Added unity world launching

arena_bringup/launch/start_arena.launch

@@ -136,6 +136,7 @@
     <!--<arg name="world" default="$(arg world_file)" />-->
     <arg name="development_mode" value="$(arg development_mode)" />
     <arg name="headless" value="$(arg headless_unity)" />
+    <arg name="map_file" value="$(arg map_file)" />
   </include>
 
   <!-- map server-->

arena_bringup/launch/testing/simulators/unity.launch

@@ -21,10 +21,12 @@
 
   <arg name="development_mode" default="false" />
   <arg name="headless" default="false"/>
+  <arg name="map_file" default="map_empty" />
 
   <node name="unity_sim_node" pkg="unity_launcher" type="launch_unity_sim.py" output="screen">
     <param name="development_mode" value="$(arg development_mode)" />
     <param name="headless" value="$(arg headless)" />
+    <param name="map_file" value="$(arg map_file)" />
   </node>
 
-</launch>
+</launch>

task_generator/task_generator/manager/obstacle_manager.py

@@ -9,6 +9,7 @@
 from task_generator.manager.world_manager import WorldManager
 from task_generator.shared import DynamicObstacle, Obstacle
 from task_generator.simulators.base_simulator import BaseSimulator
+from task_generator.utils import Utils
 
 
 class ObstacleManager:
@@ -38,7 +39,7 @@ def spawn_world_obstacles(self, world: World):
         self._entity_manager.spawn_walls(
             walls=world.entities.walls, heightmap=world.map)
 
-        if isinstance(self._simulator, UnitySimulator):
+        if isinstance(self._simulator, UnitySimulator) and not Utils.is_unity_map():
             self._simulator.spawn_walls(world.entities.walls)
 
         self._entity_manager.spawn_obstacles(

task_generator/task_generator/utils.py

@@ -29,6 +29,10 @@ def get_arena_type() -> Constants.ArenaType:
     def is_synthetic_map() -> bool:
         return rosparam_get(str, "map_file") in ["dynamic_map"]
 
+    @staticmethod
+    def is_unity_map() -> bool:
+        return "_unity".casefold() in rosparam_get(str, "map_file").casefold()
+
     @staticmethod
     def generate_map_inner_border(free_space_indices, map_: nav_msgs.OccupancyGrid):
         """generate map border (four vertices of the map)

utils/misc/unity_launcher/src/launch_unity_sim.py

@@ -12,6 +12,7 @@ def launch_unity():
     rospy.init_node('unity_sim_node', anonymous=True)
 
     dev = rospy.get_param('~development_mode', False)
+    map = rospy.get_param('~map_file', "map_empty")
     if isinstance(dev, bool) and dev:
         # Unity should be launched trough Unity Editor in dev mode
         return
@@ -33,8 +34,10 @@ def launch_unity():
 
     # test
     args += ["-force-vulkan"]
-
-
+
+
+    args += ["-map", map]
+
     subprocess.run([unity_executable_path] + args, check=True)