Updated IGVC drivetrain and LIDAR configuration. Added reset RosBridge button. Embiggened drums.

Author: noahzemlin

Assets/Prefabs/Drum.prefab

@@ -27,8 +27,8 @@ Transform:
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 6736396618544631729}
   m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
-  m_LocalPosition: {x: 0, y: 30, z: 0}
-  m_LocalScale: {x: 44, y: 30, z: 44}
+  m_LocalPosition: {x: 0, y: 40, z: 0}
+  m_LocalScale: {x: 44, y: 40, z: 44}
   m_Children: []
   m_Father: {fileID: 6226772515755348062}
   m_RootOrder: 0
@@ -139,6 +139,6 @@ CapsuleCollider:
   m_IsTrigger: 0
   m_Enabled: 1
   m_Radius: 22.4
-  m_Height: 109.9
+  m_Height: 125
   m_Direction: 1
   m_Center: {x: 0, y: 30, z: 0}

Assets/Robots/IGVC_Robot_2021.prefab

@@ -24,12 +24,12 @@ Transform:
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 2283990103325503251}
   m_LocalRotation: {x: -0, y: -0, z: -0, w: 1}
-  m_LocalPosition: {x: 0, y: 0, z: 0}
+  m_LocalPosition: {x: 0, y: 0, z: 0.298}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_Children:
   - {fileID: 9021790290558916599}
   m_Father: {fileID: 6116572216260438476}
-  m_RootOrder: 7
+  m_RootOrder: 5
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
 --- !u!1 &6116572215990976585
 GameObject:
@@ -57,12 +57,12 @@ Transform:
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 6116572215990976585}
   m_LocalRotation: {x: 0.2815042, y: 0, z: 0, w: 0.95956004}
-  m_LocalPosition: {x: 0, y: 1.16, z: -0.85}
+  m_LocalPosition: {x: 0, y: 1.16, z: -0.552}
   m_LocalScale: {x: 0.10562, y: 0.048891686, z: 0.08247501}
   m_Children:
   - {fileID: 6116572218028855840}
   m_Father: {fileID: 6116572216260438476}
-  m_RootOrder: 5
+  m_RootOrder: 3
   m_LocalEulerAnglesHint: {x: 32.7, y: 0, z: 0}
 --- !u!33 &6116572215990976596
 MeshFilter:
@@ -140,11 +140,11 @@ Transform:
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 6116572216019989485}
   m_LocalRotation: {x: -0, y: -0, z: -0, w: 1}
-  m_LocalPosition: {x: 0, y: -0.327, z: -0.751}
+  m_LocalPosition: {x: 0, y: -0.327, z: -0.45299998}
   m_LocalScale: {x: 0.1, y: 0.1, z: 0.1}
   m_Children: []
   m_Father: {fileID: 6116572216260438476}
-  m_RootOrder: 6
+  m_RootOrder: 4
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
 --- !u!33 &6116572216019989480
 MeshFilter:
@@ -249,8 +249,6 @@ Transform:
   m_Children:
   - {fileID: 6116572216309536752}
   - {fileID: 6116572216334250670}
-  - {fileID: 6116572216873300087}
-  - {fileID: 6116572216841258427}
   - {fileID: 6116572216897894780}
   - {fileID: 6116572215990976586}
   - {fileID: 6116572216019989481}
@@ -288,8 +286,8 @@ MonoBehaviour:
   m_EditorClassIdentifier: 
   speedMod: 2.2727273
   turnMod: 1
-  wheelRadius: 0.1016
-  axleLength: 0.6604
+  wheelRadius: 0.127
+  axleLength: 0.76
   minSpeed: 0.1
   drag: 0.85
   vl: 0
@@ -480,13 +478,13 @@ Transform:
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 6116572216309536757}
-  m_LocalRotation: {x: 0.1666775, y: -0.10017266, z: 0.018704036, w: 0.9807315}
-  m_LocalPosition: {x: 0.5, y: 0.59, z: -1.024}
+  m_LocalRotation: {x: 0.15831324, y: -0.074113674, z: 0.011917522, w: 0.98453146}
+  m_LocalPosition: {x: 0.626, y: 0.865, z: -1.042}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_Children: []
   m_Father: {fileID: 6116572216260438476}
   m_RootOrder: 0
-  m_LocalEulerAnglesHint: {x: 19.31, y: -11.63, z: 0.2}
+  m_LocalEulerAnglesHint: {x: 18.27, y: -8.61, z: 0}
 --- !u!20 &6116572216309536759
 Camera:
   m_ObjectHideFlags: 0
@@ -575,11 +573,13 @@ Transform:
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 6116572216334250669}
   m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
-  m_LocalPosition: {x: 0, y: 0.129, z: -0.3680001}
+  m_LocalPosition: {x: 0, y: 0.146, z: 0}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_Children:
   - {fileID: 6116572217397061391}
   - {fileID: 6116572217700496738}
+  - {fileID: 6116572216873300087}
+  - {fileID: 6116572216841258427}
   m_Father: {fileID: 6116572216260438476}
   m_RootOrder: 1
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
