From bc515a69805c2a51887c5c5fdda8f1ac1101ee4c Mon Sep 17 00:00:00 2001 From: Taiga Takano Date: Sat, 9 Dec 2023 02:02:26 +0900 Subject: [PATCH] v1.3a1 --- Assets/CoRE/OutdoorsScene.unity | 3016 ++++--- .../CoRE/OutdoorsScene/BOKASHI Profile.asset | 173 + .../OutdoorsScene/BOKASHI Profile.asset.meta | 8 + Assets/CoRE/OutdoorsScene/NavMesh.asset | Bin 14516 -> 14092 bytes Assets/CoRE/Picture.meta | 8 + Assets/CoRE/Picture/setting_menu.png | Bin 0 -> 67626 bytes Assets/CoRE/Picture/setting_menu.png.meta | 108 + Assets/CoRE/Scrips/AutoBot.cs | 332 +- Assets/CoRE/Scrips/BotAttacker.cs | 10 +- Assets/CoRE/Scrips/SettingMenuAgent.cs | 61 + Assets/CoRE/Scrips/SettingMenuAgent.cs.meta | 11 + Assets/CoRE/Scrips/TargetBotController.cs | 17 +- Assets/CoRE/Scrips/TargetPanel.cs | 3 - Assets/Ros2ForUnity/Plugins/Windows.meta | 8 + .../Ros2ForUnity/Plugins/Windows/x86_64.meta | 8 + .../action_msgs__rosidl_generator_c.dll | Bin 0 -> 23040 bytes .../action_msgs__rosidl_generator_c.dll.meta | 27 + 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[] + indices: + edges: [] + weights: [] + secondaryTextures: [] + spritePackingTag: + pSDRemoveMatte: 0 + pSDShowRemoveMatteOption: 0 + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/CoRE/Scrips/AutoBot.cs b/Assets/CoRE/Scrips/AutoBot.cs index 5484df8d9..7816d2ab1 100644 --- a/Assets/CoRE/Scrips/AutoBot.cs +++ b/Assets/CoRE/Scrips/AutoBot.cs @@ -5,182 +5,186 @@ namespace ROS2 { -public class AutoBot : MonoBehaviour -{ - public GameObject gun_gameobj; - public GameObject gun_target_gameobj; - - public GameObject red_ball; - public GameObject green_ball; - public GameObject enemy_robot_1; - - public GameObject base_target_1; - public GameObject base_target_2; - public GameObject base_target_3; - - public GameObject realsense; - public GameObject rs_color; - - - private ROS2UnityComponent ros2Unity; - private ROS2Node ros2Node; - - private ISubscription control_sub; - private IPublisher tf_pub; - private geometry_msgs.msg.Twist sub_msg; - private double target_gun; + public class AutoBot : MonoBehaviour + { + public GameObject gun_gameobj; + public GameObject gun_target_gameobj; - public double motor_noise_percent; + public GameObject red_ball; + public GameObject green_ball; + public GameObject realsense; + public GameObject rs_color; + private ROS2UnityComponent ros2Unity; + private ROS2Node ros2Node; - void Start() - { - ros2Unity = GetComponent(); - sub_msg = new geometry_msgs.msg.Twist(); - target_gun = 75f; - } - - void Update() - { + private ISubscription robo_control_sub; + private ISubscription gun_contorl_sub; + private IPublisher tf_pub; + private geometry_msgs.msg.Twist sub_msg; + private std_msgs.msg.Float32 sub_gun_msg; + private double target_gun; - } + public double motor_noise_percent; - geometry_msgs.msg.Transform globalObjTramsformToROS2(GameObject obj){ - var transform_rt = new geometry_msgs.msg.Transform(); - transform_rt.Translation.X = (float)(obj.transform.position.x); - transform_rt.Translation.Y = (float)(obj.transform.position.z); - transform_rt.Translation.Z = (float)(obj.transform.position.y); - transform_rt.Rotation.X = (float)(obj.transform.rotation.x); - transform_rt.Rotation.Y = (float)(obj.transform.rotation.z); - transform_rt.Rotation.Z = (float)(obj.transform.rotation.w); - transform_rt.Rotation.W = (float)(obj.transform.rotation.y); - return transform_rt; - } - geometry_msgs.msg.Transform localObjTramsformToROS2(GameObject obj){ - var transform_rt = new geometry_msgs.msg.Transform(); - transform_rt.Translation.X = (float)(obj.transform.localPosition.x); - transform_rt.Translation.Y = (float)(obj.transform.localPosition.z); - transform_rt.Translation.Z = (float)(obj.transform.localPosition.y); - transform_rt.Rotation.X = (float)(obj.transform.localRotation.x); - transform_rt.Rotation.Y = (float)(obj.transform.localRotation.z); - transform_rt.Rotation.Z = (float)(obj.transform.localRotation.w); - transform_rt.Rotation.W = (float)(obj.transform.localRotation.y); - return transform_rt; - } + public static ITimeSource TimeSource { get; private set; } = new UnityTimeSource(); + static ROS2Clock ros2Clock; - void FixedUpdate() - { - if(ros2Unity.Ok()) - { - // topic & node init - if (ros2Node == null) + void Start() { - ros2Node = ros2Unity.CreateNode("CoREdotSim"); - control_sub = ros2Node.CreateSubscription( - "control/cmd_vel", msg => { - sub_msg = msg; - }); - tf_pub = ros2Node.CreatePublisher("/tf"); + ros2Unity = GetComponent(); + sub_msg = new geometry_msgs.msg.Twist(); + sub_gun_msg = new std_msgs.msg.Float32(); + target_gun = 75f; } - // Auto Robot Yaw Control - double target_z = 0f; - if(sub_msg.Angular.Z >= 0.03145 || sub_msg.Angular.Z <= -0.03145){ - if(sub_msg.Angular.Z > 0.5){sub_msg.Angular.Z = 0.5f;} - if(sub_msg.Angular.Z < -0.5){sub_msg.Angular.Z = -0.5f;} - double dz = sub_msg.Angular.Z * 57.295779 * Time.deltaTime; - target_z = dz + (Random.value - 0.5) * dz * motor_noise_percent; - this.transform.Rotate(0f, (float)(target_z), 0f); - }else{ - this.transform.Rotate(0f, 0f, 0f); + geometry_msgs.msg.Transform globalObjTramsformToROS2(GameObject obj) + { + var transform_rt = new geometry_msgs.msg.Transform(); + transform_rt.Translation.X = (float)(obj.transform.position.x); + transform_rt.Translation.Y = (float)(obj.transform.position.z); + transform_rt.Translation.Z = (float)(obj.transform.position.y); + transform_rt.Rotation.X = (float)(obj.transform.rotation.x); + transform_rt.Rotation.Y = (float)(obj.transform.rotation.z); + transform_rt.Rotation.Z = (float)(obj.transform.rotation.w); + transform_rt.Rotation.W = (float)(obj.transform.rotation.y); + return transform_rt; } - - // Auto Robot Gun Roll Control - if(sub_msg.Angular.X >= 0.01 || sub_msg.Angular.X <= -0.01){ - if(sub_msg.Angular.X <= 0.2 && sub_msg.Angular.X >= -0.2){ - double dx = sub_msg.Angular.X * 57.295779 * Time.deltaTime; - target_gun += dx + (Random.value - 0.5) * dx * motor_noise_percent; - } + geometry_msgs.msg.Transform localObjTramsformToROS2(GameObject obj) + { + var transform_rt = new geometry_msgs.msg.Transform(); + transform_rt.Translation.X = (float)(obj.transform.localPosition.x); + transform_rt.Translation.Y = (float)(obj.transform.localPosition.z); + transform_rt.Translation.Z = (float)(obj.transform.localPosition.y); + transform_rt.Rotation.X = (float)(obj.transform.localRotation.x); + transform_rt.Rotation.Y = (float)(obj.transform.localRotation.z); + transform_rt.Rotation.Z = (float)(obj.transform.localRotation.w); + transform_rt.Rotation.W = (float)(obj.transform.localRotation.y); + return transform_rt; } - if(target_gun > 90){target_gun = 90;} - if(target_gun < 40){target_gun = 40;} - - gun_gameobj.transform.localRotation = Quaternion.Euler((float)(target_gun), 0, 0); - - - // Auto Robot Shot Control - if(Mathf.Abs((float)sub_msg.Linear.X) >= 0.1 && Mathf.Abs((float)sub_msg.Linear.X) <= 10){ - float forceRandomness = Random.Range(0.9f, 1.1f); - Vector3 torqueRandomness = new Vector3(Random.Range(-1f, 1f), Random.Range(-1f, 1f), Random.Range(-1f, 1f)); - - GameObject obj; - if(Random.value > 0.5){ - obj = Instantiate(red_ball, gun_target_gameobj.transform.position, Quaternion.Euler(gun_target_gameobj.transform.parent.eulerAngles.x, gun_target_gameobj.transform.parent.eulerAngles.y, 0)); - }else{ - obj = Instantiate(green_ball, gun_target_gameobj.transform.position, Quaternion.Euler(gun_target_gameobj.transform.parent.eulerAngles.x, gun_target_gameobj.transform.parent.eulerAngles.y, 0)); - } - - Rigidbody rb = obj.GetComponent(); - rb.AddForce(gun_target_gameobj.transform.forward * (float)sub_msg.Linear.X * 57.295779f * forceRandomness); - rb.AddTorque(torqueRandomness * 10f); - - sub_msg.Linear.X = 0; + static public builtin_interfaces.msg.Time GetCurrentRosTime() + { + var timeMsg = new builtin_interfaces.msg.Time(); + ros2Clock.UpdateROSClockTime(timeMsg); + return timeMsg; } + void FixedUpdate() + { + if (ros2Unity.Ok()) + { + // topic & node init + if (ros2Node == null) + { + ros2Node = ros2Unity.CreateNode("CoREdotSim"); + ros2Clock = new ROS2Clock(TimeSource); + robo_control_sub = ros2Node.CreateSubscription( + "control/cmd_vel", msg =>{ + sub_msg = msg; + }); + + gun_contorl_sub = ros2Node.CreateSubscription( + "control/gunshot", msg => { + sub_gun_msg = msg; + }); + tf_pub = ros2Node.CreatePublisher("/tf"); + } + + // Auto Robot Yaw Control + double target_z = 0f; + if (sub_msg.Angular.Z >= 0.03145 || sub_msg.Angular.Z <= -0.03145) + { + if (sub_msg.Angular.Z > 0.5) { sub_msg.Angular.Z = 0.5f; } + if (sub_msg.Angular.Z < -0.5) { sub_msg.Angular.Z = -0.5f; } + double dz = sub_msg.Angular.Z * 57.295779 * Time.deltaTime; + target_z = dz + (Random.value - 0.5) * dz * motor_noise_percent; + this.transform.Rotate(0f, (float)(target_z), 0f); + } + else + { + this.transform.Rotate(0f, 0f, 0f); + } + + // Auto Robot Gun Roll Control + if (sub_msg.Angular.X >= 0.01 || sub_msg.Angular.X <= -0.01) + { + if (sub_msg.Angular.X <= 0.2 && sub_msg.Angular.X >= -0.2) + { + double dx = sub_msg.Angular.X * 57.295779 * Time.deltaTime; + target_gun += dx + (Random.value - 0.5) * dx * motor_noise_percent; + } + } + if (target_gun > 90) { target_gun = 90; } + if (target_gun < 40) { target_gun = 40; } + + gun_gameobj.transform.localRotation = Quaternion.Euler((float)(target_gun), 0, 0); + + + // Auto Robot Shot Control + if (Mathf.Abs((float)sub_gun_msg.Data) >= 0.1 && Mathf.Abs((float)sub_gun_msg.Data) <= 10) + { + float forceRandomness = Random.Range(0.85f, 1.15f); + Vector3 torqueRandomness = new Vector3(Random.Range(-1f, 1f), Random.Range(-1f, 1f), Random.Range(-1f, 1f)); + + GameObject obj; + if (Random.value > 0.5) + { + obj = Instantiate(red_ball, gun_target_gameobj.transform.position, Quaternion.Euler(gun_target_gameobj.transform.parent.eulerAngles.x, gun_target_gameobj.transform.parent.eulerAngles.y, 0)); + } + else + { + obj = Instantiate(green_ball, gun_target_gameobj.transform.position, Quaternion.Euler(gun_target_gameobj.transform.parent.eulerAngles.x, gun_target_gameobj.transform.parent.eulerAngles.y, 0)); + } + + Rigidbody rb = obj.GetComponent(); + rb.AddForce(gun_target_gameobj.transform.forward * (float)sub_gun_msg.Data * 57.295779f * forceRandomness); + rb.AddTorque(torqueRandomness * 10f); + + sub_gun_msg.Data = 0; + } + + + // Robot State Pub + var pose_robot = new geometry_msgs.msg.TransformStamped(); + pose_robot.Header.Frame_id = "map"; + pose_robot.Child_frame_id = "base_link"; + pose_robot.Transform = globalObjTramsformToROS2(this.gameObject); + pose_robot.Header.Stamp = GetCurrentRosTime(); + + var gun_robot = new geometry_msgs.msg.TransformStamped(); + gun_robot.Header.Frame_id = "base_link"; + gun_robot.Child_frame_id = "gun"; + gun_robot.Transform = localObjTramsformToROS2(gun_gameobj.gameObject); + gun_robot.Header.Stamp = GetCurrentRosTime(); + + var pose_rs = new geometry_msgs.msg.TransformStamped(); + pose_rs.Header.Frame_id = "base_link"; + pose_rs.Child_frame_id = "camera_link"; + pose_rs.Transform = localObjTramsformToROS2(realsense.gameObject); + pose_rs.Header.Stamp = GetCurrentRosTime(); + + var pose_rs_c = new geometry_msgs.msg.TransformStamped(); + pose_rs_c.Header.Frame_id = "camera_link"; + pose_rs_c.Child_frame_id = "camera_color_frame"; + pose_rs_c.Transform = localObjTramsformToROS2(rs_color.gameObject); + pose_rs_c.Header.Stamp = GetCurrentRosTime(); + + var tf = new tf2_msgs.msg.TFMessage + { + Transforms = new geometry_msgs.msg.TransformStamped[4] { pose_robot, gun_robot, pose_rs, pose_rs_c, } + }; + tf_pub.Publish(tf); + } + } - // Robot State Pub - var pose_robot = new geometry_msgs.msg.TransformStamped(); - pose_robot.Header.Frame_id = "map"; - pose_robot.Child_frame_id = "base_link"; - pose_robot.Transform = globalObjTramsformToROS2(this.gameObject); - - var gun_robot = new geometry_msgs.msg.TransformStamped(); - gun_robot.Header.Frame_id = "base_link"; - gun_robot.Child_frame_id = "gun"; - gun_robot.Transform = localObjTramsformToROS2(gun_gameobj.gameObject); - - var pose_rs = new geometry_msgs.msg.TransformStamped(); - pose_rs.Header.Frame_id = "base_link"; - pose_rs.Child_frame_id = "camera_link"; - pose_rs.Transform = localObjTramsformToROS2(realsense.gameObject); - - var pose_rs_c = new geometry_msgs.msg.TransformStamped(); - pose_rs_c.Header.Frame_id = "camera_link"; - pose_rs_c.Child_frame_id = "camera_color_frame"; - pose_rs_c.Transform = localObjTramsformToROS2(rs_color.gameObject); - - - // demo - var pose_enemy_robot_1 = new