Fix velocity bug and possibly fix scan bug

- Velocity bug is where the reported velocity was much lower than actual. Also, the control signal expected -1.0 to 1.0 when it should have been any range because it is a velocity based control. - Scan bug is where scan does not always initalize correctly and sometimes does not output values. This is likely a race condition that was probably fixed in this commit.
SoonerRobotics · Feb 17, 2020 · a48d552 · a48d552
1 parent d552972
commit a48d552
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Showing 6 changed files with 61 additions and 32 deletions.
diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/LaserScanPublisher.cs b/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/LaserScanPublisher.cs
@@ -14,6 +14,7 @@ limitations under the License.
 */
 
 using UnityEngine;
+using System.Collections;
 
 namespace RosSharp.RosBridgeClient
 {
@@ -29,7 +30,8 @@ public class LaserScanPublisher : UnityPublisher<MessageTypes.Sensor.LaserScan>
         protected override void Start()
         {
             base.Start();
-            InitializeMessage();
+
+            StartCoroutine(InitializeMessage());
         }
 
         private void FixedUpdate()
@@ -41,8 +43,14 @@ private void FixedUpdate()
             }
         }
 
-        private void InitializeMessage()
+        private IEnumerator InitializeMessage()
         {
+            // Attempt to fix possible race condition by waiting for laser scan reader?
+            while (!(laserScanReader))
+            {
+                yield return new WaitForSeconds(0.5f);
+            }
+
             scanPeriod = (float)laserScanReader.samples / (float)laserScanReader.update_rate;
 
             message = new MessageTypes.Sensor.LaserScan

diff --git a/Assets/Scenes/Menu.unity b/Assets/Scenes/Menu.unity
@@ -431,7 +431,7 @@ RectTransform:
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
   m_AnchorMin: {x: 0, y: 0}
   m_AnchorMax: {x: 1, y: 1}
-  m_AnchoredPosition: {x: 0, y: -0.0005493164}
+  m_AnchoredPosition: {x: 0, y: 0}
   m_SizeDelta: {x: 0, y: 0}
   m_Pivot: {x: 0.5, y: 1}
 --- !u!114 &371560650
@@ -1268,7 +1268,7 @@ MonoBehaviour:
   m_TargetGraphic: {fileID: 1377950902}
   m_HandleRect: {fileID: 1377950901}
   m_Direction: 2
-  m_Value: 1
+  m_Value: 0
   m_Size: 1
   m_NumberOfSteps: 0
   m_OnValueChanged:

diff --git a/Assets/Scripts/SimpleCarController.cs b/Assets/Scripts/SimpleCarController.cs
@@ -30,12 +30,12 @@ public void FixedUpdate()
         {
 
             float psi = transform.rotation.eulerAngles.y * Mathf.Deg2Rad;
-            float left;
-            float right;
+            float left, right;
+
             if (useController)
             {
-                left = Mathf.Pow(Input.GetAxis("Vertical"), 3);
-                right = -Mathf.Pow(Input.GetAxis("Vertical2"), 3);
+                left = Mathf.Pow(Input.GetAxis("Vertical"), 3) * speedMod;
+                right = -Mathf.Pow(Input.GetAxis("Vertical2"), 3) * speedMod;
             }
             else
             {
@@ -51,9 +51,9 @@ public void FixedUpdate()
             float dot_x = (vr + (vl - vr) / 4.0f) * Mathf.Sin(psi);
             float dot_y = (vr + (vl - vr) / 4.0f) * Mathf.Cos(psi);
 
-            transform.Translate(new Vector3(dot_x, 0, dot_y) * Time.deltaTime * speedMod, Space.World);
+            transform.Translate(new Vector3(dot_x, 0, dot_y) * Time.fixedDeltaTime, Space.World);
 
-            transform.Rotate(new Vector3(0, psi_dot * Mathf.Rad2Deg, 0) * Time.deltaTime * turnMod, Space.World);
+            transform.Rotate(new Vector3(0, psi_dot * Mathf.Rad2Deg, 0) * Time.fixedDeltaTime, Space.World);
 
