6aa2d1e1830656949b167e50b31f97e7 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Urdf/UrdfSimulatedComponents/UrdfSimulatedRobotExtensions.cs b/Assets/Scripts/Urdf/UrdfSimulatedComponents/UrdfSimulatedRobotExtensions.cs deleted file mode 100644 index b6f6f66..0000000 --- a/Assets/Scripts/Urdf/UrdfSimulatedComponents/UrdfSimulatedRobotExtensions.cs +++ /dev/null @@ -1,74 +0,0 @@ -/* -© Dyno Robotics, 2019 -Author: Samuel Lindgren (samuel@dynorobotics.se) -Licensed under the Apache License, Version 2.0 (the "License"); - -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using System.Collections.Generic; -using System.IO; -using System.Linq; -using UnityEditor; -using UnityEngine; - -namespace RosSharp.Urdf.Editor -{ - public static class UrdfSimulatedRobotExtensions - { - public static void CreateFromString(string urdfString) - { - Robot robot = new Robot(); - robot.ConstructFromString(urdfString); - - UrdfAssetPathHandler.SetPackageRoot(Application.dataPath + "/Urdf/FromString"); - - Create(robot); - } - - public static void CreateFromFile(string filename) - { - Robot robot = new Robot(); - robot.ConstructFromFile(filename); - - if (!UrdfAssetPathHandler.IsValidAssetPath(robot.filename)) - { - Debug.LogError("URDF file and ressources must be placed in Assets Folder:\n" + Application.dataPath); - return; - } - - UrdfAssetPathHandler.SetPackageRoot(Path.GetDirectoryName(robot.filename)); - - Create(robot); - } - - private static void Create(Robot robot) - { - GameObject robotGameObject = new GameObject(robot.name); - - robotGameObject.AddComponent(); - robotGameObject.AddComponent(); - robotGameObject.AddComponent(); - robotGameObject.AddComponent(); - robotGameObject.AddComponent(); - robotGameObject.AddComponent().enabled = false; - - UrdfMaterial.InitializeRobotMaterials(robot); - - UrdfSimulationLinkExtensions.Create(robotGameObject.transform, robot.root); - - GameObjectUtility.SetParentAndAlign(robotGameObject, Selection.activeObject as GameObject); - Undo.RegisterCreatedObjectUndo(robotGameObject, "Create " + robotGameObject.name); - Selection.activeObject = robotGameObject; - } - } -} diff --git a/Assets/Scripts/Urdf/UrdfSimulatedComponents/UrdfSimulatedRobotExtensions.cs.meta b/Assets/Scripts/Urdf/UrdfSimulatedComponents/UrdfSimulatedRobotExtensions.cs.meta deleted file mode 100644 index 8a01cc0..0000000 --- a/Assets/Scripts/Urdf/UrdfSimulatedComponents/UrdfSimulatedRobotExtensions.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 5a11cc85e97513f4f9be2acaa73d7c8f -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Urdf/UrdfSimulatedComponents/UrdfSimulationLinkExtensions.cs b/Assets/Scripts/Urdf/UrdfSimulatedComponents/UrdfSimulationLinkExtensions.cs deleted file mode 100644 index f497456..0000000 --- a/Assets/Scripts/Urdf/UrdfSimulatedComponents/UrdfSimulationLinkExtensions.cs +++ /dev/null @@ -1,77 +0,0 @@ -/* -© Dyno Robotics, 2019 -Author: Samuel Lindgren (samuel@dynorobotics.se) -Licensed under the Apache License, Version 2.0 (the "License"); - -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using UnityEngine; - -namespace RosSharp.Urdf.Editor -{ - public static class UrdfSimulationLinkExtensions - { - public static void Create(Transform parent, Link link = null, Joint joint = null) - { - GameObject linkObject = new GameObject("link"); - linkObject.transform.SetParentAndAlign(parent); - - UrdfVisualsExtensions.Create(linkObject.transform, link?.visuals); - UrdfCollisionsExtensions.Create(linkObject.transform, link?.collisions); - - if (link != null) - { - linkObject.ImportSimulationLinkData(link, joint); - } - else - { - } - } - - private static void ImportSimulationLinkData(this GameObject linkObject, Link link, Joint joint) - { - linkObject.gameObject.name = link.name; - - if (joint?.origin != null) - UrdfOrigin.ImportOriginData(linkObject.transform, joint.origin); - - if (link?.inertial != null) - { - UrdfInertial.Create(linkObject, link.inertial); - - // TODO(sam): figure out if possible to only let base_footprint be kinematic - linkObject.GetComponent().isKinematic = true; - - if (joint != null) - { - UrdfSimulatedJoint.Create(linkObject, UrdfJoint.GetJointType(joint.type), joint); - } - } - else if (linkObject.name == "base_footprint") - { - Rigidbody baseFootprintRigidbody = linkObject.AddComponent(); - baseFootprintRigidbody.useGravity = false; - baseFootprintRigidbody.isKinematic = true; - } - else if (joint != null) - Debug.LogWarning("No Joint Component will be created in GameObject \"" + linkObject.name + "\" as it has no Rigidbody Component.\n" - + "Please define an Inertial for Link \"" + link.name + "\" in the URDF file to create a Rigidbody Component.\n", linkObject); - - foreach (Joint childJoint in link.joints) - { - Link child = childJoint.ChildLink; - Create(linkObject.transform, child, childJoint); - } - } - } -} diff --git a/Assets/Scripts/Urdf/UrdfSimulatedComponents/UrdfSimulationLinkExtensions.cs.meta b/Assets/Scripts/Urdf/UrdfSimulatedComponents/UrdfSimulationLinkExtensions.cs.meta deleted file mode 100644 index f28ef66..0000000 --- a/Assets/Scripts/Urdf/UrdfSimulatedComponents/UrdfSimulationLinkExtensions.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: c93fa06c5a9011f448e0fa9032ae03d1 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Urdf/UrdfSimulatedJoint.meta b/Assets/Scripts/Urdf/UrdfSimulatedJoint.meta deleted file mode 100644 index c748b18..0000000 --- a/Assets/Scripts/Urdf/UrdfSimulatedJoint.meta +++ /dev/null @@ -1,8 +0,0 @@ -fileFormatVersion: 2 -guid: 75bbcebac462a954c872d766c66b5742 -folderAsset: yes -DefaultImporter: - externalObjects: {} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Urdf/UrdfSimulatedJoint/UrdfSimulatedJoint.cs b/Assets/Scripts/Urdf/UrdfSimulatedJoint/UrdfSimulatedJoint.cs deleted file mode 100644 index 68f4e4d..0000000 --- a/Assets/Scripts/Urdf/UrdfSimulatedJoint/UrdfSimulatedJoint.cs +++ /dev/null @@ -1,110 +0,0 @@ -/* -© Dyno Robotics, 2019 -Author: Samuel Lindgren (samuel@dynorobotics.se) -Licensed under the Apache License, Version 2.0 (the "License"); - -you may not use this file except in compliance with the License. -You may obtain a copy of the License at -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using UnityEngine; - -namespace RosSharp.Urdf -{ - class UrdfSimulatedJoint - { - public static void Create(GameObject linkObject, UrdfJoint.JointTypes jointType, Joint joint) - { - Rigidbody parentRigidbody = linkObject.transform.parent.gameObject.GetComponent(); - if (parentRigidbody == null) - { - Debug.LogError("No rigidbody (intertial) in joints parent link, not adding joint."); - return; - } - - if (jointType == UrdfJoint.JointTypes.Fixed) - { - UnityEngine.Joint unityJoint = linkObject.AddComponent(); - unityJoint.autoConfigureConnectedAnchor = true; - unityJoint.connectedBody = linkObject.transform.parent.gameObject.GetComponent(); - } - else if (jointType == UrdfJoint.JointTypes.Continuous) - { - UnityEngine.Joint unityJoint = linkObject.AddComponent(); - unityJoint.autoConfigureConnectedAnchor = true; - unityJoint.connectedBody = linkObject.transform.parent.gameObject.GetComponent(); - unityJoint.axis = (joint.axis != null) ? GetAxis(joint.axis) : GetDefaultAxis(); - JointInterface jointInterface = linkObject.AddComponent(); - jointInterface.JointName = joint.name; - jointInterface.JointType = "continuous"; - } - else if (jointType == UrdfJoint.JointTypes.Revolute) - { - HingeJoint unityJoint = linkObject.AddComponent(); - unityJoint.autoConfigureConnectedAnchor = true; - unityJoint.useLimits = true; - unityJoint.connectedBody = linkObject.transform.parent.gameObject.GetComponent(); - unityJoint.axis = (joint.axis != null) ? GetAxis(joint.axis) : GetDefaultAxis(); - - //HingeJointLimitsManager limitsManager = linkObject.AddComponent(); - //if (joint.limit != null) - //{ - // limitsManager.InitializeLimits(joint.limit, unityJoint); - //} - - JointInterface jointInterface = linkObject.AddComponent(); - jointInterface.JointName = joint.name; - jointInterface.JointType = "revolute"; - jointInterface.Axis = (joint.axis != null) ? GetAxis(joint.axis) : GetDefaultAxis(); - - if (joint.limit != null) - { - jointInterface.EnableJointLimits = true; - jointInterface.UpperLimit = joint.limit.upper; - jointInterface.LowerLimit = joint.limit.lower; - } - } - else if (jointType == UrdfJoint.JointTypes.Prismatic) - { - ConfigurableJoint unityJoint = linkObject.AddComponent(); - unityJoint.autoConfigureConnectedAnchor = true; - unityJoint.connectedBody = linkObject.transform.parent.gameObject.GetComponent(); - unityJoint.axis = (joint.axis != null) ? GetAxis(joint.axis) : GetDefaultAxis(); - - JointInterface jointInterface = linkObject.AddComponent(); - jointInterface.JointName = joint.name; - jointInterface.JointType = "prismatic"; - jointInterface.Axis = (joint.axis != null) ? GetAxis(joint.axis) : GetDefaultAxis(); - - if (joint.limit != null) - { - jointInterface.EnableJointLimits = true; - jointInterface.UpperLimit = joint.limit.upper; - jointInterface.LowerLimit = joint.limit.lower; - } - } - else - { - Debug.LogError("Joint type not yet supported, not adding joint." + jointType); - } - } - - - private static Vector3 GetAxis(Joint.Axis axis) - { - return axis.xyz.ToVector3().Ros2Unity(); - } - - protected static Vector3 GetDefaultAxis() - { - return new Vector3(-1, 0, 0); - } - } -} diff --git a/Assets/Scripts/Urdf/UrdfSimulatedJoint/UrdfSimulatedJoint.cs.meta b/Assets/Scripts/Urdf/UrdfSimulatedJoint/UrdfSimulatedJoint.cs.meta deleted file mode 100644 index c102d01..0000000 --- a/Assets/Scripts/Urdf/UrdfSimulatedJoint/UrdfSimulatedJoint.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: dbd22691724de0b44800c0506bee8aeb -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Urdf/UrdfVisualizedComponents.meta b/Assets/Scripts/Urdf/UrdfVisualizedComponents.meta deleted file mode 100644 index a634c63..0000000 --- a/Assets/Scripts/Urdf/UrdfVisualizedComponents.meta +++ /dev/null @@ -1,8 +0,0 @@ -fileFormatVersion: 2 -guid: a4f9fecbd3b0503488e8bf683c2e2f8d -folderAsset: yes -DefaultImporter: - externalObjects: {} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Urdf/UrdfVisualizedComponents/UrdfVisualizedLinkExtensions.cs b/Assets/Scripts/Urdf/UrdfVisualizedComponents/UrdfVisualizedLinkExtensions.cs deleted file mode 100644 index 5233dcb..0000000 --- a/Assets/Scripts/Urdf/UrdfVisualizedComponents/UrdfVisualizedLinkExtensions.cs +++ /dev/null @@ -1,57 +0,0 @@ -/* -© Dyno Robotics, 2019 -Author: Samuel Lindgren (samuel@dynorobotics.se) -Licensed under the Apache License, Version 2.0 (the "License"); - -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using UnityEngine; - -namespace RosSharp.Urdf.Editor -{ - public static class UrdfVisualizedLinkExtensions - { - public static void Create(Transform parent, Link link = null, Joint joint = null) - { - GameObject linkObject = new GameObject("link"); - linkObject.transform.SetParentAndAlign(parent); - - UrdfVisualsExtensions.Create(linkObject.transform, link?.visuals); - UrdfCollisionsExtensions.Create(linkObject.transform, link?.collisions); - - if (link != null) - { - linkObject.ImportSimulationLinkData(link, joint); - } - else - { - } - } - - private static void ImportSimulationLinkData(this GameObject linkObject, Link link, Joint joint) - { - linkObject.gameObject.name = link.name; - - if (joint?.origin != null) - UrdfOrigin.ImportOriginData(linkObject.transform, joint.origin); - - linkObject.AddComponent(); - - foreach (Joint childJoint in link.joints) - { - Link child = childJoint.ChildLink; - Create(linkObject.transform, child, childJoint); - } - } - } -} diff --git a/Assets/Scripts/Urdf/UrdfVisualizedComponents/UrdfVisualizedLinkExtensions.cs.meta b/Assets/Scripts/Urdf/UrdfVisualizedComponents/UrdfVisualizedLinkExtensions.cs.meta deleted file mode 100644 index d8edd70..0000000 --- a/Assets/Scripts/Urdf/UrdfVisualizedComponents/UrdfVisualizedLinkExtensions.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: f075404478d6a154ba09d23d4e079a72 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Urdf/UrdfVisualizedComponents/UrdfVisualizedRobotExtensions.cs b/Assets/Scripts/Urdf/UrdfVisualizedComponents/UrdfVisualizedRobotExtensions.cs deleted file mode 100644 index ba37adc..0000000 --- a/Assets/Scripts/Urdf/UrdfVisualizedComponents/UrdfVisualizedRobotExtensions.cs +++ /dev/null @@ -1,71 +0,0 @@ -/* -© Dyno Robotics, 2019 -Author: Samuel Lindgren (samuel@dynorobotics.se) -Licensed under the Apache License, Version 2.0 (the "License"); - -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using UnityEditor; -using UnityEngine; -using System.IO; - -namespace RosSharp.Urdf.Editor -{ - public static class UrdfVisualizedRobotExtensions - { - public static void CreateFromString(string urdfString) - { - Robot robot = new Robot(); - robot.ConstructFromString(urdfString); - - UrdfAssetPathHandler.SetPackageRoot(Application.dataPath + "/Urdf/FromString"); - - Create(robot); - } - - public static void CreateFromFile(string filename) - { - Robot robot = new Robot(); - robot.ConstructFromFile(filename); - - if (!UrdfAssetPathHandler.IsValidAssetPath(robot.filename)) - { - Debug.LogError("URDF file and ressources must be placed in Assets Folder:\n" + Application.dataPath); - return; - } - - UrdfAssetPathHandler.SetPackageRoot(Path.GetDirectoryName(robot.filename)); - - Create(robot); - } - - private static void Create(Robot robot) - { - GameObject rosVisualizerGameObject = new GameObject("RosVisualizer"); - rosVisualizerGameObject.AddComponent(); - - GameObject mapFrame = new GameObject("map"); - GameObjectUtility.SetParentAndAlign(mapFrame, rosVisualizerGameObject); - mapFrame.AddComponent(); - - GameObject odomFrame = new GameObject("odom"); - GameObjectUtility.SetParentAndAlign(odomFrame, mapFrame); - odomFrame.AddComponent(); - - UrdfMaterial.InitializeRobotMaterials(robot); - - UrdfVisualizedLinkExtensions.Create(odomFrame.transform, robot.root); - - } - } -} diff --git a/Assets/Scripts/Urdf/UrdfVisualizedComponents/UrdfVisualizedRobotExtensions.cs.meta b/Assets/Scripts/Urdf/UrdfVisualizedComponents/UrdfVisualizedRobotExtensions.cs.meta deleted file mode 100644 index 42cf3c5..0000000 --- a/Assets/Scripts/Urdf/UrdfVisualizedComponents/UrdfVisualizedRobotExtensions.