Upgrade packages

MobileRobotUITutorialProject/Assets/OdometryViewer/Scripts/OdometryViewer.cs

@@ -1,80 +1,80 @@
-using System.Collections;
-using System.Collections.Generic;
-using UnityEngine;
-using Unity.Robotics.ROSTCPConnector;
-using OdometryMsg = RosMessageTypes.Nav.OdometryMsg;
-using PointMsg = RosMessageTypes.Geometry.PointMsg;
-using QuaternionMsg = RosMessageTypes.Geometry.QuaternionMsg;
-
-// This script is adapted from https://github.com/YusukeKato/raspimouse_odometry_tuning_unity/blob/master/Assets/Scripts/OdometryTuner.cs
-// which is released under the MIT License.
-// Copyright (c) 2018 YusukeKato
-
-/// <summary>
-/// オドメトリ位置を可視化するためのクラス
-/// （可視化のみを行い、座標変換を含むオドメトリの位置計算は予め行っている前提）
-/// </summary>
-public class OdometryViewer : MonoBehaviour
-{
-
-    [SerializeField] bool isDebugMode = true;
-    [SerializeField] int lengthOfHistory = 10;
-    [SerializeField] float odometryDistanceThreshold = 0.03f;
-    [SerializeField] GameObject subscriberGameObject;
-
-    [SerializeField] GameObject arrowPrefab;
-
-    private List<GameObject> arrowList;
-
-    private Vector3 previousRobotPosition = new Vector3();
-
-    /// <summary>
-    /// 初期化用のイベント関数
-    /// https://docs.unity3d.com/ja/2020.3/Manual/ExecutionOrder.html
-    /// ここで点群（オドメトリの矢印）用の配列を初期化
-    /// </summary>
-    void Start()
-    {
-        arrowList = new List<GameObject>(lengthOfHistory);
-
-    }
-
-    /// <summary>
-    /// 1フレーム毎に呼び出されるイベント関数
-    /// https://docs.unity3d.com/ja/2020.3/Manual/ExecutionOrder.html
-    /// ここで点群の描画位置を決定
-    /// </summary>
-    void Update()
-    {
-        Vector3 currentRobotPosition = subscriberGameObject.GetComponent<OdomSubscriber>().GetRobotPosition();
-        Quaternion currentRobotPosture = subscriberGameObject.GetComponent<OdomSubscriber>().GetRobotPosture();
-
-        if (isDebugMode)
-        {
-            Debug.Log("diff: " + Vector3.Distance(currentRobotPosition, previousRobotPosition));
-        }
-        if (Vector3.Distance(currentRobotPosition, previousRobotPosition) > odometryDistanceThreshold)
-        {
-            GameObject arrow = Instantiate(arrowPrefab);
-            arrow.transform.parent = gameObject.transform;
-            arrow.transform.position = currentRobotPosition;
-            arrow.transform.rotation = currentRobotPosture;
-            arrow.transform.Rotate(0, 180, 0); // ロボットの向きに合わせて矢印を回転
-            if (arrowList.Count >= lengthOfHistory) {
-                Destroy(arrowList[0]);
-                arrowList.RemoveRange(0, 1);
-            }
-            arrowList.Add(arrow);
-            previousRobotPosition = currentRobotPosition;
-
-            if (isDebugMode)
-            {
-                Debug.Log("arrow list length: " + arrowList.Count);
-            }
-        }
-
-
-    }
-
-
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using Unity.Robotics.ROSTCPConnector;
+using OdometryMsg = RosMessageTypes.Nav.OdometryMsg;
+using PointMsg = RosMessageTypes.Geometry.PointMsg;
+using QuaternionMsg = RosMessageTypes.Geometry.QuaternionMsg;
+
+// This script is adapted from https://github.com/YusukeKato/raspimouse_odometry_tuning_unity/blob/master/Assets/Scripts/OdometryTuner.cs
+// which is released under the MIT License.
+// Copyright (c) 2018 YusukeKato
+
+/// <summary>
+/// オドメトリ位置を可視化するためのクラス
+/// （可視化のみを行い、座標変換を含むオドメトリの位置計算は予め行っている前提）
+/// </summary>
+public class OdometryViewer : MonoBehaviour
+{
+
+    [SerializeField] bool isDebugMode = true;
+    [SerializeField] int lengthOfHistory = 10;
+    [SerializeField] float odometryDistanceThreshold = 0.03f;
+    [SerializeField] GameObject subscriberGameObject;
+
+    [SerializeField] GameObject arrowPrefab;
+
+    private List<GameObject> arrowList;
+
+    private Vector3 previousRobotPosition = new Vector3();
+
+    /// <summary>
+    /// 初期化用のイベント関数
+    /// https://docs.unity3d.com/ja/2020.3/Manual/ExecutionOrder.html
+    /// ここで点群（オドメトリの矢印）用の配列を初期化
+    /// </summary>
+    void Start()
+    {
+        arrowList = new List<GameObject>(lengthOfHistory);
+
+    }
+
+    /// <summary>
+    /// 1フレーム毎に呼び出されるイベント関数
+    /// https://docs.unity3d.com/ja/2020.3/Manual/ExecutionOrder.html
+    /// ここで点群の描画位置を決定
+    /// </summary>
+    void Update()
+    {
+        Vector3 currentRobotPosition = subscriberGameObject.GetComponent<OdomSubscriber>().GetRobotPosition();
+        Quaternion currentRobotPosture = subscriberGameObject.GetComponent<OdomSubscriber>().GetRobotPosture();
+
+        if (isDebugMode)
+        {
+            Debug.Log("diff: " + Vector3.Distance(currentRobotPosition, previousRobotPosition));
+        }
+        if (Vector3.Distance(currentRobotPosition, previousRobotPosition) > odometryDistanceThreshold)
+        {
+            GameObject arrow = Instantiate(arrowPrefab);
+            arrow.transform.parent = gameObject.transform;
+            arrow.transform.position = currentRobotPosition;
+            arrow.transform.rotation = currentRobotPosture;
+            arrow.transform.Rotate(0, 180, 0); // ロボットの向きに合わせて矢印を回転
+            if (arrowList.Count >= lengthOfHistory) {
+                Destroy(arrowList[0]);
+                arrowList.RemoveRange(0, 1);
+            }
+            arrowList.Add(arrow);
+            previousRobotPosition = currentRobotPosition;
+
+            if (isDebugMode)
+            {
+                Debug.Log("arrow list length: " + arrowList.Count);
+            }
+        }
+
+
+    }
+
+
 }

