Added colliders for trees

Signed-off-by: Piotr Jaroszek <[email protected]>

Project/Assets/Barn/Barn.fbx.assetinfo

@@ -0,0 +1,45 @@
+{
+    "values": [
+        {
+            "$type": "{5B03C8E6-8CEE-4DA0-A7FA-CD88689DD45B} MeshGroup",
+            "id": "{81D3BFFB-D163-5CB0-BF52-E436F52BA824}",
+            "name": "Barn",
+            "NodeSelectionList": {
+                "selectedNodes": [
+                    "RootNode.Barn"
+                ],
+                "unselectedNodes": [
+                    {},
+                    "RootNode"
+                ]
+            },
+            "export method": 1,
+            "PhysicsMaterialSlots": {
+                "Slots": [
+                    {
+                        "Name": "BarnMAT"
+                    }
+                ]
+            }
+        },
+        {
+            "$type": "{07B356B7-3635-40B5-878A-FAC4EFD5AD86} MeshGroup",
+            "name": "Barn",
+            "nodeSelectionList": {
+                "selectedNodes": [
+                    {},
+                    "RootNode",
+                    "RootNode.Barn"
+                ]
+            },
+            "rules": {
+                "rules": [
+                    {
+                        "$type": "MaterialRule"
+                    }
+                ]
+            },
+            "id": "{24C4E273-116E-5838-872B-34C072EFD479}"
+        }
+    ]
+}

Project/Assets/Importer/apple_kraken.prefab

@@ -2150,6 +2150,9 @@
                     "Id": 10560395332665053146,
                     "m_template": {
                         "$type": "ROS2FrameComponent",
+                        "Namespace Configuration": {
+                            "Namespace Strategy": 1
+                        },
                         "Frame Name": "base_link"
                     }
                 },
@@ -2163,7 +2166,8 @@
                         "Entity_[75436695707868]",
                         "Entity_[75402335969500]",
                         "Entity_[75479645380828]",
-                        "Entity_[75419515838684]"
+                        "Entity_[75419515838684]",
+                        "Instance_[535822348083258]/ContainerEntity"
                     ]
                 },
                 "Component_[11587227330168097343]": {
@@ -2315,8 +2319,9 @@
                                 "P": 500.0
                             },
                             "SpeedPID": {
-                                "P": 10.0
-                            }
+                                "P": 100.0
+                            },
+                            "Track": 0.6000000238418579
                         }
                     }
                 },
@@ -2334,6 +2339,7 @@
                     "m_template": {
                         "$type": "ROS2RobotControlComponent",
                         "ControlConfiguration": {
+                            "Topic": "ackermann_vel",
                             "Steering": 1
                         }
                     }
@@ -2621,5 +2627,27 @@
                 }
             }
         }
+    },
+    "Instances": {
+        "Instance_[535822348083258]": {
+            "Source": "Prefabs/Sensors/LidarOS2.prefab",
+            "Patches": [
+                {
+                    "op": "replace",
+                    "path": "/ContainerEntity/Components/Component_[5989395931141545750]/Parent Entity",
+                    "value": "../Entity_[75475350413532]"
+                },
+                {
+                    "op": "replace",
+                    "path": "/ContainerEntity/Components/Component_[5989395931141545750]/Transform Data/Translate/0",
+                    "value": 2.338586807250977
+                },
+                {
+                    "op": "replace",
+                    "path": "/ContainerEntity/Components/Component_[5989395931141545750]/Transform Data/Translate/2",
+                    "value": 1.0093085765838623
+                }
+            ]
+        }
     }
 }

