CLOiSim-4.10.0

Build Environment

Linux & Windows

• Processor: AMD Ryzen 9 5950X 16-Core Processor x 32
• Memory: 128.0 GiB
• Graphics: NVIDIA Corporation [GeForce RTX 3090]
• OS: Linux/Ubuntu 22.04.5 LTS (64-bit)

Changes

Major

• Upgrade Unity editor version: 2022.3.58f1 (LTS)
• SDF.Parse: Parse world/gui/camera/view_controller
• SDF.Import: Implement camera view mode (perspective/orthographic)
• CLOiSim.Message: modify Protobuf Messages
  • TwistLiner/TwistAngular -> Twist.Liner/Twist.Angular
  • change repeated field for bumper/contact/ir
• CLOiSimPlugin: Add new plugin, add new CLOiSimPlugin Type [IR]
  • ContactPlugin
  • RangePlugin -> (make RangePlugin to base class for IRPlugin and SonarPlugin)
• Devices:
  • Modify Sensor/Contact sensor Devices
    • catch lastest sensor data
  • Modify MicomSensor Device
    • return bumper contacts / Sonar info
    • Update Sensor status in GenerateMessage()
    • Update Odom info in FixedUpdate()
    • add UpdateBattery() method
    • Set timestamp for micom message in FixedUpdate()

Minor

• SDF.Parser: DebugLogWriter script moved
• UI: modify default main camera parameters
• CLOiSimPlugin: Modify DeviceMessage/DeviceMessageQueue
  • add try/catch statement in SetMesasge() and Push()
  • add protection code
  • Modfiy attachedDevices in CLOiSimPlugin
    • change data type to List from Dictionary
• Device: Modify Sonar Devices
• set default value for range with Max range value

Bug fix

• UI.CameraControl: fix wrong condition check in Change camera view and resolve gimbol lock issue
• Devices:
  • Fix and modify Contact Device
    • handle multiple collision contact within same objects
    • implement Wrench info -> only force
    • Change mode type TX(Coroutine) -> TX_THREAD
    • Implement message queue
    • Update Period control in CollisionStay()
    • Publish empty message if collision is not occured
  • Modfiy Sonar Sensor Devices
    • sonar sensor return wrong range when object is suddenly removed.
    • manage and monitor Collider objects to detect the object deleted by key or command

Version matching for this release

• ros2 jazzy

  • cloisim_ros: jazzy-4.7.0

• ros2 humble

  • cloisim_ros: humble-3.12.0

• ros2 foxy

  • foxy will not support the latest version of CLOiSim, backporting is not planned

• cloi_common_interfaces is included in cloisim_ros as a git submodule

• resources

  • samples_resource: v3.2.1
  • cloi_resources: 5.2, only for LGE internal user

What's Changed

• Add/new/cloisimplugin/contact by @hyunseok-yang in #343
• Modify/cl oi sim plugin by @hyunseok-yang in #344
• Merge from 'develop' into 'main' for CLOiSim-4.10.0 by @hyunseok-yang in #345

Full Changelog: 4.9.8...4.10.0