feat: interactive mode for rviz npcs

Assets/AWSIM/Scenes/Main/AutowareSimulation.unity

@@ -1559,7 +1559,7 @@ MonoBehaviour:
   - {fileID: 6850358619771218631, guid: 9bc315af95865dd4bbf4a8f716791609, type: 3}
   npcPedestrianParent: {fileID: 1822423795}
   npcVehicleParent: {fileID: 10387859}
-  despawnTime: 20
+  despawnTime: 30
 --- !u!1 &221280047
 GameObject:
   m_ObjectHideFlags: 0
@@ -1658,8 +1658,8 @@ MonoBehaviour:
   m_TargetGraphic: {fileID: 1743169424}
   m_HandleRect: {fileID: 1743169422}
   m_Direction: 2
-  m_Value: 0.9999898
-  m_Size: 0.77988505
+  m_Value: 1.0000012
+  m_Size: 0.9126437
   m_NumberOfSteps: 0
   m_OnValueChanged:
     m_PersistentCalls:
@@ -10222,7 +10222,7 @@ RectTransform:
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
   m_AnchorMin: {x: 0, y: 1}
   m_AnchorMax: {x: 1, y: 1}
-  m_AnchoredPosition: {x: -3.75, y: -39.999035}
+  m_AnchoredPosition: {x: -3.75, y: -40.000027}
   m_SizeDelta: {x: -27.5, y: 0}
   m_Pivot: {x: 0.5, y: 1}
 --- !u!114 &2100303027

Assets/AWSIM/Scripts/NPCs/RvizNPCSpawner/RVIZNPCSpawner.cs

@@ -31,11 +31,18 @@ public class RVIZNPCSpawner : MonoBehaviour
 
         private bool _willSpawnNpc = false;
         private bool _willDespawnAllNPCs = false;
-        private int _npcLabel;
+        private bool _willDespawnInteractiveNPCs = false;
+        private bool _allNPCsDespawned = false;
         private float _npcVelocity;
+        private int _npcLabel;
+        private int _interactiveAction = 0;
+        private int _activeNPCCount = 0;
+        private GameObject interactiveVehicle;
+        private List<GameObject> _spawnedNPCs = new List<GameObject>();
         private Quaternion _npcSpawnRotation;
         private Vector3 _npcSpawnPosition;
-        private List<GameObject> _spawnedNPCs = new List<GameObject>();
+        private Vector3 _previousPosition;
+        private float _raycastStart = 1.33f;
 
         // Subscriber
         ISubscription<dummy_perception_publisher.msg.Object> dummyPerceptionSubscriber;
@@ -50,36 +57,42 @@ void Start()
 
         private void FixedUpdate()
         {
+            // clear the _spawnedNPCs array if all the npcs are despawned
+            if (_allNPCsDespawned)
+            {
+                DespawnAllNPCs();
+                _allNPCsDespawned = false;
+                return;
+            }
+
+            // spawn a new NPC
             if (_willSpawnNpc)
             {
-                // check where the ground collider is and spawn the NPC above the ground
-                Vector3 rayOrigin = new Vector3(_npcSpawnPosition.x, 1000.0f, _npcSpawnPosition.z);
-                Vector3 rayDirection = Vector3.down;
+                SpawnNewNPC();
+            }
 
-                if (Physics.Raycast(rayOrigin, rayDirection, out RaycastHit hit, Mathf.Infinity))
-                {
-                    _npcSpawnPosition = new Vector3(_npcSpawnPosition.x, hit.point.y + 1.33f, _npcSpawnPosition.z);
-                    if (_npcLabel == 7)
-                    {
-                        SpawnPedestrians(_npcSpawnPosition, _npcSpawnRotation);
-                    }
-                    else
-                    {
-                        SpawnVehicles(_npcSpawnPosition, _npcSpawnRotation, _npcLabel);
-                    }
-                }
-                else
+
+            // interactive action = 1: update the position of the last spawned interactive NPC
+            if (_interactiveAction == 1 && _spawnedNPCs != null && _spawnedNPCs.Count > 0)
+            {
+                if (Mathf.Abs(_previousPosition.x - _npcSpawnPosition.x) >= 0.1f || Mathf.Abs(_previousPosition.z - _npcSpawnPosition.z) >= 0.1f)
                 {
-                    Debug.LogWarning("No mesh or collider detected on target location. Please ensure that the target location is on a mesh or collider.");
+                    MoveNPC();
                 }
-
-                _willSpawnNpc = false;
             }
 
+
             if (_willDespawnAllNPCs)
             {
                 DespawnAllNPCs();
                 _willDespawnAllNPCs = false;
+                return;
+            }
+            if (_willDespawnInteractiveNPCs)
+            {
+                DespawnInteractiveNPCs();
+                _willDespawnInteractiveNPCs = false;
+                return;
             }
         }
 