geometry_msgs.msg.TransformStamped(); - pose_enemy_robot_1.Header.Frame_id = "map"; - pose_enemy_robot_1.Child_frame_id = "enemy_robot_1_link"; - pose_enemy_robot_1.Transform = globalObjTramsformToROS2(enemy_robot_1); - - var pose_base_target_1 = new geometry_msgs.msg.TransformStamped(); - pose_base_target_1.Header.Frame_id = "map"; - pose_base_target_1.Child_frame_id = "base_target_1_link"; - pose_base_target_1.Transform = globalObjTramsformToROS2(base_target_1); - - var pose_base_target_2 = new geometry_msgs.msg.TransformStamped(); - pose_base_target_2.Header.Frame_id = "map"; - pose_base_target_2.Child_frame_id = "base_target_2_link"; - pose_base_target_2.Transform = globalObjTramsformToROS2(base_target_2); - - var pose_base_target_3 = new geometry_msgs.msg.TransformStamped(); - pose_base_target_3.Header.Frame_id = "map"; - pose_base_target_3.Child_frame_id = "base_target_3_link"; - pose_base_target_3.Transform = globalObjTramsformToROS2(base_target_3); - - // demo end - - var tf = new tf2_msgs.msg.TFMessage(); - tf.Transforms = new geometry_msgs.msg.TransformStamped[8]{ - pose_robot,gun_robot,pose_rs,pose_rs_c, - pose_enemy_robot_1, - pose_base_target_1,pose_base_target_2,pose_base_target_3 - }; - tf_pub.Publish(tf); - } - } -} + public void ResetAutoBot() + { + this.transform.position = new Vector3(4.294943f, 0f, -14.16366f); + this.transform.rotation = new Quaternion(0, 0.522135735f, 0, -0.852862358f); + gun_gameobj.transform.localPosition = new Vector3(0, 0.246000007f, 0); + gun_gameobj.transform.localRotation = new Quaternion(0.60876137f, 0, 0, 0.793353379f); + sub_msg = new geometry_msgs.msg.Twist(); + sub_gun_msg = new std_msgs.msg.Float32(); + } + } } // namespace ROS2 \ No newline at end of file diff --git a/Assets/CoRE/Scrips/BotAttacker.cs b/Assets/CoRE/Scrips/BotAttacker.cs index 8fc50e7c6..21d55469e 100644 --- a/Assets/CoRE/Scrips/BotAttacker.cs +++ b/Assets/CoRE/Scrips/BotAttacker.cs @@ -7,11 +7,6 @@ public class BotAttacker : MonoBehaviour { public GameObject disk; - // Start is called before the first frame update - void Start() - { - - } bool DiskAtck(double angle){ var vec = new Vector3(0f,0f,0f); @@ -24,7 +19,10 @@ bool DiskAtck(double angle){ Debug.DrawRay(this.transform.position, vec * hit.distance, Color.green, 0.1f); var obj = Instantiate(disk, this.transform.position, Quaternion.Euler(this.transform.parent.eulerAngles.x, this.transform.parent.eulerAngles.y, 0)); Rigidbody rb = obj.GetComponent(); - rb.AddForce(vec * 100); + float forceRandomness = UnityEngine.Random.Range(0.8f, 1.2f); + Vector3 torqueRandomness = new Vector3(UnityEngine.Random.Range(-1f, 1f), UnityEngine.Random.Range(-1f, 1f), UnityEngine.Random.Range(-1f, 1f)); + rb.AddForce(vec * 100 * forceRandomness); + rb.AddTorque(torqueRandomness * 20f); return true; }else{ Debug.DrawRay(this.transform.position, vec * hit.distance, Color.blue, 0.1f); diff --git a/Assets/CoRE/Scrips/SettingMenuAgent.cs b/Assets/CoRE/Scrips/SettingMenuAgent.cs new file mode 100644 index 000000000..6afe8b85a --- /dev/null +++ b/Assets/CoRE/Scrips/SettingMenuAgent.cs @@ -0,0 +1,61 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; +using