Update PR #188 example codes

.github/workflows/main.yml

@@ -1,10 +1,14 @@
-name: CI check for Unity 2021.3.x, 2022.3.x
+name: CI check for Unity
 
 on:
   pull_request:
     branches:
       - master
       - beta/**
+  push:
+    branches:
+      - master
+      - beta/**
 
 jobs:
   test:
@@ -15,8 +19,8 @@ jobs:
       fail-fast: false
       matrix:
         unityVersion:
-          - 2021.3.42f1
-          - 2022.3.42f1
+          - 2022.3.59f1
+          - 2023.2.20f1
 
     steps:
       # リポジトリをチェックアウト

Assets/UnitySensorsROS/Runtime/Prefabs/LiDAR/Livox/Mid-360_with_DepthBuffer_ros.prefab

@@ -0,0 +1,256 @@
+%YAML 1.1
+%TAG !u! tag:unity3d.com,2011:
+--- !u!1 &1375740062767163334
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 6411858521544233545}
+  m_Layer: 0
+  m_Name: Model
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!4 &6411858521544233545
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1375740062767163334}
+  serializedVersion: 2
+  m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
+  m_LocalPosition: {x: 0, y: 0, z: 0}
+  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_ConstrainProportionsScale: 0
+  m_Children:
+  - {fileID: 9193258839179388757}
+  m_Father: {fileID: 7838652616162947089}
+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!1 &1936860389145588011
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 4396461226263471416}
+  - component: {fileID: 1055920363974761583}
+  - component: {fileID: 6522381260155033343}
+  - component: {fileID: 4623377165116692231}
+  - component: {fileID: 5668021126483820395}
+  m_Layer: 0
+  m_Name: Sensor
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!4 &4396461226263471416
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1936860389145588011}
+  serializedVersion: 2
+  m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
+  m_LocalPosition: {x: 0, y: 0.047, z: 0}
+  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_ConstrainProportionsScale: 0
+  m_Children: []
+  m_Father: {fileID: 7838652616162947089}
+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!114 &1055920363974761583
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1936860389145588011}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: 0e60e7cbad47e014d9f3454fea9529e5, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  _frequency: 10
+  _scanPattern: {fileID: 11400000, guid: 3254b0939ab7875449879b5d2fe8006f, type: 2}
+  _pointsNumPerScan: 20000
+  _minRange: 0.1
+  _maxRange: 70
+  _gaussianNoiseSigma: 0.02
+  _maxIntensity: 255
+  _texturePixelsNum: 1500000
+  _textureSizePerCamera: {x: 0, y: 0}
+  _depthBufferLidarMat: {fileID: 2100000, guid: 4d25d3a0a13f3d9489db78fe07061f16,
+    type: 2}
+--- !u!114 &6522381260155033343
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1936860389145588011}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: 32c6ed908b3e5d74697c679c7798bcc2, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  _frequency: 10
+  _topicName: /livox/lidar
+  _serializer:
+    _header:
+      _source: {fileID: 1055920363974761583}
+      _frame_id: livox_frame
+  _source: {fileID: 1055920363974761583}
+--- !u!114 &4623377165116692231
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1936860389145588011}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: f2ac6256eabda88478ca2a2fc51a2c64, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  _pointUtilitiesSO: {fileID: 11400000, guid: 5e210d04f3c81dc4986b2270af79835f, type: 2}
+  _source: {fileID: 1055920363974761583}
+--- !u!114 &5668021126483820395
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1936860389145588011}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: 60a6512c6d49c2244a1a77e382c678b1, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  _frequency: 10
+  _frame_id: livox_frame
+  _children: []
+--- !u!1 &2645824182331024367
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 7838652616162947089}
+  m_Layer: 0
+  m_Name: Mid-360_with_DepthBuffer_ros
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!4 &7838652616162947089
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 2645824182331024367}
+  serializedVersion: 2
+  m_LocalRotation: {x: -0, y: -0, z: -0, w: 1}
+  m_LocalPosition: {x: 0, y: 1.5, z: 0}
+  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_ConstrainProportionsScale: 0
+  m_Children:
+  - {fileID: 4396461226263471416}
+  - {fileID: 6411858521544233545}
+  m_Father: {fileID: 0}
+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!1 &4174424741657421123
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 9193258839179388757}
+  - component: {fileID: 30302794965006536}
+  - component: {fileID: 1617953809329149630}
+  m_Layer: 0
+  m_Name: mid-360
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!4 &9193258839179388757
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 4174424741657421123}
+  serializedVersion: 2
+  m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
+  m_LocalPosition: {x: 0, y: 0.0261, z: 0}
+  m_LocalScale: {x: 0.001, y: 0.001, z: 0.001}
+  m_ConstrainProportionsScale: 0
+  m_Children: []
+  m_Father: {fileID: 6411858521544233545}
+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!33 &30302794965006536
+MeshFilter:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 4174424741657421123}
+  m_Mesh: {fileID: -2432090755550338912, guid: abc7257b19d19984eaf4522da1069d0a, type: 3}
+--- !u!23 &1617953809329149630
+MeshRenderer:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 4174424741657421123}
+  m_Enabled: 1
+  m_CastShadows: 1
+  m_ReceiveShadows: 1
+  m_DynamicOccludee: 1
+  m_StaticShadowCaster: 0
+  m_MotionVectors: 1
+  m_LightProbeUsage: 1
+  m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
+  m_RayTraceProcedural: 0
+  m_RenderingLayerMask: 1
+  m_RendererPriority: 0
+  m_Materials:
+  - {fileID: 2100000, guid: a12c3437fa01c29429b612fb1312e8f5, type: 2}
+  m_StaticBatchInfo:
+    firstSubMesh: 0
+    subMeshCount: 0
+  m_StaticBatchRoot: {fileID: 0}
+  m_ProbeAnchor: {fileID: 0}
+  m_LightProbeVolumeOverride: {fileID: 0}
+  m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
+  m_PreserveUVs: 0
+  m_IgnoreNormalsForChartDetection: 0
+  m_ImportantGI: 0
+  m_StitchLightmapSeams: 1
+  m_SelectedEditorRenderState: 3
+  m_MinimumChartSize: 4
+  m_AutoUVMaxDistance: 0.5
+  m_AutoUVMaxAngle: 89
+  m_LightmapParameters: {fileID: 0}
+  m_SortingLayerID: 0
+  m_SortingLayer: 0
+  m_SortingOrder: 0
+  m_AdditionalVertexStreams: {fileID: 0}