         }
     }

diff --git a/Packages/manifest.json b/Packages/manifest.json
@@ -4,7 +4,7 @@
     "com.unity.ext.nunit": "1.0.0",
     "com.unity.ide.rider": "1.1.4",
     "com.unity.ide.vscode": "1.1.4",
-    "com.unity.test-framework": "1.1.9",
+    "com.unity.test-framework": "1.1.11",
     "com.unity.textmeshpro": "2.0.1",
     "com.unity.timeline": "1.2.10",
     "com.unity.ugui": "1.0.0",

diff --git a/ProjectSettings/ProjectSettings.asset b/ProjectSettings/ProjectSettings.asset
@@ -3,7 +3,7 @@
 --- !u!129 &1
 PlayerSettings:
   m_ObjectHideFlags: 0
-  serializedVersion: 18
+  serializedVersion: 20
   productGUID: 36a539fc7dba8c041bafef7566190dad
   AndroidProfiler: 0
   AndroidFilterTouchesWhenObscured: 0
@@ -54,7 +54,6 @@ PlayerSettings:
   m_StackTraceTypes: 010000000100000001000000010000000100000001000000
   iosShowActivityIndicatorOnLoading: -1
   androidShowActivityIndicatorOnLoading: -1
-  displayResolutionDialog: 1
   iosUseCustomAppBackgroundBehavior: 0
   iosAllowHTTPDownload: 1
   allowedAutorotateToPortrait: 1
@@ -87,15 +86,13 @@ PlayerSettings:
   useMacAppStoreValidation: 0
   macAppStoreCategory: public.app-category.games
   gpuSkinning: 1
-  graphicsJobs: 0
   xboxPIXTextureCapture: 0
   xboxEnableAvatar: 0
   xboxEnableKinect: 0
   xboxEnableKinectAutoTracking: 0
   xboxEnableFitness: 0
   visibleInBackground: 1
   allowFullscreenSwitch: 1
-  graphicsJobMode: 0
   fullscreenMode: 3
   xboxSpeechDB: 0
   xboxEnableHeadOrientation: 0
@@ -115,14 +112,15 @@ PlayerSettings:
   switchNVNShaderPoolsGranularity: 33554432
   switchNVNDefaultPoolsGranularity: 16777216
   switchNVNOtherPoolsGranularity: 16777216
+  vulkanNumSwapchainBuffers: 3
   vulkanEnableSetSRGBWrite: 0
   m_SupportedAspectRatios:
     4:3: 1
     5:4: 1
     16:10: 1
     16:9: 1
     Others: 1
-  bundleVersion: 11.0
+  bundleVersion: 14
   preloadedAssets: []
   metroInputSource: 0
   wsaTransparentSwapchain: 0
@@ -157,9 +155,9 @@ PlayerSettings:
       v2Signing: 0
     enable360StereoCapture: 0
   isWsaHolographicRemotingEnabled: 0
-  protectGraphicsMemory: 0
   enableFrameTimingStats: 0
   useHDRDisplay: 0
+  D3DHDRBitDepth: 0
   m_ColorGamuts: 00000000
   targetPixelDensity: 30
   resolutionScalingMode: 0
@@ -168,7 +166,7 @@ PlayerSettings:
   applicationIdentifier: {}
   buildNumber: {}
   AndroidBundleVersionCode: 1
-  AndroidMinSdkVersion: 16
+  AndroidMinSdkVersion: 19
   AndroidTargetSdkVersion: 0
   AndroidPreferredInstallLocation: 1
   aotOptions: 
@@ -183,10 +181,10 @@ PlayerSettings:
   StripUnusedMeshComponents: 1
   VertexChannelCompressionMask: 4054
   iPhoneSdkVersion: 988
-  iOSTargetOSVersionString: 9.0
+  iOSTargetOSVersionString: 10.0
   tvOSSdkVersion: 0
   tvOSRequireExtendedGameController: 0
-  tvOSTargetOSVersionString: 9.0
+  tvOSTargetOSVersionString: 10.0
