added ability to flip the turn direction

Author: micahpearlman

Runtime/Scripts/ROS/Unity/Controllers/ZODifferentialDriveController.cs

@@ -76,9 +76,7 @@ public ZOHingeJoint LeftWheelMotor {
         }
         public float _wheelRadius = 0;
         public float _wheelSeperation = 0;
-
-        // public ZO.Physics.ZOSpeedLimiter _speedLimiterLinear;
-        // public ZO.Physics.ZOSpeedLimiter _speedLimiterAngular;
+        public bool _steerOpposite = false;
 
         private float _linearVelocity = 0;
         private float _angularVelocity = 0;
@@ -138,9 +136,14 @@ protected override void ZOOnDestroy() {
         }
 
         protected override void ZOFixedUpdate() {
-            // update the motors
+            // update the motors from the twist message
             LinearVelocity = (float)-_twistMessage.linear.x * Mathf.Rad2Deg;
-            AngularVelocity = (float)_twistMessage.angular.z * Mathf.Rad2Deg;
+            if (_steerOpposite == true) {
+                AngularVelocity = (float)-_twistMessage.angular.z * Mathf.Rad2Deg;
+            } else {
+                AngularVelocity = (float)_twistMessage.angular.z * Mathf.Rad2Deg;
+            }
+            
         }
         protected override void ZOFixedUpdateHzSynchronized() {
 

Samples~/ZeroSimSamples/Scenes/ROSIMUPublish_test.unity

@@ -1681,8 +1681,8 @@ Transform:
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 1298881059}
-  m_LocalRotation: {x: 0.33100855, y: 0, z: 0, w: 0.9436278}
-  m_LocalPosition: {x: 0, y: 0.3, z: -0.19}
+  m_LocalRotation: {x: -0.1828506, y: -0.7689693, z: 0.25178373, w: -0.5584416}
+  m_LocalPosition: {x: -3.4649842, y: 5.000902, z: 4.705735}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_Children: []
   m_Father: {fileID: 0}
@@ -1700,8 +1700,8 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: 3e0e3af0b8141964b85373790012f3b9, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
-  target: {fileID: 1189395070}
-  distance: 0.2
+  target: {fileID: 1753787007}
+  distance: 1.45
   xSpeed: 60
   ySpeed: 60
   yMinLimit: -20
@@ -2109,6 +2109,7 @@ MonoBehaviour:
   _name: ros.publisher.imu_IMU
   _imuSensor: {fileID: 1753787004}
   _coordinateSystem: 1
+  _reverseLinearAccelerations: 1
 --- !u!114 &1753787004
 MonoBehaviour:
   m_ObjectHideFlags: 0
@@ -2121,11 +2122,10 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: 5c60fd8f844d425c388b59c3631f6062, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
-  _updateRateHz: 10
+  _updateRateHz: 200
   _debug: 0
   _currentUpdateHz: 0
   _currentFixedUpdateHz: 0
-  _imuId: my_imu
   _angularNoise:
     _mean: 0
     _stdDev: 0.0002
@@ -2152,7 +2152,7 @@ Rigidbody:
   m_Mass: 1
   m_Drag: 0
   m_AngularDrag: 0.05
-  m_UseGravity: 1
+  m_UseGravity: 0
   m_IsKinematic: 0
   m_Interpolate: 0
   m_Constraints: 0
@@ -2169,7 +2169,7 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: 6013e0556113f1e9f95189e724e765fc, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
-  _updateRateHz: 100
+  _updateRateHz: 10
   _debug: 0
   _currentUpdateHz: 0
   _currentFixedUpdateHz: 0
@@ -2192,21 +2192,21 @@ Transform:
   m_Father: {fileID: 0}
   m_RootOrder: 7
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
---- !u!138 &1753787008
-FixedJoint:
+--- !u!114 &1753787008
+MonoBehaviour:
   m_ObjectHideFlags: 0
   m_CorrespondingSourceObject: {fileID: 0}
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 1753787002}
-  m_ConnectedBody: {fileID: 0}
-  m_ConnectedArticulationBody: {fileID: 0}
-  m_BreakForce: Infinity
-  m_BreakTorque: Infinity
-  m_EnableCollision: 0
-  m_EnablePreprocessing: 1
-  m_MassScale: 1
-  m_ConnectedMassScale: 1
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: 1ef77affe836d7c54adde928a35ad253, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  _minMax: {x: 0, y: 2}
+  _speed: 2
+  _moveType: 3
 --- !u!1 &1764802517
 GameObject:
   m_ObjectHideFlags: 0