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gomavsimulator's Issues

City scene refactoring

  • City scene minimap is weird.
  • Fix centor of mass of assets.
  • Pregenerate collision mesh for non-edtitable assets.

For sensor topics, Domain ID is not applied

version : v1.0.1
Add vehicle with domain id 1.
Add any sensor

In rviz with domain id unset (0), sensor topics are visible (not proper behavior).
Other topics (vehicle pose ...) are visible with domain id 1.

GDExtension - register abstract class

I found that ClassDB::register_abstract_class is not working correctly,
First, I tried to register virtual class (by ClassDB::register_abstract_class) which has a pure virtual method, but encountered with compile error, so i had to change pure virtual class to virutal class with fake return value.
Second, I implemented several classes with inherited from virtual classes, but when turn off the editor, unregister process is not working correctly.

here is when the editor turned off.
244912478-992a735b-cb61-4d19-b6d3-9059b80e3a5f

And If I register any classes by register_abstract_class, the class and its child classes / nodes are not visible in "Create New Node" menu. So i had to all virtual class registered by not register_abstract_class, but register_class.

Minor bug list

  • City scene minimap is weird. => move issue to #6
  • After minimap disabled by user, minimap generated when user changed scene.
  • vehicle pose publisher is not working, not save / loaded

Allow change frame_id of vehicle_pose publisher

  • The frame_id of sensors can be changed by settings, however not possible for vehicle_pose publisher.
  • Add UI for those publishers.
  • frame_id of publishers (sensors, ...) is not saved. Add to save/load list.

Add panorama(360) rgb/depth camera support

Add panorama / 360 deg camera support for 360 lidar/fisheye camera simulation.

  • main feature upgrade of v1.1

https://github.com/BastiaanOlij/godot_camera_360
https://github.com/shaunlebron/blinky
https://github.com/shaunlebron/flex-fov

Feature explanation

  • Add left, right, front, back, top, bottom camera on a single rectangular viewport

  • Select active camera by user (such as left, right, front, back only)

  • published as single rgb/depth image, with single camera info

  • User can configure resolution of width(=height)

  • #14

  • #15

  • Documentations

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