Added ImagePublisher to Sim

Author: telemething

.gitignore

@@ -7,6 +7,7 @@
 *.code-workspace
 
 KomatsuSimulator/.vscode/*
+KomatsuSimulator/Builds/*
 
 # Local History for Visual Studio Code
 .history/
@@ -99,3 +100,4 @@ Ros/.vscode/colcon.env
 Ros/src/retro_log/.gitignore
 KomatsuSimulator/Assets/Resources/ROSConnectionPrefab.prefab
 KomatsuSimulator/Assets/Resources/ROSConnectionPrefab.prefab.meta
+

KomatsuSimulator/Assets/Prefabs/Marker.prefab

@@ -12,7 +12,7 @@ GameObject:
   - component: {fileID: 758796265325132282}
   - component: {fileID: 8240304387693579112}
   m_Layer: 0
-  m_Name: Sphere
+  m_Name: Marker
   m_TagString: Untagged
   m_Icon: {fileID: 0}
   m_NavMeshLayer: 0
@@ -59,7 +59,7 @@ MeshRenderer:
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
-  - {fileID: 2100000, guid: f6a9d6bc8063a5946bbd2f6e46ef3389, type: 2}
+  - {fileID: 2100000, guid: 5ffc1e249f1064ca590edee3038eb26a, type: 2}
   m_StaticBatchInfo:
     firstSubMesh: 0
     subMeshCount: 0

KomatsuSimulator/Assets/Scenes/Scenario2.unity

@@ -223,6 +223,11 @@ PrefabInstance:
     m_RemovedComponents:
     - {fileID: 1625443114125478412, guid: ff15c63204baa9927b07a86913f09815, type: 3}
   m_SourcePrefab: {fileID: 100100000, guid: ff15c63204baa9927b07a86913f09815, type: 3}
+--- !u!4 &92939124 stripped
+Transform:
+  m_CorrespondingSourceObject: {fileID: 49401417365716694, guid: ff15c63204baa9927b07a86913f09815, type: 3}
+  m_PrefabInstance: {fileID: 49401418143394230}
+  m_PrefabAsset: {fileID: 0}
 --- !u!1001 &98234853
 PrefabInstance:
   m_ObjectHideFlags: 0
@@ -403,6 +408,11 @@ Transform:
   m_CorrespondingSourceObject: {fileID: 1333361406792543643, guid: 0ae489f39a487a55ebc7bffa80d22494, type: 3}
   m_PrefabInstance: {fileID: 1263632415}
   m_PrefabAsset: {fileID: 0}
+--- !u!4 &330164658 stripped
+Transform:
+  m_CorrespondingSourceObject: {fileID: 49401416342107775, guid: ff15c63204baa9927b07a86913f09815, type: 3}
+  m_PrefabInstance: {fileID: 49401418143394230}
+  m_PrefabAsset: {fileID: 0}
 --- !u!4 &386753625 stripped
 Transform:
   m_CorrespondingSourceObject: {fileID: 1333361406792543643, guid: 0ae489f39a487a55ebc7bffa80d22494, type: 3}
@@ -3110,6 +3120,107 @@ Transform:
   m_Father: {fileID: 0}
   m_RootOrder: 4
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!1 &1748818113
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 1748818114}
+  - component: {fileID: 1748818117}
+  - component: {fileID: 1748818116}
+  - component: {fileID: 1748818115}
+  m_Layer: 0
+  m_Name: FrontCamera
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!4 &1748818114
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1748818113}
+  m_LocalRotation: {x: 0.2588191, y: 0, z: 0, w: 0.9659258}
+  m_LocalPosition: {x: 0, y: 7.2, z: 1.95}
+  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_Children: []
+  m_Father: {fileID: 92939124}
+  m_RootOrder: 2
+  m_LocalEulerAnglesHint: {x: 30, y: 0, z: 0}
+--- !u!114 &1748818115
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1748818113}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: 87e771e679dde364f8386bcca58dc35c, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  ImageCamera: {fileID: 1748818117}
+  FrameId: Camera
+  RosTopic: /image
+  resolutionWidth: 640
+  resolutionHeight: 480
+--- !u!81 &1748818116
+AudioListener:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1748818113}
+  m_Enabled: 1
+--- !u!20 &1748818117
+Camera:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1748818113}
+  m_Enabled: 1
+  serializedVersion: 2
+  m_ClearFlags: 1
+  m_BackGroundColor: {r: 0.19215687, g: 0.3019608, b: 0.4745098, a: 0}
+  m_projectionMatrixMode: 1
+  m_GateFitMode: 2
+  m_FOVAxisMode: 0
+  m_SensorSize: {x: 36, y: 24}
+  m_LensShift: {x: 0, y: 0}
+  m_FocalLength: 50
+  m_NormalizedViewPortRect:
+    serializedVersion: 2
+    x: 0
+    y: 0
+    width: 1
+    height: 1
+  near clip plane: 0.3
+  far clip plane: 1000
+  field of view: 90
+  orthographic: 0
+  orthographic size: 5
+  m_Depth: 0
+  m_CullingMask:
+    serializedVersion: 2
+    m_Bits: 4294967295
+  m_RenderingPath: -1
+  m_TargetTexture: {fileID: 0}
+  m_TargetDisplay: 0
+  m_TargetEye: 3
+  m_HDR: 1
+  m_AllowMSAA: 1
+  m_AllowDynamicResolution: 0
+  m_ForceIntoRT: 0
+  m_OcclusionCulling: 1
+  m_StereoConvergence: 10
+  m_StereoSeparation: 0.022
 --- !u!1 &1784288392
 GameObject:
   m_ObjectHideFlags: 0
@@ -3365,6 +3476,120 @@ MeshFilter:
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 2010268514}
   m_Mesh: {fileID: 10202, guid: 0000000000000000e000000000000000, type: 0}
+--- !u!1 &2018871834
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 2018871835}
+  - component: {fileID: 2018871836}
+  m_Layer: 0
+  m_Name: FrontLidarMount
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!4 &2018871835
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 2018871834}
+  m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
+  m_LocalPosition: {x: 0.0359, y: 0, z: -0.034}
+  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_Children: []
+  m_Father: {fileID: 330164658}
+  m_RootOrder: 0
+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!114 &2018871836
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 2018871834}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: fef848d3eae9e38b98848b516838f71b, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  topic: /scan
+  PublishPeriodSeconds: 0.1
+  RangeMetersMin: 0.1
+  RangeMetersMax: 250
+  ScanAngleStartDegrees: -90
+  ScanAngleEndDegrees: 90
+  ScanOffsetAfterPublish: 0
+  NumMeasurementsPerScan: 180
+  TimeBetweenMeasurementsSeconds: 0
+  markerPrefab: {fileID: 7151730531324999659, guid: 32e2a897b3516fe70a4665a0b7d92eb2, type: 3}
+  LayerMaskName: Shovel
+  FrameId: base_scan
+  m_RenderDebugVisuals: 0
+  m_ActiveMarkerGradient:
+    serializedVersion: 2
+    key0: {r: 0.03208439, g: 0.9716981, b: 0.06633009, a: 1}
+    key1: {r: 1, g: 0, b: 0.00856638, a: 1}
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+    m_NumAlphaKeys: 2
+  m_InActiveMarkerGradient:
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+    key0: {r: 1, g: 1, b: 1, a: 1}
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 --- !u!1 &2037276740 stripped
 GameObject:
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