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feat: adapt code to version 2023.1.1 #42

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merged 1 commit into from
Apr 18, 2024
Merged

feat: adapt code to version 2023.1.1 #42

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19 changes: 1 addition & 18 deletions exts/stride.simulator/stride/simulator/backends/ros2_backend.py
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Original file line number Diff line number Diff line change
Expand Up @@ -8,7 +8,7 @@

# # Perform some checks, because Isaac Sim some times does not play nice when using ROS/ROS2
disable_extension("omni.isaac.ros_bridge")
enable_extension("omni.isaac.ros2_bridge-humble")
enable_extension("omni.isaac.ros2_bridge")

# Inform the user that now we are actually import the ROS2 dependencies
# Note: we are performing the imports here to make sure that ROS2 extension was load correctly
Expand Down Expand Up @@ -254,20 +254,3 @@ def update_state(self, state):
self.twist_pub.publish(twist)
self.twist_inertial_pub.publish(twist_inertial)
self.accel_pub.publish(accel)

# def check_ros_extension(self):
# """
# Method that checks which ROS extension is installed.
# """

# # Get the handle for the extension manager
# extension_manager = omni.kit.app.get_app().get_extension_manager()

# version = ""

# if self._ext_manager.is_extension_enabled("omni.isaac.ros_bridge"):
# version = "ros"
# elif self._ext_manager.is_extension_enabled("omni.isaac.ros2_bridge"):
# version = "ros2"
# else:
# carb.log_warn("Neither extension 'omni.isaac.ros_bridge' nor 'omni.isaac.ros2_bridge' is enabled")
2 changes: 1 addition & 1 deletion exts/stride.simulator/stride/simulator/params.py
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Expand Up @@ -57,7 +57,7 @@

# Define the default settings for the simulation environment
DEFAULT_WORLD_SETTINGS = {
"physics_dt": 1.0 / 200.0,
"physics_dt": 1.0 / 800.0,
"stage_units_in_meters": 1.0,
"rendering_dt": 1.0 / 60.0,
}
2 changes: 1 addition & 1 deletion exts/stride.simulator/stride/simulator/vehicles/sensors/lidar.py
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Original file line number Diff line number Diff line change
Expand Up @@ -78,7 +78,7 @@ def update(self, state: State, dt: float):
self._lidar.set_resolution([0.4, 0.4])
self._lidar.set_valid_range([0.1, 6])
self._lidar.enable_visualization(
high_lod=True, draw_points=True, draw_lines=False
high_lod=True, draw_points=False, draw_lines=False
)

self.lidar_flag_ = True
Expand Down
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