diff --git a/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/LaserScanPublisher.cs b/Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/LaserScanPublisher.cs index d25ee27..922fd8d 100644 --- 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 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 index 25852eb..de09655 100644 --- 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 index b871206..93d4f2e 100644 --- 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 index 0c09dab..d73a858 100644 --- 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 index 0bdd9d8..61e4086 100644 --- 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 @@ -87,7 +86,6 @@ PlayerSettings: useMacAppStoreValidation: 0 macAppStoreCategory: public.app-category.games gpuSkinning: 1 - graphicsJobs: 0 xboxPIXTextureCapture: 0 xboxEnableAvatar: 0 xboxEnableKinect: 0 @@ -95,7 +93,6 @@ PlayerSettings: xboxEnableFitness: 0 visibleInBackground: 1 allowFullscreenSwitch: 1 - graphicsJobMode: 0 fullscreenMode: 3 xboxSpeechDB: 0 xboxEnableHeadOrientation: 0 @@ -115,6 +112,7 @@ PlayerSettings: switchNVNShaderPoolsGranularity: 33554432 switchNVNDefaultPoolsGranularity: 16777216 switchNVNOtherPoolsGranularity: 16777216 + vulkanNumSwapchainBuffers: 3 vulkanEnableSetSRGBWrite: 0 m_SupportedAspectRatios: 4:3: 1 @@ -122,7 +120,7 @@ PlayerSettings: 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 index 798259b..e1506f9 100644 --- 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)