   uIPrerenderedIcon: 0
   uIRequiresPersistentWiFi: 0
   uIRequiresFullScreen: 1
@@ -276,7 +274,6 @@ PlayerSettings:
   androidGamepadSupportLevel: 0
   AndroidValidateAppBundleSize: 1
   AndroidAppBundleSizeToValidate: 150
-  resolutionDialogBanner: {fileID: 0}
   m_BuildTargetIcons:
   - m_BuildTarget: 
     m_Icons:
@@ -302,6 +299,38 @@ PlayerSettings:
   - m_BuildTarget: WebGL
     m_StaticBatching: 0
     m_DynamicBatching: 0
+  m_BuildTargetGraphicsJobs:
+  - m_BuildTarget: MacStandaloneSupport
+    m_GraphicsJobs: 0
+  - m_BuildTarget: Switch
+    m_GraphicsJobs: 0
+  - m_BuildTarget: MetroSupport
+    m_GraphicsJobs: 0
+  - m_BuildTarget: AppleTVSupport
+    m_GraphicsJobs: 0
+  - m_BuildTarget: BJMSupport
+    m_GraphicsJobs: 0
+  - m_BuildTarget: LinuxStandaloneSupport
+    m_GraphicsJobs: 0
+  - m_BuildTarget: PS4Player
+    m_GraphicsJobs: 0
+  - m_BuildTarget: iOSSupport
+    m_GraphicsJobs: 0
+  - m_BuildTarget: WindowsStandaloneSupport
+    m_GraphicsJobs: 0
+  - m_BuildTarget: XboxOnePlayer
+    m_GraphicsJobs: 0
+  - m_BuildTarget: LuminSupport
+    m_GraphicsJobs: 0
+  - m_BuildTarget: AndroidPlayer
+    m_GraphicsJobs: 0
+  - m_BuildTarget: WebGLSupport
+    m_GraphicsJobs: 0
+  m_BuildTargetGraphicsJobMode:
+  - m_BuildTarget: PS4Player
+    m_GraphicsJobMode: 0
+  - m_BuildTarget: XboxOnePlayer
+    m_GraphicsJobMode: 0
   m_BuildTargetGraphicsAPIs:
   - m_BuildTarget: AndroidPlayer
     m_APIs: 150000000b000000
@@ -324,7 +353,6 @@ PlayerSettings:
   openGLRequireES31: 0
   openGLRequireES31AEP: 0
   openGLRequireES32: 0
-  vuforiaEnabled: 0
   m_TemplateCustomTags: {}
   mobileMTRendering:
     Android: 1
@@ -540,6 +568,7 @@ PlayerSettings:
   ps4contentSearchFeaturesUsed: 0
   ps4attribEyeToEyeDistanceSettingVR: 0
   ps4IncludedModules: []
+  ps4attribVROutputEnabled: 0
   monoEnv: 
   splashScreenBackgroundSourceLandscape: {fileID: 0}
   splashScreenBackgroundSourcePortrait: {fileID: 0}
@@ -625,7 +654,6 @@ PlayerSettings:
   XboxOneAllowedProductIds: []
   XboxOnePersistentLocalStorageSize: 0
   XboxOneXTitleMemory: 8
-  xboxOneScriptCompiler: 1
   XboxOneOverrideIdentityName: 
   vrEditorSettings:
     daydream:
@@ -644,13 +672,6 @@ PlayerSettings:
   luminVersion:
     m_VersionCode: 1
     m_VersionName: 
-  facebookSdkVersion: 7.9.4
-  facebookAppId: 
-  facebookCookies: 1
-  facebookLogging: 1
-  facebookStatus: 1
-  facebookXfbml: 0
-  facebookFrictionlessRequests: 1
   apiCompatibilityLevel: 6
   cloudProjectId: 
   framebufferDepthMemorylessMode: 0

diff --git a/ProjectSettings/ProjectVersion.txt b/ProjectSettings/ProjectVersion.txt
@@ -1,2 +1,2 @@
-m_EditorVersion: 2019.3.0f6
-m_EditorVersionWithRevision: 2019.3.0f6 (27ab2135bccf)
+m_EditorVersion: 2019.3.1f1
+m_EditorVersionWithRevision: 2019.3.1f1 (89d6087839c2)