@@ -89,18 +102,69 @@ private void FixedUpdate()
         /// <param name="msg">Received Object message</param>
         void OnObjectInfoReceived(dummy_perception_publisher.msg.Object msg)
         {
-            if (msg.Classification.Label == 0)
+            _npcLabel = msg.Classification.Label; // Label: 0 = delete All Npcs, 7 = Spawn pedestrians, 3 = spawn vehicle
+            _interactiveAction = msg.Action; // Action: 0 = uninteractive mode, 1 = interactive mode, 2 = delete interactive NPCs
+            _npcSpawnPosition = ROS2Utility.RosMGRSToUnityPosition(msg.Initial_state.Pose_covariance.Pose.Position);
+            _npcSpawnRotation = ROS2Utility.RosToUnityRotation(msg.Initial_state.Pose_covariance.Pose.Orientation);
+            _npcVelocity = (float)msg.Initial_state.Twist_covariance.Twist.Linear.X;
+
+            // interactive mode;
+            if (_interactiveAction == 1)
+            {
+                return;
+            }
+
+            if (_npcLabel == 0)
             {
-                // despawn all the rviz NPCs
-                Debug.Log("delete spawned NPCs");
                 _willDespawnAllNPCs = true;
                 return;
             }
-            _willSpawnNpc = true;
-            _npcSpawnPosition = ROS2Utility.RosMGRSToUnityPosition(msg.Initial_state.Pose_covariance.Pose.Position);
-            _npcSpawnRotation = ROS2Utility.RosToUnityRotation(msg.Initial_state.Pose_covariance.Pose.Orientation);
-            _npcLabel = msg.Classification.Label;
-            _npcVelocity = (float)msg.Initial_state.Twist_covariance.Twist.Linear.X;
+
+
+            // spawn normal npcs
+            if (_interactiveAction == 0)
+            {
+                _willSpawnNpc = true;
+                return;
+            }
+
+            // delete only interactive npcs
+            if (_interactiveAction == 2)
+            {
+                _willDespawnInteractiveNPCs = true;
+                return;
+            }
+
+        }
+
+        private void SpawnNewNPC()
+        {
+            {
+                // check where the ground collider is and spawn the NPC above the ground
+                Vector3 rayOrigin = new Vector3(_npcSpawnPosition.x, _raycastStart, _npcSpawnPosition.z);
+                Vector3 rayDirection = Vector3.down;
+
+                if (Physics.Raycast(rayOrigin, rayDirection, out RaycastHit hit, Mathf.Infinity))
+                {
+                    _npcSpawnPosition = new Vector3(_npcSpawnPosition.x, hit.point.y + _raycastStart, _npcSpawnPosition.z);
+                    if (_npcLabel == 7)
+                    {
+                        SpawnPedestrians(_npcSpawnPosition, _npcSpawnRotation);
+                    }
+                    else
+                    {
+                        SpawnVehicles(_npcSpawnPosition, _npcSpawnRotation, _npcLabel);
+                    }
+                    _activeNPCCount++;
+                }
+                else
+                {
+                    Debug.LogWarning("No mesh or collider detected on target location. Please ensure that the target location is on a mesh or collider.");
+                }
+
+                _willSpawnNpc = false;
+                return;
+            }
         }
 
         /// <summary>
@@ -109,11 +173,23 @@ void OnObjectInfoReceived(dummy_perception_publisher.msg.Object msg)
         private void SpawnPedestrians(Vector3 spawnPoint, Quaternion spawnOrientation)
         {
             GameObject npcPedestrian = Instantiate(npcPedestrianPrefab, new Vector3(spawnPoint.x, spawnPoint.y, spawnPoint.z), spawnOrientation, npcPedestrianParent);
-            SimplePedestrianWalkerController walker = npcPedestrian.AddComponent<SimplePedestrianWalkerController>();
-            _spawnedNPCs.Add(npcPedestrian);
 
+            // in interactive mode I don't need the following, but I need it in normal mode
+            SimplePedestrianWalkerController walker = npcPedestrian.AddComponent<SimplePedestrianWalkerController>();
             walker.GetType().GetField("duration", System.Reflection.BindingFlags.NonPublic | System.Reflection.BindingFlags.Instance).SetValue(walker, 30);
-            walker.GetType().GetField("speed", System.Reflection.BindingFlags.NonPublic | System.Reflection.BindingFlags.Instance).SetValue(walker, _npcVelocity);
+            walker.GetType().GetField("speed", System.Reflection.BindingFlags.NonPublic | System.Reflection.BindingFlags.Instance).SetValue(walker, _interactiveAction == 1 ? 0 : _npcVelocity);
+
+            if (_interactiveAction == 1)
+            {
+                NPCPedestrian pedestrianScript = npcPedestrian.GetComponent<NPCPedestrian>();
+                if (pedestrianScript != null)
+                {
+                    Destroy(walker);
+                    Destroy(pedestrianScript);
+                }
+            }
+
+            _spawnedNPCs.Add(npcPedestrian);
             StartCoroutine(DespawnNPC(npcPedestrian, despawnTime));
         }
 
