Merge pull request #8 from Arena-Rosnav/unity-simulator

Unity simulator update

.rosinstall

@@ -6,6 +6,11 @@
     uri: https://github.com/Arena-Rosnav/flatland.git
     version: master
 
+- git:
+    local-name: ../arena-unity
+    uri: https://github.com/Arena-Rosnav/arena-unity.git
+    version: main
+
 # - git:
 #     local-name: ../utils/arena-tools
 #     uri: https://github.com/Arena-Rosnav/arena-tools.git
@@ -41,6 +46,11 @@
     local-name: ../utils-extern/ros/move_base_flex
     uri: https://github.com/voshch/move_base_flex.git
 
+- git:
+    local-name: ../utils-extern/ros/ros_tcp_endpoint
+    uri: https://github.com/Unity-Technologies/ROS-TCP-Endpoint.git
+    version: main
+
 - git:
     local-name: ../utils-extern/misc/robots
     uri: https://github.com/Arena-Rosnav/3rd-party-robot-packages

task_generator/task_generator/manager/entity_manager/pedsim_manager.py

@@ -35,6 +35,7 @@
 from typing import Callable, List
 
 from task_generator.simulators.gazebo_simulator import GazeboSimulator
+from task_generator.simulators.unity_simulator import UnitySimulator
 from task_generator.utils import rosparam_get
 
 from tf.transformations import quaternion_from_euler, euler_from_quaternion
@@ -528,7 +529,7 @@ def remove_obstacles(self, purge):
 
             for obstacle_id, obstacle in self._known_obstacles.items():
                 if purge >= obstacle.layer:
-                    if isinstance(self._simulator, GazeboSimulator):
+                    if isinstance(self._simulator, GazeboSimulator) or isinstance(self._simulator, UnitySimulator):
                         # TODO remove this once actors can be deleted properly
                         if isinstance(obstacle.obstacle, DynamicObstacle):
 

task_generator/task_generator/simulators/unity_simulator.py

@@ -38,7 +38,7 @@ def __init__(self, namespace: str):
         rospy.wait_for_service(self._namespace(
             "unity", "set_model_state"), timeout=T)
 
-        # TODO: Proper Message Types
+        # TODO: Custom Message Types
         self._spawn_walls_srv = rospy.ServiceProxy(
             self._namespace("unity", "spawn_walls"), SpawnWalls
         )
@@ -80,17 +80,17 @@ def spawn_entity(self, entity):
         request.initial_pose = Pose(
             position=Point(
                 x=entity.position[0],
-                y=0,
-                z=entity.position[1]
+                y=entity.position[1],
+                z=0.35
             ),
-            orientation=Quaternion(*quaternion_from_euler(0.0, entity.position[2], 0.0, axes="sxyz")
-                                   )
+            orientation=Quaternion(*quaternion_from_euler(0.0, 0.0, entity.position[2], axes="sxyz"))
         )
 
-        rospy.set_param(request.robot_namespace(
-            "robot_description"), model.description)
-        rospy.set_param(request.robot_namespace(
-            "tf_prefix"), str(request.robot_namespace))
+        if isinstance(entity, Robot):
+            rospy.set_param(request.robot_namespace(
+                "robot_description"), model.description)
+            rospy.set_param(request.robot_namespace(
+                "tf_prefix"), str(request.robot_namespace))
 
         res = self.spawn_model(model.type, request)
         return res.success
@@ -102,13 +102,15 @@ def move_entity(self, name, position):
         request.model_state = ModelState()
 
         request.model_state.model_name = name
-        pose = Pose()
-        # Keep in mind that y axis is up
-        pose.position.x = position[0]
-        pose.position.y = 0.35
-        pose.position.z = position[1]
-        pose.orientation = Quaternion(
-            *quaternion_from_euler(0.0, position[2], 0.0, axes="sxyz")
+        pose = Pose(
+            position=Point(
+                x = position[0],
+                y = position[1],
+                z = 0.35
+            ),
+            orientation=Quaternion(
+                *quaternion_from_euler(0.0, 0.0, position[2], axes="sxyz")
+            )
         )
         request.model_state.pose = pose
         request.model_state.reference_frame = "world"
@@ -143,4 +145,4 @@ def spawn_walls(self, walls: WorldWalls):
         request = SpawnWallsRequest()
         request.walls_string = "/".join([f"{wall[0].x},{wall[0].y};{wall[1].x},{wall[1].y}" for wall in walls])
 
-        self._spawn_walls_srv(request)
+        self._spawn_walls_srv(request)

