Merge pull request #4 from SoonerRobotics/fall2022

Added IGVC23 robot with new delta odom feedback messages

Author: noahzemlin

Assets/Levels/IGVC 2022.asset renamed to Assets/Levels/IGVC Course.asset

@@ -10,7 +10,7 @@ MonoBehaviour:
   m_Enabled: 1
   m_EditorHideFlags: 0
   m_Script: {fileID: 11500000, guid: 79d992af8d293a346ade7e1113139280, type: 3}
-  m_Name: IGVC 2022
+  m_Name: IGVC Course
   m_EditorClassIdentifier: 
-  levelName: IGVC 2022
+  levelName: IGVC Course
   levelId: 4

Assets/Levels/IGVC 2022.asset.meta renamed to Assets/Levels/IGVC Course.asset.meta

@@ -28,6 +28,7 @@ Transform:
   m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
   m_LocalPosition: {x: 0, y: 0, z: 0}
   m_LocalScale: {x: 1, y: 1, z: 1}
+  m_ConstrainProportionsScale: 0
   m_Children: []
   m_Father: {fileID: 4538124215614584225}
   m_RootOrder: 3
@@ -51,6 +52,7 @@ MeshRenderer:
   m_CastShadows: 1
   m_ReceiveShadows: 1
   m_DynamicOccludee: 1
+  m_StaticShadowCaster: 0
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
@@ -109,6 +111,7 @@ Transform:
   m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
   m_LocalPosition: {x: 0, y: 0, z: 0}
   m_LocalScale: {x: 1, y: 1, z: 1}
+  m_ConstrainProportionsScale: 0
   m_Children: []
   m_Father: {fileID: 4538124215614584225}
   m_RootOrder: 1
@@ -132,6 +135,7 @@ MeshRenderer:
   m_CastShadows: 1
   m_ReceiveShadows: 1
   m_DynamicOccludee: 1
+  m_StaticShadowCaster: 0
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
@@ -190,6 +194,7 @@ Transform:
   m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
   m_LocalPosition: {x: 0, y: 0, z: 0}
   m_LocalScale: {x: 1, y: 1, z: 1}
+  m_ConstrainProportionsScale: 0
   m_Children: []
   m_Father: {fileID: 4538124215614584225}
   m_RootOrder: 0
@@ -213,6 +218,7 @@ MeshRenderer:
   m_CastShadows: 1
   m_ReceiveShadows: 1
   m_DynamicOccludee: 1
+  m_StaticShadowCaster: 0
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
@@ -269,6 +275,7 @@ Transform:
   m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
   m_LocalPosition: {x: 0, y: 0, z: 0}
   m_LocalScale: {x: 1, y: 1, z: 1}
+  m_ConstrainProportionsScale: 0
   m_Children:
   - {fileID: 5992179490751560582}
   - {fileID: 293815460969056204}
@@ -305,6 +312,7 @@ Transform:
   m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
   m_LocalPosition: {x: 0, y: 0, z: 0}
   m_LocalScale: {x: 1, y: 1, z: 1}
+  m_ConstrainProportionsScale: 0
   m_Children: []
   m_Father: {fileID: 4538124215614584225}
   m_RootOrder: 2
@@ -328,6 +336,7 @@ MeshRenderer:
   m_CastShadows: 1
   m_ReceiveShadows: 1
   m_DynamicOccludee: 1
+  m_StaticShadowCaster: 0
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1

Assets/Materials/circle_logo_background.png

@@ -26,6 +26,7 @@ Transform:
   m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
   m_LocalPosition: {x: 0, y: 0, z: 0}
   m_LocalScale: {x: 1, y: 1, z: 1}
+  m_ConstrainProportionsScale: 0
   m_Children:
   - {fileID: 2483449190887008458}
   m_Father: {fileID: 0}
@@ -59,6 +60,7 @@ Transform:
   m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
   m_LocalPosition: {x: 0, y: 0, z: 0}
   m_LocalScale: {x: 1, y: 1, z: 1}
+  m_ConstrainProportionsScale: 0
   m_Children: []
   m_Father: {fileID: 7745488649448463971}
   m_RootOrder: 0
@@ -82,6 +84,7 @@ MeshRenderer:
   m_CastShadows: 1
   m_ReceiveShadows: 1
   m_DynamicOccludee: 1
+  m_StaticShadowCaster: 0
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1

Assets/Materials/circle_logo_background.png.meta

@@ -0,0 +1,24 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+namespace RosSharp.RosBridgeClient.MessageTypes.Autonav
+{
+    public class IGVCMotorsSubscriberIGVC23 : UnitySubscriber<MotorInput>
+    {
+        private SimpleCarController car;
+
+        protected override void Start()
+        {
+            base.Start();
+            car = GetComponent<SimpleCarController>();
+        }
+
+        protected override void ReceiveMessage(MotorInput motors)
+        {
+            car.leftControl = motors.left_motor;
+            car.rightControl = motors.right_motor;
+        }
+    }
+}
+

Assets/Models/Drum/drum.prefab

@@ -0,0 +1,46 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+namespace RosSharp.RosBridgeClient.MessageTypes.Autonav
+{
+    public class VelocityPublisherIGVC23 : UnityPublisher<MotorFeedback>
+    {
+        private MotorFeedback message;
+        private SimpleCarController c;
+        public Rigidbody rb;
+
+        public float velocityNoiseStdDev = 0.05f;
+
+        protected override void Start()
+        {
+            base.Start();
+            c = GetComponent<SimpleCarController>();
+            message = new MotorFeedback();
+
+            velocityNoiseStdDev = ConfigLoader.Instance.sensors.encoders.velocityNoise;
+        }
+        public float getRandNormal(float mean, float stdDev)
+        {
+            float u1 = 1.0f - Random.value; //uniform(0,1] random doubles
+            float u2 = 1.0f - Random.value;
+            float randStdNormal = Mathf.Sqrt(-2.0f * Mathf.Log(u1)) *
+                         Mathf.Sin(2.0f * Mathf.PI * u2); //random normal(0,1)
+
+            return stdDev * randStdNormal;
+        }
+
+        void FixedUpdate()
+        {
+            float delta_t = Time.fixedDeltaTime;
+            // message.leftVel = c.vl + getRandNormal(0, velocityNoiseStdDev);
+            // message.rightVel = c.vr + getRandNormal(0, velocityNoiseStdDev);
+
+            message.delta_theta = (float)((c.vr - c.vl) * 0.1016 / 0.4826) * delta_t;
+            message.delta_x = (float)((c.vl + c.vr) / 2.0 * Mathf.Cos(message.delta_theta)) * delta_t;
+            message.delta_y = (float)((c.vl + c.vr) / 2.0 * Mathf.Sin(message.delta_theta)) * delta_t;
+
+            Publish(message);
+        }
+    }
+}