diff --git a/install_tb3.bash b/install_tb3.bash index 47238b6..3474571 100644 --- a/install_tb3.bash +++ b/install_tb3.bash @@ -21,6 +21,7 @@ else echo "INFO: COPYING TB3Assets to hakoniwa plugin(plugin/plugin-srcs/Assets/)" cp -rp tb3/Assets/* plugin/plugin-srcs/Assets/ + cp tb3/lidar2d_tb3_spec.json plugin/plugin-srcs/ fi diff --git a/tb3/Assets/Prefab/Robots/TB3RoboModel.prefab b/tb3/Assets/Prefab/Robots/TB3RoboModel.prefab index 4d48c27..3fecf33 100644 --- a/tb3/Assets/Prefab/Robots/TB3RoboModel.prefab +++ b/tb3/Assets/Prefab/Robots/TB3RoboModel.prefab @@ -25,13 +25,13 @@ Transform: m_PrefabInstance: {fileID: 0} m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 40560067273861563} + serializedVersion: 2 m_LocalRotation: {x: 0, y: -0, z: -0, w: 1} m_LocalPosition: {x: -0.08400001, y: 0.10371897, z: -0.021000002} m_LocalScale: {x: 1, y: 1, z: 1} m_ConstrainProportionsScale: 0 m_Children: [] m_Father: {fileID: 2947842498514036354} - m_RootOrder: 160 m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0} --- !u!33 &5107659370863731521 MeshFilter: @@ -108,13 +108,13 @@ Transform: m_PrefabInstance: {fileID: 0} m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 52965218252934579} + serializedVersion: 2 m_LocalRotation: {x: 0, y: -0, z: -0, w: 1} m_LocalPosition: {x: -0.08400001, y: 0.10371897, z: -0.021000002} m_LocalScale: {x: 1, y: 1, z: 1} m_ConstrainProportionsScale: 0 m_Children: [] m_Father: {fileID: 2947842498514036354} - 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m_Script: {fileID: 11500000, guid: aae31c39f0fcf0243bc8df2699c1e557, type: 3} + m_Script: {fileID: 11500000, guid: 10b572d175f3c4a9e964455c01824fb5, type: 3} m_Name: m_EditorClassIdentifier: on: 1 - settings: - name: micon_setting - rpc_pdu_readers: - - type: geometry_msgs/Twist - org_name: cmd_vel - name: - class_name: Hakoniwa.PluggableAsset.Communication.Pdu.Raw.RawPduReader - class_path: - conv_class_name: Hakoniwa.PluggableAsset.Communication.Pdu.Raw.RawPduReaderConverter - conv_class_path: - channel_id: 0 - pdu_size: 48 - method_type: UDP - rpc_pdu_writers: - - type: sensor_msgs/JointState - org_name: joint_states - name: - class_name: Hakoniwa.PluggableAsset.Communication.Pdu.Raw.RawPduWriter - class_path: - conv_class_name: Hakoniwa.PluggableAsset.Communication.Pdu.Raw.RawPduWriterConverter - conv_class_path: - channel_id: 1 - pdu_size: 440 - write_cycle: 1 - method_type: UDP - - type: sensor_msgs/Imu - org_name: imu - name: - class_name: Hakoniwa.PluggableAsset.Communication.Pdu.Raw.RawPduWriter - class_path: - conv_class_name: Hakoniwa.PluggableAsset.Communication.Pdu.Raw.RawPduWriterConverter - conv_class_path: - channel_id: 2 - pdu_size: 432 - write_cycle: 1 - method_type: UDP - - type: nav_msgs/Odometry - org_name: odom - name: - class_name: Hakoniwa.PluggableAsset.Communication.Pdu.Raw.RawPduWriter - class_path: - conv_class_name: Hakoniwa.PluggableAsset.Communication.Pdu.Raw.RawPduWriterConverter - conv_class_path: - channel_id: 3 - pdu_size: 944 - write_cycle: 1 - method_type: UDP - - type: tf2_msgs/TFMessage - org_name: tf - name: - class_name: Hakoniwa.PluggableAsset.Communication.Pdu.Raw.RawPduWriter - class_path: - conv_class_name: Hakoniwa.PluggableAsset.Communication.Pdu.Raw.RawPduWriterConverter - conv_class_path: - channel_id: 4 - pdu_size: 320 - write_cycle: 1 - method_type: UDP - - type: sensor_msgs/Image - org_name: image - name: - class_name: Hakoniwa.PluggableAsset.Communication.Pdu.Raw.RawPduWriter - class_path: - conv_class_name: Hakoniwa.PluggableAsset.Communication.Pdu.Raw.RawPduWriterConverter - 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serializedVersion: 2 + serializedVersion: 3 m_Size: {x: 1, y: 1, z: 1} m_Center: {x: 0, y: 0, z: 0} --- !u!23 &1756242725 @@ -1216,13 +1335,13 @@ Transform: m_PrefabInstance: {fileID: 0} m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 1756242723} + serializedVersion: 2 m_LocalRotation: {x: -0.030843573, y: 0.7064338, z: -0.030843573, w: 0.7064338} m_LocalPosition: {x: -4.94, y: 0.22, z: -7.61} m_LocalScale: {x: 5, y: 0.1, z: 4} m_ConstrainProportionsScale: 0 m_Children: [] m_Father: {fileID: 0} - m_RootOrder: 7 m_LocalEulerAnglesHint: {x: 0, y: 90, z: -5} --- !u!1 &2049217763 GameObject: @@ -1248,6 +1367,7 @@ Transform: m_PrefabInstance: {fileID: 0} m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 2049217763} + serializedVersion: 2 m_LocalRotation: {x: 0, y: 0, z: 0, w: 1} m_LocalPosition: {x: 0, y: 0.7, z: -13.2} m_LocalScale: {x: 1, y: 1, z: 1} @@ -1256,7 +1376,6 @@ Transform: - {fileID: 1095413994} - {fileID: 1044939643281234681} m_Father: {fileID: 0} - m_RootOrder: 3 m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0} --- !u!114 &2049217765 MonoBehaviour: @@ -1280,6 +1399,7 @@ PrefabInstance: m_ObjectHideFlags: 0 serializedVersion: 2 m_Modification: + serializedVersion: 3 m_TransformParent: {fileID: 2049217764} m_Modifications: - target: {fileID: 4337114108617291589, guid: 2e35426f189d74c4abddde6553877601, type: 3} @@ -1331,4 +1451,22 @@ PrefabInstance: value: TB3RoboModelTestDriver objectReference: {fileID: 0} m_RemovedComponents: [] + m_RemovedGameObjects: [] + m_AddedGameObjects: [] + m_AddedComponents: [] m_SourcePrefab: {fileID: 100100000, guid: 2e35426f189d74c4abddde6553877601, type: 3} +--- !u!1660057539 &9223372036854775807 +SceneRoots: + m_ObjectHideFlags: 0 + m_Roots: + - {fileID: 705507995} + - {fileID: 1666964262} + - {fileID: 947674276} + - {fileID: 2049217764} + - {fileID: 1120969510} + - {fileID: 604538895} + - {fileID: 1480245660} + - {fileID: 1756242727} + - {fileID: 991209658} + - {fileID: 516256875} + - {fileID: 1538210795} diff --git a/tb3/Assets/Scripts/HakoAssets/PluggableAsset/Assets/Robot/TB3/CameraSensor.cs b/tb3/Assets/Scripts/HakoAssets/PluggableAsset/Assets/Robot/TB3/CameraSensor.cs index a92fc0f..836dd1f 100644 --- a/tb3/Assets/Scripts/HakoAssets/PluggableAsset/Assets/Robot/TB3/CameraSensor.cs +++ b/tb3/Assets/Scripts/HakoAssets/PluggableAsset/Assets/Robot/TB3/CameraSensor.cs @@ -6,7 +6,7 @@ namespace Hakoniwa.PluggableAsset.Assets.Robot.TB3 { - public class CameraSensor : MonoBehaviour, IRobotPartsSensor + public class CameraSensor : MonoBehaviour, IRobotPartsSensor, IRobotPartsConfig { private GameObject root; private GameObject sensor; @@ -188,28 +188,76 @@ public void UpdateSensorValues() public RosTopicMessageConfig[] getRosConfig() { - RosTopicMessageConfig[] cfg = new