UnityEngine.Rendering; +using UnityEngine.UI; + +public class SettingMenuAgent : MonoBehaviour +{ + public Volume blackFilterObject; + public Image[] settingImage; + public bool isShow; + + public TargetBotController tbc; + public ROS2.AutoBot autobot; + + void Start() + { + isShow = false; + } + void toglleShow() + { + isShow = !isShow; + blackFilterObject.enabled = isShow; + foreach (var item in settingImage) + { + if (item != null) + { + item.enabled = isShow; + } + } + } + + void Update() + { + if(Input.GetKeyUp(KeyCode.Escape)) + { + toglleShow(); + } + } + + public void OnClickGoToSim() + { + toglleShow(); + } + public void OnClickExit() + { +#if UNITY_EDITOR + UnityEditor.EditorApplication.isPlaying = false; +#else + Application.Quit(); +#endif + } + + public void OnClickReset() + { + tbc.resetPos(); + autobot.ResetAutoBot(); + + toglleShow(); + } +} diff --git a/Assets/CoRE/Scrips/SettingMenuAgent.cs.meta b/Assets/CoRE/Scrips/SettingMenuAgent.cs.meta new file mode 100644 index 000000000..fd3cd484d --- /dev/null +++ b/Assets/CoRE/Scrips/SettingMenuAgent.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 532212adaf8308643a77f853a52819ba +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/CoRE/Scrips/TargetBotController.cs b/Assets/CoRE/Scrips/TargetBotController.cs index 76977b5c1..491144007 100644 --- a/Assets/CoRE/Scrips/TargetBotController.cs +++ b/Assets/CoRE/Scrips/TargetBotController.cs @@ -5,18 +5,31 @@ public class TargetBotController : MonoBehaviour { + public SettingMenuAgent agent; private NavMeshAgent bot_nav; private Vector3 target_pos; - // Start is called before the first frame update + + private Vector3 initPos; + + public void resetPos() + { + target_pos = initPos; + bot_nav.SetDestination(target_pos); + this.transform.position = new Vector3(6.13700008f, 0, -1.28299999f); + this.transform.rotation = new Quaternion(0, 0, 0, 1); + } + void Start() { bot_nav = this.GetComponent(); target_pos = this.transform.position; + initPos = this.transform.position; } - // Update is called once per frame void Update() { + if (agent.isShow) { return; } + bot_nav.SetDestination(target_pos); if (Input.GetMouseButtonDown(0)) { diff --git a/Assets/CoRE/Scrips/TargetPanel.cs b/Assets/CoRE/Scrips/TargetPanel.cs index 0fc30fda0..45fddc206 100644 --- a/Assets/CoRE/Scrips/TargetPanel.cs +++ b/Assets/CoRE/Scrips/TargetPanel.cs @@ -10,11 +10,9 @@ public class TargetPanel : MonoBehaviour public Material red_material; public Material blue_material; - private int counter; private int counter2; - void Start() { counter = 0; @@ -45,7 +43,6 @@ void FixedUpdate(){ counter -= 1; } - void OnCollisionEnter(Collision collision){ if(collision.gameObject.layer == 8){ counter = 5; diff --git a/Assets/Ros2ForUnity/Plugins/Windows.meta b/Assets/Ros2ForUnity/Plugins/Windows.meta new file mode 100644 index 000000000..79be910e3 --- /dev/null +++ b/Assets/Ros2ForUnity/Plugins/Windows.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: d8d8ae379efbbf247bae4953d3f9d3a4 +folderAsset: yes +DefaultImporter: + 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