Merge pull request #129 from Field-Robotics-Japan/develop

Release new version

Assets/UnitySensors/package.json

@@ -1,6 +1,6 @@
 {
     "name": "com.frj.unity-sensors",
-    "version": "2.0.1",
+    "version": "2.0.2",
     "displayName": "UnitySensors",
     "description": "",
     "unity": "2021.3",

Assets/UnitySensorsROS/Runtime/Scripts/Serializers/Serializer.cs

@@ -1,6 +1,4 @@
 using Unity.Robotics.ROSTCPConnector.MessageGeneration;
-using RosMessageTypes.Std;
-
 
 using UnitySensors.Sensor;
 

Assets/UnitySensorsROS/Runtime/Scripts/Serializers/TF/TFMsgSerializer.cs

@@ -29,12 +29,13 @@ public override TFMessageMsg Serialize()
         {
             HeaderMsg headerMsg = _header.Serialize();
             List<TransformStampedMsg> transforms = new List<TransformStampedMsg>();
-            
+
             TFData[] tfData = sensor.GetTFData();
             foreach(TFData data in tfData)
             {
                 TransformStampedMsg transform = new TransformStampedMsg();
-                transform.header = headerMsg;
+                transform.header.seq = headerMsg.seq;
+                transform.header.stamp = headerMsg.stamp;
                 transform.header.frame_id = data.frame_id_parent;
                 transform.child_frame_id = data.frame_id_child;
                 transform.transform.translation = data.position.To<FLU>();

Assets/UnitySensorsROS/package.json

@@ -1,11 +1,11 @@
 {
     "name": "com.frj.unity-sensors-ros",
-    "version": "2.0.1",
+    "version": "2.0.2",
     "displayName": "UnitySensorsROS",
     "description": "",
     "unity": "2021.3",
     "dependencies": {
-        "com.frj.unity-sensors": "2.0.1",
+        "com.frj.unity-sensors": "2.0.2",
         "com.unity.robotics.ros-tcp-connector": "0.7.0-preview"
     },
     "keywords": [

README.md

@@ -30,8 +30,8 @@ There are several Prefab and Scene files available for testing each sensor.
 2. In the Package Manager window, find and click the + button in the upper lefthand corner of the window. Select `Add package from git URL....`
 
 3. Enter the git URL for the desired package. 
-    1. For the UnitySensors, enter `https://github.com/Field-Robotics-Japan/UnitySensors.git?path=/Assets/UnitySensors#v2.0.1`.
-    2. For the UnitySensorsROS, enter `https://github.com/Field-Robotics-Japan/UnitySensors.git?path=/Assets/UnitySensorsROS#v2.0.1`.
+    1. For the UnitySensors, enter `https://github.com/Field-Robotics-Japan/UnitySensors.git?path=/Assets/UnitySensors#v2.0.2`.
+    2. For the UnitySensorsROS, enter `https://github.com/Field-Robotics-Japan/UnitySensors.git?path=/Assets/UnitySensorsROS#v2.0.2`.
     __Note: UnitySensorsROS does not contain UnitySensors.__
 4. Click `Add`.