@@ -609,10 +609,10 @@ Transform:
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 6116572216841258426}
   m_LocalRotation: {x: -0, y: -0, z: 0.7071068, w: 0.7071068}
-  m_LocalPosition: {x: 0.4, y: -0.12899996, z: -0.022400111}
-  m_LocalScale: {x: 0.2032, y: 0.020000022, z: 0.2032}
+  m_LocalPosition: {x: 0.4, y: -0.25799996, z: 0}
+  m_LocalScale: {x: 0.25, y: 0.02000002, z: 0.25}
   m_Children: []
-  m_Father: {fileID: 6116572216260438476}
+  m_Father: {fileID: 6116572216334250670}
   m_RootOrder: 3
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 90}
 --- !u!33 &6116572216841258438
@@ -690,10 +690,10 @@ Transform:
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 6116572216873300086}
   m_LocalRotation: {x: -0, y: -0, z: 0.7071068, w: 0.7071068}
-  m_LocalPosition: {x: -0.4, y: -0.129, z: -0.022400111}
-  m_LocalScale: {x: 0.2032, y: 0.020000007, z: 0.2032}
+  m_LocalPosition: {x: -0.4, y: -0.258, z: 0}
+  m_LocalScale: {x: 0.25, y: 0.020000005, z: 0.25}
   m_Children: []
-  m_Father: {fileID: 6116572216260438476}
+  m_Father: {fileID: 6116572216334250670}
   m_RootOrder: 2
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 90}
 --- !u!33 &6116572216873300082
@@ -770,12 +770,12 @@ Transform:
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 6116572216897894771}
   m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
-  m_LocalPosition: {x: 0, y: 0.077, z: 0.0039999187}
+  m_LocalPosition: {x: 0, y: 0.458, z: 0}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_Children:
   - {fileID: 6116572217639720015}
   m_Father: {fileID: 6116572216260438476}
-  m_RootOrder: 4
+  m_RootOrder: 2
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
 --- !u!114 &6116572216897894781
 MonoBehaviour:
@@ -825,7 +825,7 @@ Transform:
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 6116572217397061390}
   m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
-  m_LocalPosition: {x: -0.4, y: -0.258, z: 0.3436}
+  m_LocalPosition: {x: -0.4, y: -0.258, z: 0}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_Children: []
   m_Father: {fileID: 6116572216334250670}
@@ -839,7 +839,7 @@ WheelCollider:
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 6116572217397061390}
   m_Center: {x: 0, y: 0, z: 0}
-  m_Radius: 0.1016
+  m_Radius: 0.127
   m_SuspensionSpring:
     spring: 90000
     damper: 9000
@@ -967,7 +967,7 @@ Transform:
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 6116572217700496737}
   m_LocalRotation: {x: -0, y: -0, z: -0, w: 1}
-  m_LocalPosition: {x: 0.4, y: -0.25799996, z: 0.3436}
+  m_LocalPosition: {x: 0.4, y: -0.25799996, z: 0}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_Children: []
   m_Father: {fileID: 6116572216334250670}
@@ -981,7 +981,7 @@ WheelCollider:
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 6116572217700496737}
   m_Center: {x: 0, y: 0, z: 0}
-  m_Radius: 0.1016
+  m_Radius: 0.127
   m_SuspensionSpring:
     spring: 90000
     damper: 9000

Assets/RosSharp/Scripts/RosBridgeClient/RosCommuncation/RosConnector.cs

@@ -82,6 +82,25 @@ private void OnApplicationQuit()
             }
         }
 
+        public void Reset() {
+            Debug.Log("Resetting RosBridge!");
+
+            if (RosSocket != null) {
+                RosSocket.Close();
+            }
+
+            // Necessary as this is also our flag to stop running threads
+            RosSocket = null;
+
+            if (SocketThread != null) {
+                SocketThread.Join();
+            }
+
+            IsConnected = new ManualResetEvent(false);
+            SocketThread = new Thread(ConnectAndWait);
+            SocketThread.Start();
+        }
+
         private void OnConnected(object sender, EventArgs e)
         {
             IsConnected.Set();
@@ -95,7 +114,7 @@ private void OnClosed(object sender, EventArgs e)
 
             RosSocket.Close();
             RosSocket = null;
-            SocketThread.Join((int)(SecondsTimeout * 1000));
+            SocketThread.Join();
 
             SocketThread = new Thread(ConnectAndWait);
             SocketThread.Start();