fixed some import errors. added urdf import documentation.

Author: micahpearlman

README.md

@@ -13,6 +13,7 @@
     - [Running Image Segmentation Test](#running-image-segmentation-test)
     - [Export URDF](#export-urdf)
     - [Import URDF](#import-urdf)
+      - [LEO Robot Example](#leo-robot-example)
 
 ZeroSim is a robotics simulation engine built on the easy to use [Unity 3D](https://unity.com/)  development platform and the power of the [Robotics Operating System (ROS)](https://www.ros.org/).  ZeroSim is designed for ease of use and rapid development of all sorts of robotics and simulation -- from warehouses and industrial settings, to farming and outdoors -- from robotic arms to ground and drone based mobile robots.
 
@@ -220,3 +221,78 @@ roslaunch zero_sim_ros basic_unity_editor.launch
 ### Import URDF
 
 1. Right click and select `ZeroSim --> Import URDF...`
+
+#### LEO Robot Example
+
+1. Clone the Leo robot: `git clone --recursive https://github.com/LeoRover/leo_common.git`
+2. Checkout Melodic version.  `cd leo_common && git checkout melodic`.
+3. Startup ZeroSim Docker mounting the LEO directory:
+
+```
+
+# make sure you are in parent directory for `leo_common`
+cd .. 
+
+# run docker
+docker run -it --rm \
+--publish=9090:9090 \
+--publish=11311:11311 \
+--publish=8083:8083 \
+--publish=80:80 \
+--publish=5678:5678 \
+--name my_zerosim_vnc_docker \
+--volume=$(pwd)/leo_common/:/catkin_ws/src/leo_common/ \
+zerodog/zerosim_ros_vnc:latest \
+bash
+```
+4. In the Docker command prompt build the catkin workspace:
+
+```
+source devel/setup.bash
+catkin build
+# Make sure to source ROS again to get the new LEO robot
+source devel/setup.bash
+```
+5. In the Docker command prompt Run XAcro on the LEO robot to get the URDF:
+
+```
+rosrun xacro xacro src/leo_common/leo_description/urdf/leo_sim.urdf.xacro > /tmp/leo_sim.urdf
+```
+6. Convert LEO robot meshes to .obj for Unity.  In the Docker command prompt:
+
+```
+/zerosim_tools/convert_meshes_to_obj.sh ./src/leo_common/leo_description/models
+```
+
+7. Copy URDF from Docker to host:
+
+```
+# create a directory to store the URDF and meshes
+mkdir my_leo_robot
+
+# copy the URDF
+docker cp my_zerosim_vnc_docker:/tmp/leo_sim.urdf ./my_leo_robot 
+```
+
+8. Copy Meshes from Docker to host:
+
+```
+# Note we are preserving the path
+docker cp my_zerosim_vnc_docker:/catkin_ws/src/leo_common/leo_description/models ./my_leo_robot/leo_description/models
+```
+
+9. Fix the URDF paths to the meshes:
+
+```
+# First fix up the .DAEs to point to the OBJs
+sed -i 's#.dae#.obj#g' my_leo_robot/leo_sim.urdf
+
+# The fix up the .STLs to point to the OBJs
+sed -i 's#.stl#.obj#g' my_leo_robot/leo_sim.urdf
+
+# Now remove the `package://` because we are using the filesystem
+sed -i 's#package://#./#g' my_leo_robot/leo_sim.urdf 
+
+```
+
+10. In Unity import URDF by: Right click and select `ZeroSim --> Import URDF...`

Runtime/Scripts/Util/ImportExport/ZOImportOBJ.cs

@@ -109,6 +109,7 @@ protected static Material[] ImportMTLFile(string mtlFilePath) {
         }
 
         public static GameObject Import(string objFilePath, bool splitByMaterial ) {
+            Debug.Log($"INFO: Importing OBJ file: {objFilePath}");
             using (StreamReader streamReader = new StreamReader(objFilePath)) {
                 return Import(streamReader, Path.GetFileNameWithoutExtension(objFilePath), Path.GetDirectoryName(objFilePath), splitByMaterial);
             }

Runtime/Scripts/Util/ImportExport/ZOImportURDF.cs

@@ -136,7 +136,7 @@ public static ZOSimDocumentRoot Import(XmlDocument xmlDocument, string workingDi
 
