Merge pull request #197 from hijimasa/feature/for-simulator-app

Made it possible to initialize LiDARSensor later so that it works with the built app.

Author: RyodoTanaka

Assets/UnitySensors/Runtime/Scripts/Sensors/LiDAR/DepthBufferLiDAR/DepthBufferLiDARSensor.cs

@@ -38,7 +38,17 @@ public class DepthBufferLiDARSensor : LiDARSensor
 
         protected override void Init()
         {
-            base.Init();
+            if (scanPattern == null)
+            {
+                Debug.LogWarning("Initialization postponed: scanPattern is null. Ensure that scanPattern is assigned before calling Init.");
+                return;
+            }
+            Initialize();
+        }
+
+        public override void Initialize()
+        {
+            base.Initialize();
             _transform = this.transform;
             SetupCamera();
             LoadScanData();

Assets/UnitySensors/Runtime/Scripts/Sensors/LiDAR/LiDARSensor.cs

@@ -34,6 +34,15 @@ public abstract class LiDARSensor : UnitySensor, IPointCloudInterface<PointXYZI>
         public int pointsNum { get => _pointsNumPerScan; }
 
         protected override void Init()
+        {
+            if (_scanPattern == null)
+            {
+                return;
+            }
+            Initialize();
+        }
+
+        public virtual void Initialize()
         {
             _pointsNumPerScan = Mathf.Clamp(_pointsNumPerScan, 1, scanPattern.size);
             _pointCloud = new PointCloud<PointXYZI>()

Assets/UnitySensors/Runtime/Scripts/Sensors/LiDAR/RaycastLiDAR/RaycastLiDARSensor.cs

@@ -30,7 +30,17 @@ public class RaycastLiDARSensor : LiDARSensor
 
         protected override void Init()
         {
-            base.Init();
+            if (scanPattern == null)
+            {
+                Debug.LogWarning("RaycastLiDARSensor: scanPattern is null. Initialization is delayed until scanPattern is set.");
+                return;
+            }
+            Initialize();
+        }
+
+        public override void Initialize()
+        {
+            base.Initialize();
 
             _transform = this.transform;
 

Assets/UnitySensorsROS/Runtime/Scripts/Publishers/SensorMsgs/PointCloud2Msg/LiDARPointCloud2MsgPublisher.cs

@@ -12,6 +12,11 @@ public class LiDARPointCloud2MsgPublisher : PointCloud2MsgPublisher<PointXYZI>
 
         private void Awake()
         {
+            if (_source == null)
+            {
+                Debug.LogError("Source is not set in LiDARPointCloud2MsgPublisher. Please ensure that the '_source' field is assigned in the Unity Editor or via code. Expected type: IPointCloudInterface<PointXYZI>.");
+                return;
+            }
             _serializer.SetSource(_source as IPointCloudInterface<PointXYZI>);
         }
     }