Project/Prefabs/AppleTreeNoApples.prefab

@@ -114,6 +114,30 @@
                     "$type": "EditorOnlyEntityComponent",
                     "Id": 15752591005564428774
                 },
+                "Component_[17566392312502308790]": {
+                    "$type": "EditorColliderComponent",
+                    "Id": 17566392312502308790,
+                    "ColliderConfiguration": {
+                        "MaterialSlots": {
+                            "Slots": [
+                                {
+                                    "Name": "Entire object"
+                                }
+                            ]
+                        }
+                    },
+                    "ShapeConfiguration": {
+                        "ShapeType": 3,
+                        "Cylinder": {
+                            "Configuration": {
+                                "CookedData": "TlhTAUNWWE0NAAAAAAAAAElDRQFDTEhMCQAAACAAAAAwAAAAEgAAAGAAAABt6A2+5B5rPQAAwD8lOdm9IznZPQAAwD8lOdm9IznZPQAAwL9t6A2+5B5rPQAAwL+amRm+a0lhsgAAwL+amRm+a0lhsgAAwD9s6A2+6h5rvQAAwD9s6A2+6h5rvQAAwL8jOdm9JTnZvQAAwL8jOdm9JTnZvQAAwD9s6A0+6B5rPQAAwD+amRk+AAAAAAAAwD+amRk+AAAAAAAAwL9s6A0+6B5rPQAAwL/pHmu9bOgNPgAAwD/pHmu9bOgNPgAAwL/iHmu9begNvgAAwD/iHmu9begNvgAAwL8R96gympkZvgAAwL8R96gympkZvgAAwD/uHms9bOgNvgAAwD8oOdk9IjnZvQAAwD9t6A0+4h5rvQAAwD8kOdk9JDnZPQAAwD/lHms9begNPgAAwD9rSeGxmpkZPgAAwD8kOdk9JDnZPQAAwL/lHms9begNPgAAwL9rSeGxmpkZPgAAwL/uHms9bOgNvgAAwL8oOdk9IjnZvQAAwL9t6A0+4h5rvQAAwL8AAAAAAAAAAAAAgD8AAMC/AAAQAjLbVL/cOQ4/AAAAAA6mFr4QAAQVvxR7v7XFRz4AAAAADaYWvhQABAsw21S/3DkOvwAAAAAMpha+GAAECr8Ue7/IxUe+AAAAAA2mFr4cAAQKvxR7P8bFRz4AAAAADKYWviAABATcOQ6/MNtUPwAAAAAMpha+JAAEFNo5Dr8x21S/AAAAAAymFr4oAAQYtsVHvr8Ue78AAAAADaYWviwABBgx21Q/2zkOPwAAAAAMpha+MAAEBt05Dj8x21Q/AAAAAA2mFr40AAQIx8VHvr8Uez8AAAAADKYWvjgABBK2xUc+vxR7PwAAAAAMpha+PAAEEt05Dj8x21S/AAAAAA6mFr5AAAQBxcVHPr8Ue78AAAAADaYWvkQABA6/FHs/ucVHvgAAAAAMpha+SAAEADTbVD/XOQ6/AAAAAA2mFr5MAAQAAAAAAAAAAAAAAIC/AADAv1AAEAAQExQVFgsKFxgZDgEABQYJAAECAwADBAUGBwgJBgUEBwoLDA0ODwIBEAkIERAREhMaFwoNGhsYFxwPDhkcGRgbHR4VFB0UExIfDAsWHxYVHh8eHRIRCAcEAwIPHBsaDQwACAAOAA0AEAAPAAUACQAKAAwACwAGAAEAAgAEAAMABwEGAREBAgIRAgQDBAMRAwcEEQUPBREFCQYLBhEHEQcICBEIDgkKCREKEQoMCxELDAwRDRENEA0ODhEPEQ8QEBEAAQIAAQYBBhEBAhECBBEAAgQAAwQDBBEDBxEAAwcABQkABQ8FDxEFCREABgsGCxEABwgHCBEIDhEACA4ADQ4ADRAADxAACQoACgwACwwJChEKDBELDBENDhENEBEPEBEAAAAAmpkZvpqZGb4AAMC/mpkZPpqZGT4AAMA/0ZtTPtndHz4/K+4tyDqcLj8r7i3Z3R8+vJsTIsg6nC68mxMiDX4UO0aGfTEg3u+uA1KjsQAAgL8MphY+IznZPSM52T0AAMA/",
+                                "Type": 1
+                            },
+                            "Height": 3.0,
+                            "Radius": 0.15000000596046448
+                        }
+                    }
+                },
                 "Component_[2232052990511423151]": {
                     "$type": "EditorEntityIconComponent",
                     "Id": 2232052990511423151
@@ -453,4 +477,4 @@
             ]
         }
     }
-}
+}

Project/Prefabs/Barn.prefab

@@ -117,6 +117,40 @@
                     "$type": "EditorOnlyEntityComponent",
                     "Id": 428393277371854780
                 },
+                "Component_[6153869931080753618]": {
+                    "$type": "EditorColliderComponent",
+                    "Id": 6153869931080753618,
+                    "ColliderConfiguration": {
+                        "MaterialSlots": {
+                            "Slots": [
+                                {
+                                    "Name": "BarnMAT"
+                                }
+                            ]
+                        }
+                    },
+                    "ShapeConfiguration": {
+                        "PhysicsAsset": {
+                            "Asset": {
+                                "assetId": {
+                                    "guid": "{148FCF1B-E7A7-5387-B732-775453530FB4}",
+                                    "subId": 4686939
+                                },
+                                "assetHint": "assets/barn/barn.pxmesh"
+                            },
+                            "Configuration": {
+                                "PhysicsAsset": {
+                                    "assetId": {
+                                        "guid": "{148FCF1B-E7A7-5387-B732-775453530FB4}",
+                                        "subId": 4686939
+                                    },
+                                    "loadBehavior": "QueueLoad",
+                                    "assetHint": "assets/barn/barn.pxmesh"
+                                }
+                            }
+                        }
+                    }
+                },
                 "Component_[630570144579562799]": {
                     "$type": "EditorSurfaceDataMeshComponent",
                     "Id": 630570144579562799,

