updated package number

Author: micahpearlman

Runtime/Scripts/Util/GameObject/ZOMoveTest.cs

@@ -12,15 +12,15 @@ public class ZOMoveTest : MonoBehaviour {
         // public float _time = 1.0f;
 
         public enum MoveTypeEnum {
-            RotateRoll,
-            RotatePitch,
-            RotateYaw,
+            RotateRollRight,
+            RotatePitchForward,
+            RotateYawRight,
             TranslateForward,
             TranslateRight,
             TranslateUp
         }
 
-        public MoveTypeEnum _moveType = MoveTypeEnum.RotateRoll;
+        public MoveTypeEnum _moveType = MoveTypeEnum.RotateRollRight;
 
 
         private Rigidbody _rigidBody;
@@ -49,13 +49,13 @@ void Update() {
         // Update is called once per frame
         void FixedUpdate() {
             if (_isRunning) {
-                if (_moveType == MoveTypeEnum.RotateRoll) {
-                    Quaternion rotation = Quaternion.Euler(_startRotationEuler + new Vector3(0, 0, _currentValue));
+                if (_moveType == MoveTypeEnum.RotateRollRight) {
+                    Quaternion rotation = Quaternion.Euler(_startRotationEuler + new Vector3(0, 0, -_currentValue));
                     _rigidBody.MoveRotation(rotation);
-                } else if (_moveType == MoveTypeEnum.RotatePitch) {
+                } else if (_moveType == MoveTypeEnum.RotatePitchForward) {
                     Quaternion rotation = Quaternion.Euler(_startRotationEuler + new Vector3(_currentValue, 0, 0));
                     _rigidBody.MoveRotation(rotation);
-                } else if (_moveType == MoveTypeEnum.RotateYaw) {
+                } else if (_moveType == MoveTypeEnum.RotateYawRight) {
                     Quaternion rotation = Quaternion.Euler(_startRotationEuler + new Vector3(0, _currentValue, 0));
                     _rigidBody.MoveRotation(rotation);
                 } else if (_moveType == MoveTypeEnum.TranslateForward) {
@@ -69,7 +69,7 @@ void FixedUpdate() {
                     _rigidBody.MovePosition(_startPosition + velocity);
                 }
 
-                _currentValue = _currentValue + (_speed * Time.fixedDeltaTime);
+                _currentValue = _currentValue + (_speed * Time.deltaTime);
 
                 if (_currentValue > _minMax.y) {
                     _isRunning = false;

Samples~/ZeroSimSamples/Scenes/ROSIMUPublish_test.unity

@@ -2110,7 +2110,7 @@ MonoBehaviour:
   _name: ros.publisher.imu_IMU
   _imuSensor: {fileID: 1753787004}
   _coordinateSystem: 1
-  _reverseLinearAccelerations: 1
+  _reverseLinearAccelerations: 0
 --- !u!114 &1753787004
 MonoBehaviour:
   m_ObjectHideFlags: 0
@@ -2206,9 +2206,9 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: 1ef77affe836d7c54adde928a35ad253, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
-  _minMax: {x: 0, y: 1}
-  _speed: 2
-  _moveType: 4
+  _minMax: {x: 0, y: 90}
+  _speed: 90
+  _moveType: 0
 --- !u!1 &1764802517
 GameObject:
   m_ObjectHideFlags: 0

package.json

@@ -1,6 +1,6 @@
 {
   "name": "com.fsstudio.zerosim",
-  "version": "0.0.20",
+  "version": "0.0.21",
   "displayName": "ZeroSim",
   "description": "ZeroSim ROS robotic simulator in Unity.",
   "unity": "2020.1",