RosTopicMessageConfig[topic_type.Length]; - int i = 0; - for (i = 0; i < topic_type.Length; i++) - { - cfg[i] = new RosTopicMessageConfig(); - cfg[i].topic_message_name = this.topic_name[i]; - cfg[i].topic_type_name = this.topic_type[i]; - cfg[i].sub = false; - cfg[i].pub_option = new RostopicPublisherOption(); - cfg[i].pub_option.cycle_scale = this.update_cycle[i]; - cfg[i].pub_option.latch = false; - cfg[i].pub_option.queue_size = 1; - } - - return cfg; + var pcfg = GetRoboPartsConfig(); + RosTopicMessageConfig[] cfg = new RosTopicMessageConfig[pcfg.Length]; + for (int i = 0; i < pcfg.Length; i++) + { + cfg[i] = new RosTopicMessageConfig(); + cfg[i].topic_message_name = this.topic_name[i]; + cfg[i].topic_type_name = this.topic_type[i]; + if (pcfg[i].io_dir == IoDir.READ) + { + cfg[i].sub = true; + } + else + { + cfg[i].sub = false; + } + } + + return cfg; } public bool isAttachedSpecificController() { return false; - } + } + + public IoMethod io_method = IoMethod.SHM; + public CommMethod comm_method = CommMethod.DIRECT; + public RoboPartsConfigData[] GetRoboPartsConfig() + { + RoboPartsConfigData[] configs = new RoboPartsConfigData[3]; + int i = 0; + //sensor_msgs/Image + configs[i] = new RoboPartsConfigData(); + configs[i].io_dir = IoDir.WRITE; + configs[i].io_method = this.io_method; + configs[i].value.org_name = this.topic_name[i]; + configs[i].value.type = this.topic_type[i]; + configs[i].value.class_name = ConstantValues.pdu_writer_class; + configs[i].value.conv_class_name = ConstantValues.conv_pdu_writer_class; + configs[i].value.pdu_size = 1229080 + ConstantValues.PduMetaDataSize; + configs[i].value.write_cycle = this.update_cycle[i]; + configs[i].value.method_type = this.comm_method.ToString(); + i++; + + //sensor_msgs/CompressedImage + configs[i] = new RoboPartsConfigData(); + configs[i].io_dir = IoDir.WRITE; + configs[i].io_method = this.io_method; + configs[i].value.org_name = this.topic_name[i]; + configs[i].value.type = this.topic_type[i]; + configs[i].value.class_name = ConstantValues.pdu_writer_class; + configs[i].value.conv_class_name = ConstantValues.conv_pdu_writer_class; + configs[i].value.pdu_size = 1229064 + ConstantValues.PduMetaDataSize; + configs[i].value.write_cycle = this.update_cycle[i]; + configs[i].value.method_type = this.comm_method.ToString(); + i++; + //sensor_msgs/CameraInfo + configs[i] = new RoboPartsConfigData(); + configs[i].io_dir = IoDir.WRITE; + configs[i].io_method = this.io_method; + configs[i].value.org_name = this.topic_name[i]; + configs[i].value.type = this.topic_type[i]; + configs[i].value.class_name = ConstantValues.pdu_writer_class; + configs[i].value.conv_class_name = ConstantValues.conv_pdu_writer_class; + configs[i].value.pdu_size = 580 + ConstantValues.PduMetaDataSize; + configs[i].value.write_cycle = this.update_cycle[i]; + configs[i].value.method_type = this.comm_method.ToString(); + return configs; + } } } diff --git a/tb3/Assets/Scripts/HakoAssets/PluggableAsset/Assets/Robot/TB3/CameraSensorRenderTexture.renderTexture b/tb3/Assets/Scripts/HakoAssets/PluggableAsset/Assets/Robot/TB3/CameraSensorRenderTexture.renderTexture index 5648578..ee660f8 100644 --- a/tb3/Assets/Scripts/HakoAssets/PluggableAsset/Assets/Robot/TB3/CameraSensorRenderTexture.renderTexture +++ b/tb3/Assets/Scripts/HakoAssets/PluggableAsset/Assets/Robot/TB3/CameraSensorRenderTexture.renderTexture @@ -26,6 +26,7 @@ RenderTexture: m_UseDynamicScale: 0 m_BindMS: 0 m_EnableCompatibleFormat: 1 + m_EnableRandomWrite: 0 m_TextureSettings: serializedVersion: 2 m_FilterMode: 1 diff --git a/tb3/Assets/Scripts/HakoAssets/PluggableAsset/Assets/Robot/TB3/IMUSensor.cs b/tb3/Assets/Scripts/HakoAssets/PluggableAsset/Assets/Robot/TB3/IMUSensor.cs index 02be79d..035eb46 100644 --- a/tb3/Assets/Scripts/HakoAssets/PluggableAsset/Assets/Robot/TB3/IMUSensor.cs +++ b/tb3/Assets/Scripts/HakoAssets/PluggableAsset/Assets/Robot/TB3/IMUSensor.cs @@ -10,7 +10,7 @@ namespace Assets.Scripts.Hakoniwa.PluggableAsset.Assets.Robot.TB3 { - class IMUSensor : MonoBehaviour, IRobotPartsSensor + class IMUSensor : MonoBehaviour, IRobotPartsSensor, IRobotPartsConfig { private GameObject root; private GameObject sensor; @@ -205,21 +205,24 @@ private IRobotVector3 GetPosition() public RosTopicMessageConfig[] getRosConfig() { - RosTopicMessageConfig[] cfg = new RosTopicMessageConfig[topic_type.Length]; - int i = 0; - for (i = 0; i < topic_type.Length; i++) - { - cfg[i] = new RosTopicMessageConfig(); - cfg[i].topic_message_name = this.topic_name[i]; - cfg[i].topic_type_name = this.topic_type[i]; - cfg[i].sub = false; - cfg[i].pub_option = new RostopicPublisherOption(); - cfg[i].pub_option.cycle_scale = this.update_cycle[i]; - cfg[i].pub_option.latch = false; - cfg[i].pub_option.queue_size = 1; - } - - return cfg; + var pcfg = GetRoboPartsConfig(); + RosTopicMessageConfig[] cfg = new RosTopicMessageConfig[pcfg.Length]; + for (int i = 0; i < pcfg.Length; i++) + { + cfg[i] = new RosTopicMessageConfig(); + cfg[i].topic_message_name = this.topic_name[i]; + cfg[i].topic_type_name = this.topic_type[i]; + if (pcfg[i].io_dir == IoDir.READ) + { + cfg[i].sub = true; + } + else + { + cfg[i].sub = false; + } + } + + return cfg; } public bool isAttachedSpecificController() { @@ -340,7 +343,50 @@ private void CalcOdometry() this.pdu_odometry.GetWriteOps().Ref("twist").Ref("twist").Ref("angular").SetData("x", (double)delta_angle.x / Time.fixedDeltaTime); this.pdu_odometry.GetWriteOps().Ref("twist").Ref("twist").Ref("angular").SetData("y", (double)delta_angle.y / Time.fixedDeltaTime); this.pdu_odometry.GetWriteOps().Ref("twist").Ref("twist").Ref("angular").SetData("z", (double)delta_angle.z / Time.fixedDeltaTime); + } + + public IoMethod io_method = IoMethod.SHM; + public CommMethod comm_method = CommMethod.DIRECT; + public RoboPartsConfigData[] GetRoboPartsConfig() + { + RoboPartsConfigData[] configs = new RoboPartsConfigData[3]; + int i = 0; + //IMU + configs[i] = new RoboPartsConfigData(); + configs[i].io_dir = IoDir.WRITE; + configs[i].io_method = this.io_method; + configs[i].value.org_name = this.topic_name[i]; + configs[i].value.type = this.topic_type[i]; + configs[i].value.class_name = ConstantValues.pdu_writer_class; + configs[i].value.conv_class_name = ConstantValues.conv_pdu_writer_class; + configs[i].value.pdu_size = 432 + ConstantValues.PduMetaDataSize; + configs[i].value.write_cycle = this.update_cycle[i]; + configs[i].value.method_type = this.comm_method.ToString(); + i++; + //Odometry + configs[i] = new RoboPartsConfigData(); + configs[i].io_dir = IoDir.WRITE; + configs[i].io_method = this.io_method; + configs[i].value.org_name = this.topic_name[i]; + configs[i].value.type = this.topic_type[i]; + configs[i].value.class_name = ConstantValues.pdu_writer_class; + configs[i].value.conv_class_name = ConstantValues.conv_pdu_writer_class; + configs[i].value.pdu_size = 944 + ConstantValues.PduMetaDataSize; + configs[i].value.write_cycle = this.update_cycle[i]; + configs[i].value.method_type = this.comm_method.ToString(); + i++; + //TFMessage + configs[i] = new RoboPartsConfigData(); + configs[i].io_dir = IoDir.WRITE; + configs[i].io_method = this.io_method; + configs[i].value.org_name = this.topic_name[i]; + configs[i].value.type = this.topic_type[i]; + configs[i].value.class_name = ConstantValues.pdu_writer_class; + configs[i].value.conv_class_name = ConstantValues.conv_pdu_writer_class; + configs[i].value.pdu_size = 512 + ConstantValues.PduMetaDataSize; + configs[i].value.write_cycle = this.update_cycle[i]; + configs[i].value.method_type = this.comm_method.ToString(); + return configs; } - } } diff --git a/tb3/Assets/Scripts/HakoAssets/PluggableAsset/Assets/Robot/TB3/IMUSensorArticulationBody.cs b/tb3/Assets/Scripts/HakoAssets/PluggableAsset/Assets/Robot/TB3/IMUSensorArticulationBody.cs index 8cfcc58..9276fe3 100644 --- a/tb3/Assets/Scripts/HakoAssets/PluggableAsset/Assets/Robot/TB3/IMUSensorArticulationBody.cs +++ b/tb3/Assets/Scripts/HakoAssets/PluggableAsset/Assets/Robot/TB3/IMUSensorArticulationBody.cs @@ -12,7 +12,7 @@ namespace Assets.Scripts.Hakoniwa.PluggableAsset.Assets.Robot.TB3 { - class IMUSensorArticulationBody : MonoBehaviour, IRobotPartsSensor + class IMUSensorArticulationBody : MonoBehaviour, IRobotPartsSensor, IRobotPartsConfig { private GameObject root; private GameObject sensor; @@ -208,21 +208,67 @@ private IRobotVector3 GetPosition() public RosTopicMessageConfig[] getRosConfig() { - RosTopicMessageConfig[] cfg = new RosTopicMessageConfig[topic_type.Length]; - int i = 0; - for (i = 0; i < topic_type.Length; i++) - { - cfg[i] = new RosTopicMessageConfig(); - cfg[i].topic_message_name = this.topic_name[i]; - cfg[i].topic_type_name = this.topic_type[i]; - cfg[i].sub = false; - cfg[i].pub_option = new RostopicPublisherOption(); - cfg[i].pub_option.cycle_scale = this.update_cycle[i]; - cfg[i].pub_option.latch = false; - cfg[i].pub_option.queue_size = 1; - } - - return cfg; + var pcfg = GetRoboPartsConfig(); + RosTopicMessageConfig[] cfg = new RosTopicMessageConfig[pcfg.Length]; + for (int i = 0; i < pcfg.Length; i++) + { + cfg[i] = new RosTopicMessageConfig(); + cfg[i].topic_message_name = this.topic_name[i]; + cfg[i].topic_type_name = this.topic_type[i]; + if (pcfg[i].io_dir == IoDir.READ) + { + cfg[i].sub = true; + } + else + { + cfg[i].sub = false; + } + } + + return cfg; + } + public IoMethod io_method = IoMethod.SHM; + public CommMethod comm_method = CommMethod.DIRECT; + public RoboPartsConfigData[] GetRoboPartsConfig() + { + RoboPartsConfigData[] configs = new RoboPartsConfigData[3]; + int i = 0; + //IMU + configs[i] = new RoboPartsConfigData(); + configs[i].io_dir = IoDir.WRITE; + configs[i].io_method = this.io_method; + configs[i].value.org_name = this.topic_name[i]; + configs[i].value.type = this.topic_type[i]; + configs[i].value.class_name = ConstantValues.pdu_writer_class; + configs[i].value.conv_class_name = ConstantValues.conv_pdu_writer_class; + configs[i].value.pdu_size = 432 + ConstantValues.PduMetaDataSize; + configs[i].value.write_cycle = this.update_cycle[i]; + configs[i].value.method_type = this.comm_method.ToString(); + i++; + //Odometry + configs[i] = new RoboPartsConfigData(); + configs[i].io_dir = IoDir.WRITE; + configs[i].io_method = this.io_method; + configs[i].value.org_name = this.topic_name[i]; + configs[i].value.type = this.topic_type[i]; + configs[i].value.class_name = ConstantValues.pdu_writer_class; + configs[i].value.conv_class_name = ConstantValues.conv_pdu_writer_class; + configs[i].value.pdu_size = 944 + ConstantValues.PduMetaDataSize; + configs[i].value.write_cycle = this.update_cycle[i]; + configs[i].value.method_type = this.comm_method.ToString(); + i++; + //TFMessage + configs[i] = new RoboPartsConfigData(); + configs[i].io_dir = IoDir.WRITE; + configs[i].io_method = this.io_method; + configs[i].value.org_name = this.topic_name[i]; + configs[i].value.type = this.topic_type[i]; + configs[i].value.class_name = ConstantValues.pdu_writer_class; + configs[i].value.conv_class_name = ConstantValues.conv_pdu_writer_class; + configs[i].value.pdu_size = 512 + ConstantValues.PduMetaDataSize; + configs[i].value.write_cycle = this.update_cycle[i]; + configs[i].value.method_type = this.comm_method.ToString(); + return configs; } public bool isAttachedSpecificController() { @@ -344,6 +390,5 @@ private void CalcOdometry() this.pdu_odometry.GetWriteOps().Ref("twist").Ref("twist").Ref("angular").SetData("y", (double)delta_angle.y / Time.fixedDeltaTime); this.pdu_odometry.GetWriteOps().Ref("twist").Ref("twist").Ref("angular").SetData("z", (double)delta_angle.z / Time.fixedDeltaTime); } - } } diff --git a/tb3/Assets/Scripts/HakoAssets/PluggableAsset/Assets/Robot/TB3/MotorController.cs b/tb3/Assets/Scripts/HakoAssets/PluggableAsset/Assets/Robot/TB3/MotorController.cs index 08c2200..86dceaf 100644 --- a/tb3/Assets/Scripts/HakoAssets/PluggableAsset/Assets/Robot/TB3/MotorController.cs +++ b/tb3/Assets/Scripts/HakoAssets/PluggableAsset/Assets/Robot/TB3/MotorController.cs @@ -25,7 +25,7 @@ enum MotorType MotorType_Left, MotorType_Num } - public class MotorController : MonoBehaviour, IRobotPartsController + public class MotorController : MonoBehaviour, IRobotPartsController, IRobotPartsConfig { private GameObject root; private string root_name; @@ -199,27 +199,24 @@ private float GetDeltaMovingDistance() }; public RosTopicMessageConfig[] getRosConfig() { - RosTopicMessageConfig[] cfg = new RosTopicMessageConfig[topic_type.Length]; - int i = 0; - for (i = 0; i < topic_type.Length; i++) - { - cfg[i] = new RosTopicMessageConfig(); - cfg[i].topic_message_name = this.topic_name[i]; - cfg[i].topic_type_name = this.topic_type[i]; - if (cfg[i].topic_message_name == "cmd_vel") - { - cfg[i].sub = true; - } - else - { - cfg[i].sub = false; - } - cfg[i].pub_option = new RostopicPublisherOption(); - cfg[i].pub_option.cycle_scale = this.update_cycle[i]; - cfg[i].pub_option.latch = false; - cfg[i].pub_option.queue_size = 1; - } - return cfg; + var pcfg = GetRoboPartsConfig(); + RosTopicMessageConfig[] cfg = new RosTopicMessageConfig[pcfg.Length]; + for (int i = 0; i < pcfg.Length; i++) + { + cfg[i] = new RosTopicMessageConfig(); + cfg[i].topic_message_name = this.topic_name[i]; + cfg[i].topic_type_name = this.topic_type[i]; + if (pcfg[i].io_dir == IoDir.READ) + { + cfg[i].sub = true; + } + else + { + cfg[i].sub = false; + } + } + + return cfg; } public void DoControl() { @@ -250,6 +247,40 @@ private void PublishJointStates() this.pdu_joint_state.GetWriteOps().SetData("position", position); this.pdu_joint_state.GetWriteOps().SetData("velocity", velocity); this.pdu_joint_state.GetWriteOps().SetData("effort", effort); - } + } + + public IoMethod io_method = IoMethod.SHM; + public CommMethod comm_method = CommMethod.DIRECT; + public RoboPartsConfigData[] GetRoboPartsConfig() + { + //JointState + RoboPartsConfigData[] configs = new RoboPartsConfigData[2]; + int i = 0; + //IMU + configs[i] = new RoboPartsConfigData(); + configs[i].io_dir = IoDir.WRITE; + configs[i].io_method = this.io_method; + configs[i].value.org_name = this.topic_name[i]; + configs[i].value.type = this.topic_type[i]; + configs[i].value.class_name = ConstantValues.pdu_writer_class; + configs[i].value.conv_class_name = ConstantValues.conv_pdu_writer_class; + configs[i].value.pdu_size = 1024 + ConstantValues.PduMetaDataSize; + configs[i].value.write_cycle = this.update_cycle[i]; + configs[i].value.method_type = this.comm_method.ToString(); + i++; + + //Twist + configs[i] = new RoboPartsConfigData(); + configs[i].io_dir = IoDir.READ; + configs[i].io_method = this.io_method; + configs[i].value.org_name = this.topic_name[i]; + configs[i].value.type = this.topic_type[i]; + configs[i].value.class_name = ConstantValues.pdu_reader_class; + configs[i].value.conv_class_name = ConstantValues.conv_pdu_reader_class; + configs[i].value.pdu_size = 48 + ConstantValues.PduMetaDataSize; + configs[i].value.write_cycle = this.update_cycle[i]; + configs[i].value.method_type = this.comm_method.ToString(); + return configs; + } } } diff --git a/tb3/lidar2d_tb3_spec.json b/tb3/lidar2d_tb3_spec.json new file mode 100644 index 0000000..fd0c6d7 --- /dev/null +++ b/tb3/lidar2d_tb3_spec.json @@ -0,0 +1,24 @@ +{ + "frame_id": "laser", + "DetectionDistance": { + "Min": 120, + "Max": 3500 + }, + "DistanceAccuracy": { + "type": "dependent", + "DistanceDepedentAccuracy": { + "Percentage": 3.5, + "NoiseDistribution": "Gaussian" + } + }, + "AngleRange": { + "Min": 0.0, + "Max": 360.0, + "Resolution": 1, + "ScanFrequency": 5 + }, + "InvalidMeasurement": { + "Probability": 0.0, + "InvalidValue": "Max" + } +} diff --git a/update_source.bash b/update_source.bash index 0419878..c16e02b 100644 --- a/update_source.bash +++ b/update_source.bash @@ -8,3 +8,6 @@ cp plugin/plugin-srcs/Assets/Prefab/Robots/TB3* tb3/Assets/Prefab/Robots/ # scripts cp -rp plugin/plugin-srcs/Assets/Scripts/HakoAssets/PluggableAsset/Assets/Robot/TB3 tb3/Assets/Scripts/HakoAssets/PluggableAsset/Assets/Robot/ + +# specs +cp plugin/plugin-srcs/lidar2d_tb3_spec.json tb3/ \ No newline at end of file