Updated to Unity 2020.3.25f1 and reduced GPS update rate

Author: noahzemlin

Assets/Levels/IGVC 2022.asset

@@ -13,4 +13,4 @@ MonoBehaviour:
   m_Name: IGVC 2022
   m_EditorClassIdentifier: 
   levelName: IGVC 2022
-  levelId: 5
+  levelId: 4

Assets/Levels/Lane Maze.asset

@@ -13,4 +13,4 @@ MonoBehaviour:
   m_Name: Lane Maze
   m_EditorClassIdentifier: 
   levelName: Lane Maze
-  levelId: 4
+  levelId: 3

Assets/ROSSharp Modules/GPSPublisher.cs

@@ -13,6 +13,9 @@ public class GPSPublisher : UnityPublisher<Gps>
         public float lat0Pos = 35.194881f;
         public float lon0Pos = -97.438621f;
 
+        public float pubPeriod = 1.0f;
+        private float nextPub = 0.0f;
+
         protected override void Start()
         {
             base.Start();
@@ -36,10 +39,13 @@ public float getRandNormal(float mean, float stdDev)
 
         void FixedUpdate()
         {
-            Vector3 pos = tf.position;
-            message.latitude = (pos.z + getRandNormal(0, latNoiseStdDev)) / 110944.12 + lat0Pos;
-            message.longitude = (pos.x + getRandNormal(0, lonNoiseStdDev)) / 91071.17 + lon0Pos;
-            Publish(message);
+            if (Time.time > nextPub) {
+                nextPub = Time.time + pubPeriod;
+                Vector3 pos = tf.position;
+                message.latitude = (pos.z + getRandNormal(0, latNoiseStdDev)) / 110944.12 + lat0Pos;
+                message.longitude = (pos.x + getRandNormal(0, lonNoiseStdDev)) / 91071.17 + lon0Pos;
+                Publish(message);
+            }
         }
     }
 }

Assets/Scenes/Menu.unity

@@ -2559,14 +2559,11 @@ MonoBehaviour:
   - {fileID: 11400000, guid: 131184c045fde904a881be9109c3bd19, type: 2}
   - {fileID: 11400000, guid: c2411721f85370247a3d41fbb8f7cf78, type: 2}
   - {fileID: 11400000, guid: d86587b471cabf042b28b90a088721ae, type: 2}
-  - {fileID: 11400000, guid: 55cf02cc4436c14479446a1cdb55bf13, type: 2}
   togglesGroup: {fileID: 2062170973}
   togglesParent: {fileID: 1817359497}
   robots:
   - {fileID: 11400000, guid: 1c9d8ddca65c9b2438d2a62b52700910, type: 2}
   - {fileID: 11400000, guid: 1d1195ee9028cdb4cab1c37cd7e325a8, type: 2}
-  - {fileID: 11400000, guid: 2398f1b0e5f31f24eb9ace0fa90d71b8, type: 2}
-  - {fileID: 11400000, guid: c07e59656dc503c4cb7e233388bd37ac, type: 2}
   robotsGroup: {fileID: 454510292}
   robotsParent: {fileID: 521857490}
   optionPrefab: {fileID: 6973146870124429646, guid: 5cdb71824857bbd4fb97f7257d35f70e,

Packages/manifest.json

@@ -1,9 +1,8 @@
 {
   "dependencies": {
-    "com.unity.collab-proxy": "1.11.2",
     "com.unity.ext.nunit": "1.0.6",
     "com.unity.ide.rider": "2.0.7",
-    "com.unity.ide.visualstudio": "2.0.11",
+    "com.unity.ide.visualstudio": "2.0.12",
     "com.unity.ide.vscode": "1.2.4",
     "com.unity.test-framework": "1.1.29",
     "com.unity.textmeshpro": "3.0.6",

Packages/packages-lock.json

@@ -1,12 +1,5 @@
 {
   "dependencies": {
-    "com.unity.collab-proxy": {
-      "version": "1.11.2",
-      "depth": 0,
-      "source": "registry",
-      "dependencies": {},
-      "url": "https://packages.unity.com"
-    },
     "com.unity.ext.nunit": {
       "version": "1.0.6",
       "depth": 0,
@@ -24,7 +17,7 @@
       "url": "https://packages.unity.com"
     },
     "com.unity.ide.visualstudio": {
-      "version": "2.0.11",
+      "version": "2.0.12",
       "depth": 0,
       "source": "registry",
       "dependencies": {

ProjectSettings/EditorBuildSettings.asset

@@ -14,9 +14,6 @@ EditorBuildSettings:
   - enabled: 1
     path: Assets/Scenes/Empty_World.unity
     guid: a8c0ffda51a8bcc4daa084b044117bd9
-  - enabled: 1
-    path: Assets/Scenes/NRC_Land.unity
-    guid: 93ff5cf7b2427cd4cbc86d09b60fddb7
   - enabled: 1
     path: Assets/Scenes/Lane_Maze.unity
     guid: 174bd6999884e864bb2aa51fb30a9f53

ProjectSettings/ProjectVersion.txt

@@ -1,2 +1,2 @@
-m_EditorVersion: 2020.3.20f1
-m_EditorVersionWithRevision: 2020.3.20f1 (41c4e627c95f)
+m_EditorVersion: 2020.3.25f1
+m_EditorVersionWithRevision: 2020.3.25f1 (9b9180224418)