MobileRobotUITutorialProject/Assets/Resources/GeometryCompassSettings.asset

@@ -0,0 +1,15 @@
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+%TAG !u! tag:unity3d.com,2011:
+--- !u!114 &11400000
+MonoBehaviour:
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+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 0}
+  m_Enabled: 1
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+  m_Script: {fileID: 11500000, guid: 6ad8cf01110e54df290b36a418e91285, type: 3}
+  m_Name: GeometryCompassSettings
+  m_EditorClassIdentifier: 
+  m_ZAxisDirection: 0

MobileRobotUITutorialProject/Assets/Resources/ROSConnectionPrefab.prefab

@@ -28,6 +28,7 @@ Transform:
   m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
   m_LocalPosition: {x: 0, y: 0, z: 0}
   m_LocalScale: {x: 1, y: 1, z: 1}
+  m_ConstrainProportionsScale: 0
   m_Children: []
   m_Father: {fileID: 0}
   m_RootOrder: 0
@@ -51,6 +52,9 @@ MonoBehaviour:
   m_NetworkTimeoutSeconds: 2
   m_SleepTimeSeconds: 0.01
   m_ShowHUD: 1
+  m_TFTopics:
+  - /tf
+  listenForTFMessages: 1
 --- !u!114 &304769177554254289
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   m_ObjectHideFlags: 0