Scripts

Scripts

Project Structure

Controllers

• BedController.cs: Low-level controller for a bed model used in simulations.
• RobotController.cs: Low-level controller for a robot model used in simulations.

Physics and Velocity Calculations

• CalculateVelocity.cs: Contains functions to calculate and adjust velocity for physics simulations.
• GetVelocityWithRigidbody.cs: Improved velocity calculations that utilize Rigidbody for more accurate physics modeling.

Camera and Image Processing

• ImageCapture.cs: Responsible for capturing images and improving camera functionality within the simulation.
• ImageToWorldConversion.cs: Transforms image coordinates to world coordinates for integration with ROS.

ROS Communication

• CameraImagePublishToROS.cs: Publishes camera images from Unity to ROS.
• ROSClockPublisher.cs: Publishes simulation time to ROS, synchronizing with ROS time.
• ROSTransformTreePublisher.cs: Publishes transform data from Unity's coordinate system to ROS.
• ROSMessage.cs: Contains custom ROS message types and data structures for efficient communication.
• ROSPublisher.cs: Generic publisher for sending data from Unity to ROS.
• RobotPosePublisher.cs: Publishes robot pose information to ROS, updated with map changes and resolution fixes.
• BoundingBoxPublisher.cs: Publishes bounding box data (likely around humans/objects) to ROS for visualization or tracking.
• CameraImageToOccupancyGrid.cs: Converts camera image data into an occupancy grid format and publishes to ROS.
• RosPublisherCustom.cs: A specialized ROS publisher that handles custom message formats beyond the generic RosPublisher.

sendImageToROS.cs: Publishes raw or processed images to ROS (may overlap with CameraImagePublishToROS, but likely more direct).

Sensors

• LaserScanSensor.cs: Simulates a Laser Scanner in Unity, publishing scan data to ROS.

Collision Detection

• CollisionDetection.cs: Detects and handles collisions within the Unity environment, updating relevant ROS nodes.

Visualization Tools

• PoseTrailVisualizer.cs: Visualizes the trajectory of objects to track their movement over time.
• PoseTrailVisualizer_Traj.cs: Draws reference trajectories in Unity based on ROS input data.

Transform and Utility Scripts

• TransformExtensions.cs: Contains extensions for handling transforms within Unity.
• TransformTreeNode.cs: Represents nodes in a transform tree for hierarchical organization.
• TimeStamp.cs: Used for timestamping data in synchronization with ROS.
• mousePositionOnGame.cs: Debug tool for tracking mouse position within the Unity scene.

Controllers / Simulation Logi

• GameManager.cs: Manages scene-level logic like spawning, setup, and global simulation state.
• FreeCam.cs: Free-movement camera controller for debugging and navigating around the Unity scene.

Human & Randomized Movement

• RandomMovement.cs: Moves entities randomly within defined constraints—simpler behavior than RandomWalker.
• RandomWalker.cs: Implements random-walk style movement with step-based changes in direction.
• SmoothRandomWalker.cs: A smoother variant of RandomWalker, reducing jittery movement for more natural paths.