@@ -122,7 +198,10 @@ private void SpawnPedestrians(Vector3 spawnPoint, Quaternion spawnOrientation)
         /// </summary>
         private void SpawnVehicles(Vector3 spawnPoint, Quaternion spawnOrientation, int vehicleType)
         {
+            // default vehicle is car
             GameObject vehiclePrefab = npcCarPrefabs[Random.Range(0, npcCarPrefabs.Length - 1)];
+
+            // change the vehicle to bus
             if (vehicleType == 3)
             {
                 vehiclePrefab = npcBusPrefabs[Random.Range(0, npcBusPrefabs.Length)];
@@ -137,16 +216,53 @@ private void SpawnVehicles(Vector3 spawnPoint, Quaternion spawnOrientation, int
             NPCMovement npcMovement = npcVehicle.AddComponent<NPCMovement>();
             npcMovement.Initialize(_npcVelocity);
 
+            // despawn automatically after some time.
             StartCoroutine(DespawnNPC(npcVehicle, despawnTime));
         }
 
+        private void MoveNPC()
+        {
+            int groundLayerMask = LayerMask.GetMask("Ground");
+
+            Vector3 rayOrigin = new Vector3(_npcSpawnPosition.x, _raycastStart, _npcSpawnPosition.z);
+            Vector3 rayDirection = Vector3.down;
+
+            if (Physics.Raycast(rayOrigin, rayDirection, out RaycastHit hit, Mathf.Infinity, groundLayerMask))
+            {
+                interactiveVehicle = _spawnedNPCs[_spawnedNPCs.Count - 1];
+                interactiveVehicle.tag = "InteractiveNpcs";
+                if (interactiveVehicle != null)
+                {
+                    if (_npcLabel == 7)
+                    {
+                        // remove unwanted components for interactive pedestrians
+                        NPCPedestrian pedestrianScript = interactiveVehicle.GetComponent<NPCPedestrian>();
+                        SimplePedestrianWalkerController walker = interactiveVehicle.GetComponent<SimplePedestrianWalkerController>();
+                        if (walker != null)
+                        {
+                            Destroy(walker); // Destroy the SimplePedestrianWalkerController script
+                        }
+
+                        if (pedestrianScript != null)
+                        {
+                            Destroy(pedestrianScript); // Destroy the NPCPedestrian script
+                        }
+                    }
+
+                    interactiveVehicle.transform.position = new Vector3(_npcSpawnPosition.x, hit.point.y, _npcSpawnPosition.z);
+                    _previousPosition = interactiveVehicle.transform.position;
+                    interactiveVehicle.transform.rotation = _npcSpawnRotation;
+                }
+                return;
+            }
+        }
+
         /// <summary>
         /// Recursively set layer of the NPC and its children to layer 12: "NPC Vehicle"
         /// </summary>
         private void SetNPCLayer(GameObject obj, int newLayer)
         {
             obj.layer = newLayer;
-
             foreach (Transform child in obj.transform)
             {
                 SetNPCLayer(child.gameObject, newLayer);
@@ -160,23 +276,51 @@ private IEnumerator DespawnNPC(GameObject npc, float delay)
         {
             yield return new WaitForSeconds(delay);
             Destroy(npc);
+            _activeNPCCount--;
+
+            if (_activeNPCCount == 0)
+            {
+                _allNPCsDespawned = true; // Set flag to trigger despawn check in FixedUpdate
+            }
         }
 
         /// <summary>
         /// Despawn all NPCs
         /// </summary>
         private void DespawnAllNPCs()
         {
+            _activeNPCCount = 0;
             foreach (var npc in _spawnedNPCs)
             {
                 Destroy(npc);
             }
+            DespawnInteractiveNPCs();
             _spawnedNPCs.Clear();
         }
 
+        /// <summary>
+        /// Despawn only interactive NPCs
+        /// </summary>
+        private void DespawnInteractiveNPCs()
+        {
+            GameObject[] npcs = GameObject.FindGameObjectsWithTag("InteractiveNpcs");
+            foreach (GameObject npc in npcs)
+            {
+                _activeNPCCount--;
+                Destroy(npc);
+            }
+            if (_activeNPCCount == 0)
+            {
+                _allNPCsDespawned = true;
+            }
+        }
+
+
+        /// <summary>
+        /// Clean up the subscription when the GameObject is destroyed
+        /// </summary>
         void OnDestroy()
         {
-            // Clean up the subscription when the GameObject is destroyed
             SimulatorROS2Node.RemoveSubscription<dummy_perception_publisher.msg.Object>(dummyPerceptionSubscriber);
         }
     }

ProjectSettings/TagManager.asset

@@ -16,6 +16,7 @@ TagManager:
   - OdometrySensor
   - MainCanvas
   - CameraOutputCanvas
+  - InteractiveNpcs
   layers:
   - Default
   - TransparentFX