From 9fb388a23e886423cf31d9e020fc69a186290209 Mon Sep 17 00:00:00 2001 From: ReykCS Date: Thu, 15 Dec 2022 12:37:14 +0100 Subject: [PATCH 1/6] started unity integration --- arena_bringup/launch/start_arena.launch | 9 ++++- .../launch/testing/simulators/unity.launch | 36 ++++++++++++++++++ frames.gv | 9 +++++ frames.pdf | Bin 0 -> 23034 bytes 4 files changed, 53 insertions(+), 1 deletion(-) create mode 100644 arena_bringup/launch/testing/simulators/unity.launch create mode 100644 frames.gv create mode 100644 frames.pdf diff --git a/arena_bringup/launch/start_arena.launch b/arena_bringup/launch/start_arena.launch index 7e2b231a..17450f41 100755 --- a/arena_bringup/launch/start_arena.launch +++ b/arena_bringup/launch/start_arena.launch @@ -7,7 +7,7 @@ - + @@ -90,6 +90,13 @@ + + + + + + + diff --git a/arena_bringup/launch/testing/simulators/unity.launch b/arena_bringup/launch/testing/simulators/unity.launch new file mode 100644 index 00000000..f418be62 --- /dev/null +++ b/arena_bringup/launch/testing/simulators/unity.launch @@ -0,0 +1,36 @@ + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/frames.gv b/frames.gv new file mode 100644 index 00000000..5aa5f82e --- /dev/null +++ b/frames.gv @@ -0,0 +1,9 @@ +digraph G { +"map" -> "burger_0_0_odom"[label=" Broadcaster: /burger_0_0/transform_broadcaster\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"]; +"map" -> "odom"[label=" Broadcaster: /map_to_odom_tfpublisher\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"]; +"burger_0_0_odom" -> "burger_0_0_base_footprint"[label=" Broadcaster: /unity_endpoint\nAverage rate: 143.66\nBuffer length: 4.998\nMost recent transform: 20.059\nOldest transform: 15.061\n"]; +edge [style=invis]; + subgraph cluster_legend { style=bold; color=black; label ="view_frames Result"; +"Recorded at time: 20.058646202"[ shape=plaintext ] ; +}->"map"; +} \ No newline at end of file diff --git a/frames.pdf b/frames.pdf new file mode 100644 index 0000000000000000000000000000000000000000..8bf567aee6a40cc3d4c64a2540c7012a63d18f94 GIT binary patch literal 23034 zcmZs>18^q6`!%|;Hn!i`wzJ{Jwl}tIJK5Og8{4*R+qQG}_s3V?y>(}%y5~9b%$)A7 zsdIX2noM3qjE;$(4VJ9&vg#d{6~G9v{bK>k%L`zTHnuT!G6S&vgA`!_004uSxs{W# z!@t_fz{yy|*wEI<7?z(O*3rqq*uWarE%Q=cN-mQFZS!5tjcfZ))OPGegtAHmnu^S- zr~-trpYl(6K=j+S=hfqW2Gslnu?#y*#BHPZ<-VhL?59ED(DYm`^wQX(<_8&TbLXdM zcBZBKCuzk;RMYaycZu7xu0_#d5u;{T961zv#Dj*Wp)u^;ZQw`etAOtKJc~icoTk?G zI(L5qJyn*J7#p{-WNqrMH8hopMm`S<%*~Qj)@=(cKapMK%X9MfCWXg3VFg;^I{fQQ?GI&p2Smkyc6!Yvx3MD70Bx3V< z&|?8gHSMgD6v~IIWMMDnk`S;hP6md7yyqQ}l1sEfEcnqdzdlW@Y)a%Ws<4BHkfk6? 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z0s(=gAR-{JFbH(<_fG!qE7yYRq5wx??43tf+eXy{~SQ5 zl$3-N&;j_%27yRQ;O9d)fNp=;@FM`>yZe_-LKY9H{BIiwul% Date: Mon, 23 Jan 2023 00:32:59 +0100 Subject: [PATCH 4/6] removed frames gv --- frames.gv | 9 --------- 1 file changed, 9 deletions(-) delete mode 100644 frames.gv diff --git a/frames.gv b/frames.gv deleted file mode 100644 index 5aa5f82e..00000000 --- a/frames.gv +++ /dev/null @@ -1,9 +0,0 @@ -digraph G { -"map" -> "burger_0_0_odom"[label=" Broadcaster: /burger_0_0/transform_broadcaster\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"]; -"map" -> "odom"[label=" Broadcaster: /map_to_odom_tfpublisher\nAverage rate: 10000.0\nBuffer length: 0.0\nMost recent transform: 0.0\nOldest transform: 0.0\n"]; -"burger_0_0_odom" -> "burger_0_0_base_footprint"[label=" Broadcaster: /unity_endpoint\nAverage rate: 143.66\nBuffer length: 4.998\nMost recent transform: 20.059\nOldest transform: 15.061\n"]; -edge [style=invis]; - subgraph cluster_legend { style=bold; color=black; label ="view_frames Result"; -"Recorded at time: 20.058646202"[ shape=plaintext ] ; -}->"map"; -} \ No newline at end of file From ef0fc527cb3f2518e139faf208eb83b52e290c75 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Linh=20K=C3=A4stner?= Date: Thu, 19 Oct 2023 21:07:56 +0200 Subject: [PATCH 5/6] Update README.md --- README.md | 3 +++ 1 file changed, 3 insertions(+) diff --git a/README.md b/README.md index 05128f3c..7e1bfa3f 100644 --- a/README.md +++ b/README.md @@ -1,3 +1,6 @@ +# For Unity Integration +unity-ros package needs to be installed. Thus, run rosws update and compile with catkin_make. + ## Simple Installation Clone repo in any catkin ws or create new catkin ws From 991471d3334a6292783cb4ab06d1f557fbc65b68 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Linh=20K=C3=A4stner?= Date: Thu, 19 Oct 2023 21:08:55 +0200 Subject: [PATCH 6/6] Update .rosinstall --- .rosinstall | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/.rosinstall b/.rosinstall index 22e7e282..4e26fc65 100755 --- a/.rosinstall +++ b/.rosinstall @@ -28,6 +28,10 @@ local-name: ../utils/3rd-party-robot-packages uri: https://github.com/Arena-Rosnav/3rd-party-robot-packages +- git: + local-name: ../utils/unity-ros-navigation + uri: https://github.com/Arena-Rosnav/unity-ros-navigation + ### ARENA INFRASTRUCTURE - git: