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@@ -27,7 +27,7 @@
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"$type": "EditorEntitySortComponent",
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"Id": 615377764463113571,
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"Child Entity Order": [
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- ""
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+ "Entity_[2903754359265]"
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]
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},
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"Component_[6825265907510842117]": {
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@@ -49,203 +49,58 @@
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}
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}
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},
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- "Instances": {
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- "Source": "ROSbot.prefab",
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- "Patches": [
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- {
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- "op": "replace",
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- "path": "/ContainerEntity/Components/Component_[1258474389347419349]/Parent Entity",
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- "value": "../ContainerEntity"
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+ "Entities": {
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+ "Entity_[2903754359265]": {
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+ "Id": "Entity_[2903754359265]",
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+ "Name": "rosbot_xl",
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+ "Components": {
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+ "EditorDisabledCompositionComponent": {
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+ "$type": "EditorDisabledCompositionComponent",
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+ "Id": 10750615380987209797
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- {
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- "path": "/Entities/Entity_[7499249914554]/Components/Component_[1770764664089996465]/Child Entity Order/0",
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- "value": "Entity_[5429730984677]"
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+ "EditorEntityIconComponent": {
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+ "$type": "EditorEntityIconComponent",
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- {
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- "op": "add",
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- "Name": "slamtec_rplidar_s1_link_visual",
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- },
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- "loadBehavior": "QueueLoad",
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- },
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- "IsRuntimeActive": true
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- }
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+ "EditorEntitySortComponent": {
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+ "$type": "EditorEntitySortComponent",
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+ "Id": 1820745215303074243,
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+ "Child Entity Order": [
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+ "Instance_[3732164110801]/ContainerEntity"
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+ ]
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},
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- {
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- "op": "replace",
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- "path": "/Entities/Entity_[7507839849146]/Components/Component_[1153232506834696450]/ShapeConfiguration/PhysicsAsset/Asset/assetHint",
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- "value": "robot/rosbot_xl_description/meshes/body_colision.stl.pxmesh"
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+ "EditorInspectorComponent": {
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+ "$type": "EditorInspectorComponent",
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+ "Id": 18363598070632634725
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},
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- {
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- "op": "replace",
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- "path": "/Entities/Entity_[7507839849146]/Components/Component_[1153232506834696450]/ShapeConfiguration/PhysicsAsset/Configuration/PhysicsAsset/assetHint",
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- "value": "robot/rosbot_xl_description/meshes/body_colision.stl.pxmesh"
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+ "EditorLockComponent": {
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+ "$type": "EditorLockComponent",
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+ "Id": 10830872446621478077
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+ },
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+ "EditorOnlyEntityComponent": {
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+ "$type": "EditorOnlyEntityComponent",
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+ "Id": 17669973974886378772
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+ },
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+ "EditorPendingCompositionComponent": {
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+ "$type": "EditorPendingCompositionComponent",
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+ "Id": 10573047347709242649
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+ },
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+ "EditorVisibilityComponent": {
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+ "$type": "EditorVisibilityComponent",
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+ "Id": 13933101236206376606
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},
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+ "TransformComponent": {
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+ "$type": "{27F1E1A1-8D9D-4C3B-BD3A-AFB9762449C0} TransformComponent",
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+ "Id": 15110202460887678142,
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+ "Parent Entity": "ContainerEntity"
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+ }
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+ }
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+ }
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+ },
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+ "Instances": {
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+ "Instance_[3732164110801]": {
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+ "Source": "ROSbot.prefab",
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+ "Patches": [
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{
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"op": "add",
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"path": "/Entities/Entity_[5429730984677]",
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@@ -665,6 +520,19 @@
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"Id": 17880429133386895196,
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"VisibilityFlag": true
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},
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+ "ROS2FrameEditorComponent": {
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+ "$type": "ROS2FrameEditorComponent",
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+ "Id": 8120896383852689752,
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+ "ROS2FrameConfiguration": {
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+ "Namespace Configuration": {
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+ "Namespace Strategy": 0,
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+ "Namespace": ""
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+ },
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+ "Frame Name": "slamtec_rplidar_s1_link",
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+ "Joint Name": "cover_to_slamtec_rplidar_s1_joint",
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+ "Publish Transform": true
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+ }
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+ },
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"TransformComponent": {
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"$type": "{27F1E1A1-8D9D-4C3B-BD3A-AFB9762449C0} TransformComponent",
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"Id": 9692259687288593691,
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@@ -692,20 +560,6 @@
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"IsStatic": false,
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"InterpolatePosition": 0,
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"InterpolateRotation": 0
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- },
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- "ROS2FrameEditorComponent": {
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- "$type": "ROS2FrameEditorComponent",
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- "Id": 8120896383852689752,
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- "ROS2FrameConfiguration": {
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- "Id": 0,
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- "Namespace Configuration": {
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- "Namespace Strategy": 0,
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- "Namespace": ""
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- },
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- "Frame Name": "slamtec_rplidar_s1_link",
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- "Joint Name": "cover_to_slamtec_rplidar_s1_joint",
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- "Publish Transform": true
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- }
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}
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},
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"IsRuntimeActive": true
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@@ -761,6 +615,19 @@
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"Id": 9118740895747240865,
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"VisibilityFlag": true
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},
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+ "ROS2FrameEditorComponent": {
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+ "$type": "ROS2FrameEditorComponent",
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+ "Id": 12598642067614797199,
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+ "ROS2FrameConfiguration": {
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+ "Namespace Configuration": {
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+ "Namespace Strategy": 0,
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+ "Namespace": ""
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+ },
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+ "Frame Name": "laser",
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+ "Joint Name": "",
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+ "Publish Transform": true
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+ }
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+ },
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"ROS2Lidar2DSensorComponent_2": {
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"$type": "GenericComponentWrapper",
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"Id": 15951162260593853297,
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@@ -789,14 +656,26 @@
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"lidarImplementation": "Scene Queries",
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"LidarParameters": {
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"Name": "Slamtec RPLIDAR S1",
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+ "Layers": 1,
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"Points per layer": 921,
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+ "Min horizontal angle": -180.0,
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+ "Max horizontal angle": 180.0,
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+ "Min vertical angle": 0.0,
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+ "Max vertical angle": 0.0,
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"Min range": 0.10000000149011612,
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- "Max range": 40.0
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+ "Max range": 40.0,
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+ "Enable Noise": true,
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+ "Noise Parameters": {
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+ "Angular noise standard deviation": 0.0,
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+ "Distance noise standard deviation base": 0.019999999552965164,
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+ "Distance noise standard deviation slope": 0.0010000000474974513
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+ }
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},
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"IgnoredLayerIndices": [
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1
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],
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"ExcludedEntities": [],
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+ "IsSegmentationEnabled": false,
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"PointsAtMax": false
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}
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}
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@@ -829,20 +708,194 @@
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"IsStatic": false,
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"InterpolatePosition": 0,
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"InterpolateRotation": 0
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+ }
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+ },
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+ "IsRuntimeActive": true
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+ }
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+ },
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+ {
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+ "op": "replace",
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+ "path": "/ContainerEntity/Components/Component_[1258474389347419349]/Parent Entity",
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+ "value": "../Entity_[2903754359265]"
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+ },
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+ {
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+ "op": "add",
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+ "path": "/Entities/Entity_[5434025951973]",
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+ "value": {
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+ "Id": "Entity_[5434025951973]",
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+ "Name": "slamtec_rplidar_s1_link_visual",
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+ "Components": {
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+ "Component_[13558631120334703172]": {
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+ "$type": "EditorInspectorComponent",
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+ "Id": 13558631120334703172,
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+ "ComponentOrderEntryArray": []
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},
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- "ROS2FrameEditorComponent": {
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- "$type": "ROS2FrameEditorComponent",
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- "Id": 12598642067614797199,
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- "Frame Name": "laser",
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- "Joint Name": "",
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- "Publish Transform": true
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+ "Component_[15937921940637916859]": {
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+ "$type": "EditorEntitySortComponent",
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+ "Id": 15937921940637916859,
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+ "Child Entity Order": []
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+ },
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+ "Component_[16880687897144235879]": {
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+ "$type": "EditorVisibilityComponent",
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+ "Id": 16880687897144235879,
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+ "VisibilityFlag": true
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+ },
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+ "Component_[17782893825045371782]": {
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+ "$type": "EditorPendingCompositionComponent",
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+ "Id": 17782893825045371782,
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+ "PendingComponents": []
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+ "Id": 2514902925827828913,
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+ "$type": "EditorOnlyEntityComponent",
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+ "Id": 2561471299578768190,
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+ "IsEditorOnly": false
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+ "Component_[2663517450077638093]": {
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"IsRuntimeActive": true
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@@ -851,4 +904,4 @@
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]
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}
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}
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-}
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+}
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Jan Hanca