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 353557e06640b8b4484c272fc430c66a -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Scripts/Urdf/XAttributeExtensions.cs b/Assets/Scripts/Urdf/XAttributeExtensions.cs deleted file mode 100644 index 2da328e..0000000 --- a/Assets/Scripts/Urdf/XAttributeExtensions.cs +++ /dev/null @@ -1,46 +0,0 @@ -/* -© Siemens AG, 2017 -Author: Dr. Martin Bischoff (martin.bischoff@siemens.com) - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - -. - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -*/ - -using System; -using System.Collections.Generic; -using System.Linq; -using System.Xml.Linq; -using System.Globalization; - -namespace RosSharp.Urdf -{ - public static class XAttributeExtensions - { - public static double[] ReadDoubleArray(this XAttribute attribute) - { - return Array.ConvertAll( - ((string)attribute).Split(' ').Where(x => !string.IsNullOrEmpty(x)).ToArray(), - i => Convert.ToDouble(i, CultureInfo.InvariantCulture)); - } - - public static double ReadOptionalDouble(this XAttribute attribute) - { - return (attribute != null) ? (double)attribute : double.NaN; - } - - public static string DoubleArrayToString(this IEnumerable arr) - { - string arrString = arr.Aggregate("", (current, num) => (current + " " + num)); - return arrString.Substring(1); //Gets rid of extra space at start of string - } - } -} diff --git a/Assets/Scripts/Urdf/XAttributeExtensions.cs.meta b/Assets/Scripts/Urdf/XAttributeExtensions.cs.meta deleted file mode 100644 index fdd8c79..0000000 --- a/Assets/Scripts/Urdf/XAttributeExtensions.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: d35739ee66c173040809498cefc3a3be -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/CMakeLists.txt b/CMakeLists.txt index 0873753..3faf105 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -38,7 +38,7 @@ endfunction(add_to_unity) add_to_unity( DEPENDS rcldotnet_common - rclcs + rcldotnet rosidl_generator_cs builtin_interfaces std_msgs @@ -46,7 +46,6 @@ add_to_unity( sensor_msgs tf2_msgs nav_msgs - 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serializedVersion: 15 + serializedVersion: 17 productGUID: 4ac5fd897a27d46c190b2c4dfd29fd91 AndroidProfiler: 0 AndroidFilterTouchesWhenObscured: 0 @@ -65,6 +65,7 @@ PlayerSettings: disableDepthAndStencilBuffers: 0 androidStartInFullscreen: 1 androidRenderOutsideSafeArea: 0 + androidUseSwappy: 0 androidBlitType: 0 defaultIsNativeResolution: 1 macRetinaSupport: 1 @@ -79,6 +80,7 @@ PlayerSettings: usePlayerLog: 1 bakeCollisionMeshes: 0 forceSingleInstance: 0 + useFlipModelSwapchain: 1 resizableWindow: 0 useMacAppStoreValidation: 0 macAppStoreCategory: public.app-category.games @@ -106,6 +108,11 @@ PlayerSettings: xboxOneDisableEsram: 0 xboxOnePresentImmediateThreshold: 0 switchQueueCommandMemory: 0 + switchQueueControlMemory: 16384 + switchQueueComputeMemory: 262144 + switchNVNShaderPoolsGranularity: 33554432 + switchNVNDefaultPoolsGranularity: 16777216 + switchNVNOtherPoolsGranularity: 16777216 vulkanEnableSetSRGBWrite: 0 m_SupportedAspectRatios: 4:3: 1 @@ -120,7 +127,6 @@ PlayerSettings: m_HolographicPauseOnTrackingLoss: 1 xboxOneDisableKinectGpuReservation: 0 xboxOneEnable7thCore: 0 - isWsaHolographicRemotingEnabled: 0 vrSettings: cardboard: depthFormat: 0 @@ -135,10 +141,18 @@ PlayerSettings: hololens: depthFormat: 1 depthBufferSharingEnabled: 0 + lumin: + depthFormat: 0 + frameTiming: 2 + enableGLCache: 0 + glCacheMaxBlobSize: 524288 + glCacheMaxFileSize: 8388608 oculus: sharedDepthBuffer: 1 dashSupport: 1 + lowOverheadMode: 0 enable360StereoCapture: 0 + isWsaHolographicRemotingEnabled: 0 protectGraphicsMemory: 0 enableFrameTimingStats: 0 useHDRDisplay: 0 @@ -187,6 +201,10 @@ PlayerSettings: iPadHighResPortraitSplashScreen: {fileID: 0} iPadLandscapeSplashScreen: {fileID: 0} iPadHighResLandscapeSplashScreen: {fileID: 0} + iPhone65inPortraitSplashScreen: {fileID: 0} + iPhone65inLandscapeSplashScreen: {fileID: 0} + iPhone61inPortraitSplashScreen: {fileID: 0} + iPhone61inLandscapeSplashScreen: {fileID: 0} appleTVSplashScreen: {fileID: 0} appleTVSplashScreen2x: {fileID: 0} tvOSSmallIconLayers: [] @@ -230,6 +248,7 @@ PlayerSettings: tvOSManualSigningProvisioningProfileType: 0 appleEnableAutomaticSigning: 0 iOSRequireARKit: 0 + iOSAutomaticallyDetectAndAddCapabilities: 1 appleEnableProMotion: 0 clonedFromGUID: c0afd0d1d80e3634a9dac47e8a0426ea templatePackageId: com.unity.template.3d@1.0.4 @@ -237,7 +256,7 @@ PlayerSettings: AndroidTargetArchitectures: 5 AndroidSplashScreenScale: 0 androidSplashScreen: {fileID: 0} - AndroidKeystoreName: + AndroidKeystoreName: '{inproject}: ' AndroidKeyaliasName: AndroidBuildApkPerCpuArchitecture: 0 AndroidTVCompatibility: 1 @@ -245,11 +264,14 @@ PlayerSettings: AndroidEnableTango: 0 androidEnableBanner: 1 androidUseLowAccuracyLocation: 0 + androidUseCustomKeystore: 0 m_AndroidBanners: - width: 320 height: 180 banner: {fileID: 0} androidGamepadSupportLevel: 0 + AndroidValidateAppBundleSize: 1 + AndroidAppBundleSizeToValidate: 100 resolutionDialogBanner: {fileID: 0} m_BuildTargetIcons: [] m_BuildTargetPlatformIcons: [] @@ -288,9 +310,10 @@ PlayerSettings: m_Devices: - Oculus - OpenVR - m_BuildTargetEnableVuforiaSettings: [] openGLRequireES31: 0 openGLRequireES31AEP: 0 + openGLRequireES32: 0 + vuforiaEnabled: 0 m_TemplateCustomTags: {} mobileMTRendering: Android: 1 @@ -420,6 +443,7 @@ PlayerSettings: switchAllowsRuntimeAddOnContentInstall: 0 switchDataLossConfirmation: 0 switchUserAccountLockEnabled: 0 + switchSystemResourceMemory: 16777216 switchSupportedNpadStyles: 3 switchNativeFsCacheSize: 32 switchIsHoldTypeHorizontal: 0 @@ -473,6 +497,7 @@ PlayerSettings: ps4DownloadDataSize: 0 ps4GarlicHeapSize: 2048 ps4ProGarlicHeapSize: 2560 + playerPrefsMaxSize: 32768 ps4Passcode: frAQBc8Wsa1xVPfvJcrgRYwTiizs2trQ ps4pnSessions: 1 ps4pnPresence: 1 @@ -506,6 +531,7 @@ PlayerSettings: monoEnv: splashScreenBackgroundSourceLandscape: {fileID: 0} splashScreenBackgroundSourcePortrait: {fileID: 0} + blurSplashScreenBackground: 1 spritePackerPolicy: webGLMemorySize: 256 webGLExceptionSupport: 1 @@ -520,6 +546,7 @@ PlayerSettings: webGLCompressionFormat: 1 webGLLinkerTarget: 1 webGLThreadsSupport: 0 + webGLWasmStreaming: 0 scriptingDefineSymbols: {} platformArchitecture: {} scriptingBackend: {} @@ -529,6 +556,8 @@ PlayerSettings: allowUnsafeCode: 0 additionalIl2CppArgs: scriptingRuntimeVersion: 1 + gcIncremental: 0 + gcWBarrierValidation: 0 