Project/Prefabs/OakTree.prefab

@@ -7,10 +7,6 @@
                 "$type": "EditorInspectorComponent",
                 "Id": 12949486167256891560
             },
-            "Component_[1316925373338608118]": {
-                "$type": "SelectionComponent",
-                "Id": 1316925373338608118
-            },
             "Component_[14488354225555543471]": {
                 "$type": "EditorEntitySortComponent",
                 "Id": 14488354225555543471,
@@ -25,7 +21,19 @@
             "Component_[17478803486732630354]": {
                 "$type": "{27F1E1A1-8D9D-4C3B-BD3A-AFB9762449C0} TransformComponent",
                 "Id": 17478803486732630354,
-                "Parent Entity": ""
+                "Parent Entity": "",
+                "Transform Data": {
+                    "Translate": [
+                        91.03612518310547,
+                        -21.739900588989258,
+                        0.0
+                    ],
+                    "Rotate": [
+                        0.0,
+                        0.0,
+                        11.727625846862793
+                    ]
+                }
             },
             "Component_[18417561163529904681]": {
                 "$type": "EditorVisibilityComponent",
@@ -58,15 +66,35 @@
             "Id": "Entity_[2990713085782]",
             "Name": "OakTree",
             "Components": {
+                "Component_[11409911102284256236]": {
+                    "$type": "EditorColliderComponent",
+                    "Id": 11409911102284256236,
+                    "ColliderConfiguration": {
+                        "MaterialSlots": {
+                            "Slots": [
+                                {
+                                    "Name": "Entire object"
+                                }
+                            ]
+                        }
+                    },
+                    "ShapeConfiguration": {
+                        "ShapeType": 3,
+                        "Cylinder": {
+                            "Configuration": {
+                                "CookedData": "TlhTAUNWWE0NAAAAAAAAAElDRQFDTEhMCQAAACAAAAAwAAAAEgAAAGAAAABs6I2+6h7rvQAAgEBs6I2+6h7rvQAAgMAjOVm+JTlZvgAAgMAjOVm+JTlZvgAAgECamZm+a0nhsgAAgECamZm+a0nhsgAAgMBt6I2+5B7rPQAAgEAlOVm+IzlZPgAAgEAlOVm+IzlZPgAAgMBt6I2+5B7rPQAAgMBrSWGympmZPgAAgMBrSWGympmZPgAAgEDlHus9beiNPgAAgEDlHus9beiNPgAAgMDpHuu9bOiNPgAAgEDpHuu9bOiNPgAAgMAkOVk+JDlZPgAAgMAkOVk+JDlZPgAAgEBs6I0+6B7rPQAAgECamZk+AAAAAAAAgECamZk+AAAAAAAAgMBs6I0+6B7rPQAAgMDuHus9bOiNvgAAgMAoOVk+IjlZvgAAgMAoOVk+IjlZvgAAgEDuHus9bOiNvgAAgEAR9ygzmpmZvgAAgEAR9ygzmpmZvgAAgMBt6I0+4h7rvQAAgMBt6I0+4h7rvQAAgEDiHuu9beiNvgAAgMDiHuu9beiNvgAAgEAAAAAAAAAAAAAAgL8AAIDAAAAQADDbVL/cOQ6/AAAAAAymlr4QAAQQvxR7v8fFR74AAAAADaaWvhQABBIx21S/2zkOPwAAAAANppa+GAAEF78Ue7+1xUc+AAAAAA2mlr4cAAQTtsVHPsAUez8AAAAADaaWviAABBrGxUe+vhR7PwAAAAAMppa+JAAEFts5Dr8w21Q/AAAAAAymlr4oAAQW3DkOPzDbVD8AAAAADKaWviwABAK/FHs/xsVHPgAAAAAMppa+MAAEADDbVD/aOQ4/AAAAAAymlr40AAQA3DkOPy/bVL8AAAAADKaWvjgABAfExUc+vhR7vwAAAAANppa+PAAECsAUez+6xUe+AAAAAA2mlr5AAAQENNtUP9c5Dr8AAAAADaaWvkQABAbaOQ6/MdtUvwAAAAAMppa+SAAEDLbFR77AFHu/AAAAAA6mlr5MAAQKAAAAAAAAAAAAAIA/AACAwFAAEAEcFxYbHgIBBQkIDwoNEBUUAAECAwAEBQEGBwgJBgkFBAoLDA0OCwoPDg8IBxANDBESExQVEhUQERYXGBkWGRobHBQTHRwdGBcfAwIeHx4bGh8aGRgdExIRDAsOBwYEAAMADgALAAwAEAAPAAEAAgAEAAMABwAGAAUACAAKAAkADQECAQ8BEQIRAgQDEQMHAwQEEQUGBREFCAYRBgcHEQgRCAoJEQkNCQoKEQsOCxELDAwRDBANEQ0ODhEPEQ8QEBEBAhEAAQIAAQ8BDxECBBEAAgQDBBEDBxEAAwcAAwQABQYFBhEFCBEABQgGBxEABgcACAoIChEJChEJDREACQ0ACQoACwwACw4LDhELDBEMEBEADBAADQ4NDhEADxAPEBEAAAAAmpmZvpqZmb4AAIDAmpmZPpqZmT4AAIBAixINQLfePEFENrgwW/1OskQ2uDC33jxBAACBJlv9TrIAAIEmZv3FPV9iBzL+SBSyyg8cMwAAgL8MppY+IzlZPiM5WT4AAIBA",
+                                "Type": 1
+                            },
+                            "Height": 8.0,
+                            "Radius": 0.30000001192092896
+                        }
+                    }
+                },
                 "Component_[11661503052505698670]": {
                     "$type": "{27F1E1A1-8D9D-4C3B-BD3A-AFB9762449C0} TransformComponent",
                     "Id": 11661503052505698670,
                     "Parent Entity": "ContainerEntity"
                 },
-                "Component_[1569395306394681504]": {
-                    "$type": "SelectionComponent",
-                    "Id": 1569395306394681504
-                },
                 "Component_[15894921980041735849]": {
                     "$type": "EditorEntitySortComponent",
                     "Id": 15894921980041735849