                         XmlNode xmlBox = xmlGeom.GetChildByName("box");
                         if (xmlBox != null) {
-                            collisionGeo = new GameObject("box_collider"); 
+                            collisionGeo = new GameObject("box_collider");
                             BoxCollider boxCollider = collisionGeo.AddComponent<BoxCollider>();
                             Vector3 size = xmlBox.Attributes["size"].Value.FromURDFStringToVector3();
 
@@ -155,7 +155,7 @@ public static ZOSimDocumentRoot Import(XmlDocument xmlDocument, string workingDi
 
                             GameObject.DestroyImmediate(collisionGeo.GetComponent<MeshRenderer>());
                             GameObject.DestroyImmediate(collisionGeo.GetComponent<MeshFilter>());
-                            
+
                         }
 
                         XmlNode xmlSphere = xmlGeom.GetChildByName("sphere");
@@ -259,9 +259,14 @@ public static ZOSimDocumentRoot Import(XmlDocument xmlDocument, string workingDi
                 if (xmlWorkingJoint != null) {
                     // set the transform
                     XmlNode xmlOrigin = xmlWorkingJoint.GetChildByName("origin");
-                    Tuple<Vector3, Quaternion> transform = OriginXMLToUnity(xmlOrigin);
-                    linkChild.transform.localPosition = transform.Item1;
-                    linkChild.transform.localRotation = transform.Item2;
+                    Tuple<Vector3, Quaternion> transform = new Tuple<Vector3, Quaternion>(Vector3.zero, Quaternion.identity);
+                    if (xmlOrigin != null) {
+                        transform = OriginXMLToUnity(xmlOrigin);
+                        linkChild.transform.localPosition = transform.Item1;
+                        linkChild.transform.localRotation = transform.Item2;
+                    } else {
+                        Debug.LogWarning("WARNING: Origin is null");
+                    }
 
                     // add rigidbody components
                     Rigidbody childRigidBody = null;
@@ -300,7 +305,7 @@ public static ZOSimDocumentRoot Import(XmlDocument xmlDocument, string workingDi
                             if (childRigidBody == null) {
                                 childRigidBody = linkChild.AddComponent<Rigidbody>();
                             }
-                            
+
                         }
                         hingeJoint.ConnectedBody = childRigidBody;
                         hingeJoint.Anchor = transform.Item1;
@@ -328,15 +333,22 @@ public static ZOSimDocumentRoot Import(XmlDocument xmlDocument, string workingDi
 
         protected static Tuple<Vector3, Quaternion> OriginXMLToUnity(XmlNode xmlOrigin) {
             Vector3 translation = Vector3.zero;
-            string xyz = xmlOrigin.Attributes["xyz"].Value;
-            if (xyz != null && xyz != "") {
-                translation = xyz.FromURDFStringToVector3().Ros2Unity();
+            if (xmlOrigin.Attributes["xyz"] != null) {
+                string xyz = xmlOrigin.Attributes["xyz"].Value;
+
+                if (xyz != null && xyz != "") {
+                    translation = xyz.FromURDFStringToVector3().Ros2Unity();
+                }
+
             }
 
             Quaternion rotation = Quaternion.identity;
-            string rpy = xmlOrigin.Attributes["rpy"].Value;
-            if (rpy != null && rpy != "") {
-                rotation = rpy.FromURDFStringToVector3().RosRollPitchYawToQuaternion();
+            if (xmlOrigin.Attributes["rpy"] != null) {
+                string rpy = xmlOrigin.Attributes["rpy"].Value;
+                if (rpy != null && rpy != "") {
+                    rotation = rpy.FromURDFStringToVector3().RosRollPitchYawToQuaternion();
+                }
+
             }
             Tuple<Vector3, Quaternion> transform = new Tuple<Vector3, Quaternion>(translation, rotation);
 

package.json

@@ -1,6 +1,6 @@
 {
   "name": "com.fsstudio.zerosim",
-  "version": "0.1.17",
+  "version": "0.1.18",
   "displayName": "ZeroSim",
   "description": "ZeroSim ROS robotic simulator in Unity.",
   "unity": "2020.1",