apiCompatibilityLevelPerPlatform: {} m_RenderingPath: 1 m_MobileRenderingPath: 1 @@ -559,7 +588,6 @@ PlayerSettings: metroFTAName: metroFTAFileTypes: [] metroProtocolName: - metroCompilationOverrides: 1 XboxOneProductId: XboxOneUpdateKey: XboxOneSandboxId: @@ -584,7 +612,6 @@ PlayerSettings: XboxOneAllowedProductIds: [] XboxOnePersistentLocalStorageSize: 0 XboxOneXTitleMemory: 8 - xboxOneScriptCompiler: 0 XboxOneOverrideIdentityName: vrEditorSettings: daydream: @@ -598,7 +625,7 @@ PlayerSettings: m_PortalFolderPath: luminCert: m_CertPath: - m_PrivateKeyPath: + m_SignPackage: 1 luminIsChannelApp: 0 luminVersion: m_VersionCode: 1 diff --git a/ProjectSettings/ProjectVersion.txt b/ProjectSettings/ProjectVersion.txt index 1b2cd94..4a0124a 100644 --- a/ProjectSettings/ProjectVersion.txt +++ b/ProjectSettings/ProjectVersion.txt @@ -1 +1,2 @@ -m_EditorVersion: 2018.3.6f1 +m_EditorVersion: 2019.3.0a3 +m_EditorVersionWithRevision: 2019.3.0a3 (91c086393aab) diff --git a/ProjectSettings/UnityConnectSettings.asset b/ProjectSettings/UnityConnectSettings.asset index b169ebd..06db74a 100644 --- a/ProjectSettings/UnityConnectSettings.asset +++ b/ProjectSettings/UnityConnectSettings.asset @@ -4,7 +4,7 @@ UnityConnectSettings: m_ObjectHideFlags: 0 serializedVersion: 1 - m_Enabled: 0 + m_Enabled: 1 m_TestMode: 0 m_EventOldUrl: https://api.uca.cloud.unity3d.com/v1/events m_EventUrl: https://cdp.cloud.unity3d.com/v1/events diff --git a/ProjectSettings/XRSettings.asset b/ProjectSettings/XRSettings.asset new file mode 100644 index 0000000..482590c --- /dev/null +++ b/ProjectSettings/XRSettings.asset @@ -0,0 +1,10 @@ +{ + "m_SettingKeys": [ + "VR Device Disabled", + "VR Device User Alert" + ], + "m_SettingValues": [ + "False", + "False" + ] +} \ No newline at end of file diff --git a/appveyor.yml b/appveyor.yml deleted file mode 100644 index 0d38bf0..0000000 --- a/appveyor.yml +++ /dev/null @@ -1,43 +0,0 @@ -version: '{branch}-{build}' - -branches: - only: - - master - -image: Visual Studio 2017 - -environment: - PYTHON3: "c:\\Python37" - -clone_folder: c:\proj\unity_ros2 - -before_build: - - cd c:\ - - md download - - cd download - - choco install -y wget cmake - - "SET PATH=C:\\Program Files\\CMake\\bin;%PATH%" - - appveyor DownloadFile https://github.com/ros2/choco-packages/releases/download/2018-06-12-1/asio.1.12.1.nupkg - - appveyor DownloadFile https://github.com/ros2/choco-packages/releases/download/2018-06-12-1/eigen.3.3.4.nupkg - - appveyor DownloadFile https://github.com/ros2/choco-packages/releases/download/2017-04-04-1/tinyxml-usestl.2.6.2.nupkg - - appveyor DownloadFile https://github.com/ros2/choco-packages/releases/download/2018-06-12-1/tinyxml2.6.0.0.nupkg - - choco install -y -s c:\download\ asio eigen tinyxml-usestl tinyxml2 - - choco install -y patch curl cppcheck - - setx -m OPENSSL_CONF C:\OpenSSL-Win64\bin\openssl.cfg - - set PATH=C:\OpenSSL-Win64\bin;%PATH% - - setx AMENT_PYTHON_EXECUTABLE "c:\Python37" - - refreshenv - - "SET PATH=%PYTHON3%;%PYTHON3%\\bin;%PYTHON3%\\Scripts;%PATH%" - - python -m pip install -U catkin_pkg EmPy pyparsing pyyaml setuptools colcon-common-extensions pip vcstool git+https://github.com/lark-parser/lark.git@0.7d - - python -m pip install -U pytest coverage mock flake8 flake8-blind-except flake8-builtins flake8-class-newline flake8-comprehensions flake8-deprecated flake8-docstrings flake8-import-order flake8-quotes pep8 pydocstyle - - cd c:\proj - - md unity_ws\src - - vcs import unity_ws\src < unity_ros2\ros2_unity_win10_standalone.repos - -build_script: - - cmd: call "C:\Program Files (x86)\Microsoft Visual Studio\2017\Community\Common7\Tools\VsDevCmd.bat" - - cd c:\proj\unity_ws - - "SET PATH=%PYTHON3%;%PYTHON3%\\bin;%PYTHON3%\\Scripts;%PATH%" - - python --version - - colcon build - diff --git a/package.xml b/package.xml index a28fc80..504b6c7 100644 --- a/package.xml +++ b/package.xml @@ -10,14 +10,13 @@ ament_cmake rcldotnet_common - rclcs + rcldotnet rosidl_generator_cs std_msgs geometry_msgs sensor_msgs tf2_msgs nav_msgs - nav2_msgs ament_cmake diff --git a/ros2_dotnet_dashing.repos b/ros2_dotnet_dashing.repos new file mode 100644 index 0000000..54fba5e --- /dev/null +++ b/ros2_dotnet_dashing.repos @@ -0,0 +1,34 @@ +repositories: + + unity/unity_ros2: + type: git + url: git@github.com:DynoRobotics/unity_ros2.git + version: dashing + ros2/common_interfaces: + type: git + url: https://github.com/ros2/common_interfaces.git + version: dashing + ros2/unique_identifier_msgs: + type: git + url: https://github.com/ros2/unique_identifier_msgs.git + version: dashing + ros2/rcl_interfaces: + type: git + url: https://github.com/ros2/rcl_interfaces.git + version: dashing + ros2/rosidl_defaults: + type: git + url: https://github.com/ros2/rosidl_defaults.git + version: dashing + ament_dotnet/ament_cmake_export_assemblies: + type: git + url: https://github.com/esteve/ament_cmake_export_assemblies.git + version: master + ros2_dotnet/dotnet_cmake_module: + type: git + url: https://github.com/esteve/dotnet_cmake_module.git + version: master + ros2_dotnet/ros2_dotnet: + type: git + url: https://github.com/adamdbrw/ros2_dotnet.git + version: dashing diff --git a/ros2_unity.repos b/ros2_unity.repos deleted file mode 100644 index efad1dc..0000000 --- a/ros2_unity.repos +++ /dev/null @@ -1,73 +0,0 @@ -repositories: - - # Unity ROS2 required repos - - dotnet/ament_cmake_export_assemblies: - type: git - url: https://github.com/DynoRobotics/ament_cmake_export_assemblies.git - version: dashing - - dotnet/unity_ros2: - type: git - url: https://github.com/DynoRobotics/unity_ros2.git - version: dashing - - dotnet/rcldotnet_common: - type: git - url: https://github.com/DynoRobotics/rcldotnet_common.git - version: dashing - - dotnet/rclcs: - type: git - url: https://github.com/DynoRobotics/rclcs.git - version: dashing - - dotnet/rosidl_generator_cs: - type: git - url: https://github.com/DynoRobotics/rosidl_generator_cs.git - version: dashing - - dotnet/dotnet_cmake_module: - type: git - url: https://github.com/DynoRobotics/dotnet_cmake_module.git - version: dashing - - # ROS2 dependencies - - ros2/rosidl_defaults: - type: git - url: https://github.com/ros2/rosidl_defaults.git - version: dashing - - # Messages to be generated for dotnet - ros2/test_interface_files: - type: git - url: https://github.com/ros2/test_interface_files.git - version: dashing - - ros2/geometry2: - type: git - url: https://github.com/ros2/geometry2.git - version: dashing - - ros2/rcl_interfaces: - type: git - url: https://github.com/ros2/rcl_interfaces.git - version: dashing - - ros2/common_interfaces: - type: git - url: https://github.com/ros2/common_interfaces.git - version: dashing - - ros2/unique_identifier_msgs: - type: git - url: https://github.com/ros2/unique_identifier_msgs.git - version: dashing - - ros2/nav2_msgs: - type: git - url: https://github.com/DynoRobotics/nav2_msgs.git - version: master - -