Unity world loading

Assets/Scripts/SceneLoader.cs

@@ -0,0 +1,31 @@
+using UnityEngine;
+using UnityEngine.SceneManagement;
+
+public class SceneLoader : MonoBehaviour
+{
+    public CommandLineParser commandLineParser;
+    void Start()
+    {
+        commandLineParser = CommandLineParser.Instance;
+
+        if (commandLineParser.unityMap == null)
+        {
+            Debug.Log("No unity map specified loading default empty scene");
+            SceneManager.LoadScene("empty");
+        }
+        else
+        {
+            Debug.Log($"Loading scene {commandLineParser.unityMap}");
+            int index = SceneUtility.GetBuildIndexByScenePath(commandLineParser.unityMap);
+            if (index != -1)
+            {
+                SceneManager.LoadScene(index);
+            }
+            else
+            {
+                Debug.Log("Scene not found loading default empty scene");
+                SceneManager.LoadScene("empty");
+            }
+        }
+    }
+}

Assets/Scripts/ServiceController.cs

@@ -33,10 +33,11 @@ public class ServiceController : MonoBehaviour
     public GameObject Cube;
 
     void Start()
-    {           
+    {
         // Init variables
         activeModels = new Dictionary<string, GameObject>();
-        commandLineArgs = gameObject.AddComponent<CommandLineParser>();
+
+        commandLineArgs = CommandLineParser.Instance;
 
         // register the services with ROS
         ROSConnection ros_con = ROSConnection.GetOrCreateInstance();
@@ -130,8 +131,8 @@ private RobotConfig LoadRobotModelYaml(string robotName)
         // Take command line arg if executable build is running
         string arenaSimSetupPath = commandLineArgs.arena_sim_setup_path;
         // Use relative path if running in Editor
-        arenaSimSetupPath ??= Path.Combine(Application.dataPath, "../../arena-simulation-setup");
-        string yamlPath = Path.Combine(arenaSimSetupPath, "robot", robotName, robotName + ".model.yaml");
+        arenaSimSetupPath ??= Path.Combine(Application.dataPath, "../../simulation-setup");
+        string yamlPath = Path.Combine(arenaSimSetupPath, "entities", "robots", robotName, robotName + ".model.yaml");
 
         // Check if the file exists
         if (!File.Exists(yamlPath))

Assets/Scripts/Utils/CommandLineParser.cs

@@ -1,11 +1,48 @@
-using System.Collections;
-using System.Collections.Generic;
 using UnityEngine;
 using System;
+using UnityEngine.SceneManagement;
 
-public class CommandLineParser : MonoBehaviour
+public class CommandLineParser
 {
     public string arena_sim_setup_path;
+    public string unityMap;
+
+    private static CommandLineParser instance;
+
+    public static CommandLineParser Instance
+    {
+        get
+        {
+            if (instance == null)
+            {
+                instance = new CommandLineParser();
+                instance.Initialize();
+            }
+            return instance;
+        }
+    }
+
+    private CommandLineParser()
+    {
+        // Private constructor to prevent instantiation
+    }
+
+    private void Initialize()
+    {
+        string[] args = Environment.GetCommandLineArgs();
+        Debug.Log($"Args: {string.Join(", ", args)}");
+
+        arena_sim_setup_path = GetValue("arena_sim_setup_path");
+        string unityMapFile = GetValue("map");
+        if (unityMapFile != null && unityMapFile != "")
+        {
+            var i = unityMapFile.IndexOf("_unity");
+            if (i != -1)
+            {
+                unityMap = unityMapFile.Substring(0, i);
+            }
+        }
+    }
 
     private string GetValue(string argName)
     {
@@ -20,10 +57,4 @@ private string GetValue(string argName)
 
         return null;
     }
-
-    // Assigns all properties the matching command line argument value
-    void Start()
-    {
-        arena_sim_setup_path = GetValue("arena_sim_setup_path");
-    }
 }

ProjectSettings/EditorBuildSettings.asset

@@ -6,7 +6,10 @@ EditorBuildSettings:
   serializedVersion: 2
   m_Scenes:
   - enabled: 1
-    path: Assets/Scenes/SampleScene.unity
+    path: Assets/Scenes/InitScene.unity
+    guid: e0ffd24a5fa79d7918c5d398b43db3b6
+  - enabled: 1
+    path: Assets/Scenes/Empty.unity
     guid: 3db1837cc97a95e4c98610966fac2b0b
   m_configObjects:
     com.unity.input.settings: {fileID: 11400000, guid: 9e7be553448fa2546aea5752021cbcf7, type: 2}

ProjectSettings/ProjectSettings.asset

@@ -136,7 +136,8 @@ PlayerSettings:
   vulkanEnableCommandBufferRecycling: 1
   loadStoreDebugModeEnabled: 0
   bundleVersion: 0.1
-  preloadedAssets: []
+  preloadedAssets:
+  - {fileID: 11400000, guid: 9e7be553448fa2546aea5752021cbcf7, type: 2}
   metroInputSource: 0
   wsaTransparentSwapchain: 0
   m_HolographicPauseOnTrackingLoss: 1