utils/misc/unity_simulator/unity_simulator_Data/MonoBleedingEdge/etc/config

@@ -0,0 +1,53 @@
+<configuration>
+	<dllmap dll="i:cygwin1.dll" target="libc.so.6" os="!windows" />
+	<dllmap dll="libc" target="libc.so.6" os="!windows"/>
+	<dllmap dll="intl" target="libc.so.6" os="!windows"/>
+	<dllmap dll="intl" name="bind_textdomain_codeset" target="libc.so.6" os="solaris"/>
+	<dllmap dll="libintl" name="bind_textdomain_codeset" target="libc.so.6" os="solaris"/>
+	<dllmap dll="libintl" target="libc.so.6" os="!windows"/>
+	<dllmap dll="i:libxslt.dll" target="libxslt.so" os="!windows"/>
+	<dllmap dll="i:odbc32.dll" target="libodbc.so.2" os="!windows"/>
+	<dllmap dll="i:odbc32.dll" target="libiodbc.dylib" os="osx"/>
+	<dllmap dll="oci" target="libclntsh.so" os="!windows"/>
+	<dllmap dll="db2cli" target="libdb2_36.so" os="!windows"/>
+	<dllmap dll="MonoPosixHelper" target="libMonoPosixHelper.so" os="!windows" />
+	<dllmap dll="System.Native" target="$mono_libdir/libmono-native.so" os="!windows" />
+	<dllmap dll="System.Net.Security.Native" target="$mono_libdir/libmono-native.so" os="!windows" />
+	<dllmap dll="System.Security.Cryptography.Native.Apple" target="$mono_libdir/libmono-native.so" os="osx" />
+	<dllmap dll="libmono-btls-shared" target="libmono-btls-shared.so" os="!windows" />
+	<dllmap dll="i:msvcrt" target="libc.so.6" os="!windows"/>
+	<dllmap dll="i:msvcrt.dll" target="libc.so.6" os="!windows"/>
+	<dllmap dll="sqlite" target="libsqlite.so.0" os="!windows"/>
+	<dllmap dll="sqlite3" target="libsqlite3.so.0" os="!windows"/>
+	<dllmap dll="libX11" target="libX11.so.6" os="!windows" />
+	<dllmap dll="libgdk-x11-2.0" target="libgdk-x11-2.0.so.0" os="!windows"/>
+	<dllmap dll="libgdk_pixbuf-2.0" target="libgdk_pixbuf-2.0.so.0" os="!windows"/>
+	<dllmap dll="libgtk-x11-2.0" target="libgtk-x11-2.0.so.0" os="!windows"/>
+	<dllmap dll="libglib-2.0" target="libglib-2.0.so.0" os="!windows"/>
+	<dllmap dll="libgobject-2.0" target="libgobject-2.0.so.0" os="!windows"/>
+	<dllmap dll="libgnomeui-2" target="libgnomeui-2.so.0" os="!windows"/>
+	<dllmap dll="librsvg-2" target="librsvg-2.so.2" os="!windows"/>
+	<dllmap dll="libXinerama" target="libXinerama.so.1" os="!windows" />
+	<dllmap dll="libasound" target="libasound.so.2" os="!windows" />
+	<dllmap dll="libcairo-2.dll" target="libcairo.so.2" os="!windows"/>
+	<dllmap dll="libcairo-2.dll" target="libcairo.2.dylib" os="osx"/>
+	<dllmap dll="libcups" target="libcups.so.2" os="!windows"/>
+	<dllmap dll="libcups" target="libcups.dylib" os="osx"/>
+	<dllmap dll="i:kernel32.dll">
+		<dllentry dll="__Internal" name="CopyMemory" target="mono_win32_compat_CopyMemory"/>
+		<dllentry dll="__Internal" name="FillMemory" target="mono_win32_compat_FillMemory"/>
+		<dllentry dll="__Internal" name="MoveMemory" target="mono_win32_compat_MoveMemory"/>
+		<dllentry dll="__Internal" name="ZeroMemory" target="mono_win32_compat_ZeroMemory"/>
+	</dllmap>
+	<dllmap dll="gdiplus" target="libgdiplus.so.0" os="!windows"/>
+	<dllmap dll="gdiplus.dll" target="libgdiplus.so.0"  os="!windows"/>
+	<dllmap dll="gdi32" target="libgdiplus.so.0" os="!windows"/>
+	<dllmap dll="gdi32.dll" target="libgdiplus.so.0" os="!windows"/>
+
+    <!-- Some .net base class library code pinvokes into api-ms-win-core-threadpool-l1-2-0.dll. The only thing this library does is forward the call
+	to kernel32.dll (on windows desktop, versions on other platforms might forward elsewhere.  Unfortunately this library did not ship with windows7.
+	We're using the dll remap functionality in this file to have mono directly route these calls into kernel32, just like the library would do so that
+	the BCL code that relies on this can work on windows7 again.  This functionality that does not work without this workaround includes NamedServerPipeStream.
+	-->
+	<dllmap dll="api-ms-win-core-threadpool-l1-2-0.dll" target="kernel32.dll" os="windows"/>
+</configuration>

utils/misc/unity_simulator/unity_simulator_Data/MonoBleedingEdge/etc/mono/2.0/Browsers/Compat.browser

@@ -0,0 +1,42 @@
+<!--
+    This file defines some of the browsers that Microsoft's implementation provides in
+    <windir>\Microsoft.NET\Framework\<ver>\CONFIG\Browsers\*.browser
+
+	It is not derived from any file distributed with Microsoft's implementation.  Since
+	we can't distribute MS's browser files, we use browscap.ini to determine 
+	browser capabilities.  Then, if and only if the application contains App_Browser/*.browser
+	files and we are using .NET 2.0 or higher, we supplement the capabilities with the 
+	information in those files and the files in this directory.  The primary goal of this file
+	is provide browser definitions that might be referenced in App_Browser/*.browser files.
+-->
+<browsers>
+  <defaultBrowser id="Default">
+  </defaultBrowser>
+  <browser id="Default">
+    <identification>
+    	<userAgent match="." />
+    </identification>
+  </browser>
+  <browser id="IE6to9" parentID="Default">
+    <identification>
+      <capability name="majorver" match="^[6-9]" />
+      <capability name="browser" match="^(IE|AOL)$" />
+    </identification>
+  </browser>
+  <browser id="Opera8to9" parentID="Default">
+    <identification>
+      <capability name="majorver" match="^[8-9]" />
+      <capability name="browser" match="^Opera$" />
+    </identification>
+  </browser>
+  <browser id="Safari" parentID="Default">
+    <identification>
+      <capability name="browser" match="^Safari$" />
+    </identification>
+  </browser>
+  <browser id="Mozilla" parentID="Default">
+    <identification>
+      <capability name="browser" match="^Mozilla" />
+    </identification>
+  </browser>
+</browsers>