From 5967d526bc37cf215901a76d99fcf1eb6a650c0f Mon Sep 17 00:00:00 2001
From: Autumn60 <r117159@g.kobe-kosen.ac.jp>
Date: Wed, 14 Feb 2024 19:50:50 +0900
Subject: [PATCH 1/3] Delete old code

---
 .../Scripts/Serializers/TF/TFMsgSerializer.cs | 39 -------------------
 1 file changed, 39 deletions(-)

diff --git a/Assets/UnitySensorsROS/Runtime/Scripts/Serializers/TF/TFMsgSerializer.cs b/Assets/UnitySensorsROS/Runtime/Scripts/Serializers/TF/TFMsgSerializer.cs
index 60f7896a..6b11e2c3 100644
--- a/Assets/UnitySensorsROS/Runtime/Scripts/Serializers/TF/TFMsgSerializer.cs
+++ b/Assets/UnitySensorsROS/Runtime/Scripts/Serializers/TF/TFMsgSerializer.cs
@@ -46,43 +46,4 @@ public override TFMessageMsg Serialize()
             return _msg;
         }
     }
-    /*
-    [System.Serializable]
-    public class TFSerializer : Serializer
-    {
-
-        [SerializeField]
-        private TFMessageMsg _msg;
-
-        private AutoHeader _header;
-
-        public TFMessageMsg msg { get => _msg; }
-
-        public void Init()
-        {
-            _msg = new TFMessageMsg();
-            _header = new AutoHeader();
-
-            _header.Init("");
-        }
-
-        public TFMessageMsg Serialize(float time, TFData[] tf)
-        {
-            _header.Serialize(time);
-            List<TransformStampedMsg> transforms = new List<TransformStampedMsg>();
-            foreach(TFData tfData in tf)
-            {
-                TransformStampedMsg transform = new TransformStampedMsg();
-                transform.header = _header.header;
-                transform.header.frame_id = tfData.frame_id_parent;
-                transform.child_frame_id = tfData.frame_id_child;
-                transform.transform.translation = tfData.position.To<FLU>();
-                transform.transform.rotation = tfData.rotation.To<FLU>();
-                transforms.Add(transform);
-            }
-            _msg.transforms = transforms.ToArray();
-            return _msg;
-        }
-    }
-    */
 }
\ No newline at end of file

From a3f8e5f8066701726d2cfabbbe454685dae65662 Mon Sep 17 00:00:00 2001
From: Autumn60 <r117159@g.kobe-kosen.ac.jp>
Date: Wed, 14 Feb 2024 19:50:58 +0900
Subject: [PATCH 2/3] Fix coordinate calc

---
 Assets/UnitySensors/Runtime/Scripts/Sensors/TF/TF.cs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Assets/UnitySensors/Runtime/Scripts/Sensors/TF/TF.cs b/Assets/UnitySensors/Runtime/Scripts/Sensors/TF/TF.cs
index ee7d3040..3b5d2a13 100644
--- a/Assets/UnitySensors/Runtime/Scripts/Sensors/TF/TF.cs
+++ b/Assets/UnitySensors/Runtime/Scripts/Sensors/TF/TF.cs
@@ -54,7 +54,7 @@ public TFData[] GetTFData(string frame_id_parent, Matrix4x4 worldToLocalMatrix,
             TFData tfData_self;
             tfData_self.frame_id_parent = frame_id_parent;
             tfData_self.frame_id_child = _frame_id;
-            tfData_self.position = worldToLocalMatrix * _transform.position;
+            tfData_self.position = (Vector3)(worldToLocalMatrix * new Vector4(_transform.position.x, _transform.position.y, _transform.position.z, 1.0f));
             tfData_self.rotation = worldToLocalQuaternion * _transform.rotation;
             tfData.Add(tfData_self);
 

From ee7723a9d8aeace0623e63ea14d5746feb9ee313 Mon Sep 17 00:00:00 2001
From: Autumn60 <r117159@g.kobe-kosen.ac.jp>
Date: Wed, 14 Feb 2024 19:54:31 +0900
Subject: [PATCH 3/3] Update version tags

---
 Assets/UnitySensors/package.json    | 2 +-
 Assets/UnitySensorsROS/package.json | 4 ++--
 README.md                           | 4 ++--
 3 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/Assets/UnitySensors/package.json b/Assets/UnitySensors/package.json
index e77dd29c..4ba8775f 100644
--- a/Assets/UnitySensors/package.json
+++ b/Assets/UnitySensors/package.json
@@ -1,6 +1,6 @@
 {
     "name": "com.frj.unity-sensors",
-    "version": "2.0.2",
+    "version": "2.0.3",
     "displayName": "UnitySensors",
     "description": "",
     "unity": "2021.3",
diff --git a/Assets/UnitySensorsROS/package.json b/Assets/UnitySensorsROS/package.json
index 7de7a972..e56410d5 100644
--- a/Assets/UnitySensorsROS/package.json
+++ b/Assets/UnitySensorsROS/package.json
@@ -1,11 +1,11 @@
 {
     "name": "com.frj.unity-sensors-ros",
-    "version": "2.0.2",
+    "version": "2.0.3",
     "displayName": "UnitySensorsROS",
     "description": "",
     "unity": "2021.3",
     "dependencies": {
-        "com.frj.unity-sensors": "2.0.2",
+        "com.frj.unity-sensors": "2.0.3",
         "com.unity.robotics.ros-tcp-connector": "0.7.0-preview"
     },
     "keywords": [
diff --git a/README.md b/README.md
index 39d79d7e..6713cee0 100644
--- a/README.md
+++ b/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#v2.0.2`.
-    2. For the UnitySensorsROS, enter `https://github.com/Field-Robotics-Japan/UnitySensors.git?path=/Assets/UnitySensorsROS#v2.0.2`.
+    1. For the UnitySensors, enter `https://github.com/Field-Robotics-Japan/UnitySensors.git?path=/Assets/UnitySensors#v2.0.3`.
+    2. For the UnitySensorsROS, enter `https://github.com/Field-Robotics-Japan/UnitySensors.git?path=/Assets/UnitySensorsROS#v2.0.3`.
     __Note: UnitySensorsROS does not contain UnitySensors.__
 4. Click `Add`.