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micahpearlmanmicahpearlman
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sensors working on simple amr robot
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5 files changed

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-5
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‎Runtime/Scripts/ROS/Unity/Publishers/ZOROSLaserScanPublisher.cs‎

Lines changed: 12 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -29,6 +29,8 @@ public ZOLIDAR2D LIDAR2DSensor {
2929
set => _lidar2DSensor = value;
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}
3131

32+
public string _parentTransformId;
33+
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private ZOROSTransformPublisher _transformPublisher = null;
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public ZOROSTransformPublisher TransformPublisher {
@@ -67,6 +69,15 @@ protected override void ZOOnValidate() {
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if (UpdateRateHz == 0) {
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UpdateRateHz = 10;
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}
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if (_parentTransformId == "") {
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ZOROSTransformPublisher parentTransformPublisher = transform.parent.GetComponent<ZOROSTransformPublisher>();
75+
if (parentTransformPublisher != null) {
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_parentTransformId = parentTransformPublisher.ChildFrameID;
77+
} else {
78+
_parentTransformId = "base_footprint";
79+
}
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}
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}
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private void Initialize() {
@@ -95,7 +106,7 @@ public override void OnROSBridgeDisconnected(ZOROSUnityManager rosUnityManager)
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private Task OnPublishLidarScanDelegate(ZOLIDAR2D lidar, string name, float[] ranges) {
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_rosLaserScanMessage.header.Update();
98-
_rosLaserScanMessage.header.frame_id = "base_footprint";//TransformPublisher.ChildFrameID;
109+
_rosLaserScanMessage.header.frame_id = _parentTransformId;
99110
_rosLaserScanMessage.angle_min = lidar.MinAngleDegrees * Mathf.Deg2Rad;
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_rosLaserScanMessage.angle_max = lidar.MaxAngleDegrees * Mathf.Deg2Rad;
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_rosLaserScanMessage.angle_increment = lidar.AngleIncrementDegrees * Mathf.Deg2Rad;

‎Runtime/Scripts/Sensors/LIDAR/ZOLIDAR2D.cs‎

Lines changed: 9 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -130,6 +130,7 @@ public int RayCount {
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#region ZOGameObjectBase
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// Start is called before the first frame update
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protected override void ZOStart() {
133+
base.ZOStart();
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Debug.Log("INFO: ZOLIDAR2D::Start");
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_rayCount = Mathf.RoundToInt(FOVDegrees / AngleIncrementDegrees);
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_rays = new Ray[_rayCount];
@@ -138,7 +139,14 @@ protected override void ZOStart() {
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}
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140141

141-
protected override void ZOOnDestroy() {
142+
protected override void ZOOnValidate() {
143+
base.ZOOnValidate();
144+
if (UpdateRateHz == 0) {
145+
UpdateRateHz = 10;
146+
}
147+
if (Name == "") {
148+
Name = gameObject.name + "_" + Type;
149+
}
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}
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144152
protected override void ZOFixedUpdateHzSynchronized() {

‎Runtime/Scripts/Sensors/RGBCamera/ZORGBCamera.cs‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -136,7 +136,7 @@ protected override void ZOOnValidate() {
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}
137137

138138
if (Name == "") {
139-
Name = gameObject.name + "_camera";
139+
Name = gameObject.name + "_" + Type;
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}
141141

142142

‎Samples~/ZeroSimSamples/Robots/SimpleAMR/SimpleAMR.prefab‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
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1603+
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@@ -1609,7 +1609,7 @@ MonoBehaviour:
16091609
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16111611
_maxRangeDistanceMeters: 20
1612-
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1612+
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16141614
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‎Samples~/ZeroSimSamples/Scenes/SimpleRobot_test.unity‎

Lines changed: 145 additions & 0 deletions
Original file line numberDiff line numberDiff line change
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160+
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161+
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@@ -993,6 +1128,11 @@ PrefabInstance:
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9941129
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