Added ground truth topics

SoonerRobotics · Nov 15, 2020 · 551f22c · 551f22c
1 parent c9e317e
commit 551f22c
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Showing 7 changed files with 391 additions and 21 deletions.
diff --git a/Unity/Assets/RosSharpModules/GPSPublisher.cs b/Unity/Assets/RosSharpModules/GPSPublisher.cs
@@ -15,6 +15,8 @@ public class GPSPublisher : UnityPublisher<Gps>
         private float previousScanTime = 5;
         private float updatePeriod = 0.1f;
 
+        public bool noNoiseOverride = false;
+
         protected override void Start()
         {
             base.Start();
@@ -30,6 +32,11 @@ protected override void Start()
                     lonNoiseStdDev *= 0.5f;
                     break;
             }
+
+            if (noNoiseOverride) {
+                latNoiseStdDev = 0;
+                lonNoiseStdDev = 0;
+            }
         }
 
         private void FixedUpdate()

diff --git a/Unity/Assets/RosSharpModules/VelocityPublisher.cs b/Unity/Assets/RosSharpModules/VelocityPublisher.cs
@@ -13,6 +13,8 @@ public class VelocityPublisher : UnityPublisher<Float32>
         private float updatePeriod = 0.05f;
         private AckermannController c;
 
+        public bool noNoiseOverride = false;
+
         protected override void Start()
         {
             base.Start();
@@ -27,6 +29,10 @@ protected override void Start()
                     velocityNoiseStdDev *= 0.5f;
                     break;
             }
+
+            if (noNoiseOverride) {
+                velocityNoiseStdDev = 0;
+            }
         }
 
         private void FixedUpdate()

diff --git a/Unity/Assets/Scenes/MainScene.unity b/Unity/Assets/Scenes/MainScene.unity
@@ -384,6 +384,7 @@ MonoBehaviour:
   m_Material: {fileID: 0}
   m_Color: {r: 1, g: 1, b: 1, a: 1}
   m_RaycastTarget: 1
+  m_Maskable: 1
   m_OnCullStateChanged:
     m_PersistentCalls:
       m_Calls: []
@@ -671,7 +672,9 @@ GameObject:
   - component: {fileID: 829615087}
   - component: {fileID: 829615089}
   - component: {fileID: 829615090}
+  - component: {fileID: 829615099}
   - component: {fileID: 829615096}
+  - component: {fileID: 829615097}
   - component: {fileID: 829615095}
   - component: {fileID: 829615092}
   - component: {fileID: 829615091}
@@ -782,6 +785,7 @@ MonoBehaviour:
   m_Name: 
   m_EditorClassIdentifier: 
   Topic: /sim/gps
+  noNoiseOverride: 0
 --- !u!114 &829615091
 MonoBehaviour:
   m_ObjectHideFlags: 0
@@ -950,6 +954,21 @@ MonoBehaviour:
   m_Name: 
   m_EditorClassIdentifier: 
   Topic: /sim/velocity
+  noNoiseOverride: 0
+--- !u!114 &829615097
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 829615084}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: c5970dc0eb3926240b605e471f7eeced, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  Topic: /truth/velocity
+  noNoiseOverride: 1
 --- !u!114 &829615098
 MonoBehaviour:
   m_ObjectHideFlags: 0
@@ -962,6 +981,20 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: b9e9655389f72214098993bf1e7e3a04, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
+--- !u!114 &829615099
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 829615084}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: b44e1486d7dbdce40958f480202bf058, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  Topic: /truth/gps
+  noNoiseOverride: 1
 --- !u!1 &874833490
 GameObject:
   m_ObjectHideFlags: 0
@@ -1014,6 +1047,7 @@ MonoBehaviour:
   m_Material: {fileID: 0}
   m_Color: {r: 1, g: 1, b: 1, a: 1}
   m_RaycastTarget: 1
+  m_Maskable: 1
   m_OnCullStateChanged:
     m_PersistentCalls:
       m_Calls: []
@@ -1681,6 +1715,7 @@ MonoBehaviour:
   m_Material: {fileID: 0}
   m_Color: {r: 0.18867922, g: 0.18867922, b: 0.18867922, a: 0.78431374}
   m_RaycastTarget: 1
+  m_Maskable: 1
   m_OnCullStateChanged:
     m_PersistentCalls:
       m_Calls: []
@@ -1810,6 +1845,7 @@ MonoBehaviour:
   m_Material: {fileID: 0}
   m_Color: {r: 0, g: 0, b: 0, a: 1}
   m_RaycastTarget: 1
+  m_Maskable: 1
   m_OnCullStateChanged:
     m_PersistentCalls:
       m_Calls: []
@@ -2272,6 +2308,7 @@ MonoBehaviour:
   m_Material: {fileID: 0}
   m_Color: {r: 0, g: 0, b: 0, a: 1}
   m_RaycastTarget: 1
+  m_Maskable: 1
   m_OnCullStateChanged:
     m_PersistentCalls:
       m_Calls: []

diff --git a/Unity/Packages/manifest.json b/Unity/Packages/manifest.json
@@ -2,9 +2,9 @@
   "dependencies": {
     "com.unity.collab-proxy": "1.2.16",
     "com.unity.ide.rider": "1.1.4",
-    "com.unity.ide.vscode": "1.1.4",
+    "com.unity.ide.vscode": "1.2.1",
     "com.unity.probuilder": "4.2.3",
-    "com.unity.test-framework": "1.1.13",
+    "com.unity.test-framework": "1.1.16",
     "com.unity.textmeshpro": "2.0.1",
     "com.unity.timeline": "1.2.13",
     "com.unity.ugui": "1.0.0",