Made new ROS2 backend work + python viewer

ROS2listener.py

@@ -0,0 +1,71 @@
+# Source setup of ROS2 before running this script!
+
+import rclpy
+from rclpy.node import Node
+
+
+class LoggingSubscriber(Node):
+    def __init__(self, node_name, topic, msg_type):
+        super().__init__(node_name)
+        self.subscription = self.create_subscription(
+            msg_type,
+            topic,
+            self.listener_callback,
+            10)
+        self.subscription  # prevent unused variable warning
+
+    def listener_callback(self, msg):
+        self.get_logger().info('I heard: "%s"' % msg.data)
+
+
+import numpy as np
+import cv2
+class ImageSubscriber(Node):
+    def __init__(self, node_name, topic, msg_type):
+        super().__init__(node_name)
+        self.subscription = self.create_subscription(
+            msg_type,
+            topic,
+            self.listener_callback,
+            10)
+        self.subscription  # prevent unused variable warning
+
+    def listener_callback(self, msg):
+        dt = np.dtype('float32')
+        dt = dt.newbyteorder('<')
+        current_frame = np.ndarray(shape=(msg.height, msg.width, 1), dtype = dt, buffer = bytearray(msg.data))
+
+        clipmin = 0.3
+        clipmax = 2.0
+        skewmin = np.amin(current_frame)
+        skewmax = np.amax(current_frame)
+
+        new_frame = current_frame.copy()
+
+        np.clip(new_frame, clipmin, clipmax, out=new_frame)
+        new_frame -= skewmin
+        new_frame /= (skewmax-skewmin)/255.0
+        new_frame = new_frame.astype(dtype=np.uint8, copy=False)
+
+        im_color = cv2.applyColorMap(new_frame, cv2.COLORMAP_WINTER)
+      
+        cv2.imshow("camera", im_color)
+        cv2.waitKey(1)
+
+
+def main(args=None):
+    from std_msgs.msg import Float32
+    from sensor_msgs.msg import Image
+    
+    rclpy.init(args=args)
+
+    sub = ImageSubscriber("logger", "rt/depth_processor", Image)
+
+    rclpy.spin(sub)
+
+    sub.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()

Unity/LineRobot/Assets/CameraJpegPubExistingTexture.cs

@@ -21,27 +21,24 @@ public class CameraJpegPubExistingTexture : MonoBehaviour
     public int JpgQuality = 50;
 
     private Camera MyCamera;
-    //private CompressedImagePublisher ImagePub;
     private Texture2D tex;
     private RenderTexture m_RenderTexture;
     private float timer = 0.0f;
-    //private CompressedImage_ myimage = new CompressedImage_ { format_ = "jpeg" };
     private float[] depth_result;
 
     private ROS2UnityComponent ros2Unity;
     private ROS2Node ros2Node;
-    private IPublisher<std_msgs.msg.Float32> chatter_pub;
+    private IPublisher<sensor_msgs.msg.CompressedImage> chatter_pub;
 
     void Start()
     {
-        //ImagePub = new CompressedImagePublisher(topicname);
         ros2Unity = GetComponent<ROS2UnityComponent>();
         if (ros2Unity.Ok())
         {
             if (ros2Node == null)
             {
                 ros2Node = ros2Unity.CreateNode("ROS2LFRcamera");
-                chatter_pub = ros2Node.CreatePublisher<std_msgs.msg.Float32>(TopicName);
+                chatter_pub = ros2Node.CreatePublisher<sensor_msgs.msg.CompressedImage>(TopicName);
             }
         }
 
@@ -100,15 +97,26 @@ public class CameraJpegPubExistingTexture : MonoBehaviour
         tex.SetPixels32(request.GetData<Color32>().ToArray());
         tex.Apply();
 
-        // TODO: JPG file format!!!
-        std_msgs.msg.Float32 msg = new std_msgs.msg.Float32();
-        msg.Header = 9;
-        msg.Data = 99.0F;
-        chatter_pub.Publish(msg);
+        sensor_msgs.msg.CompressedImage img = new sensor_msgs.msg.CompressedImage();
+        img.Header = GetHeader();
+        img.Format = "jpeg";
+        img.Data = tex.EncodeToJPG(JpgQuality);
 
-        //myimage.data_ = tex.EncodeToJPG(JpgQuality);
-        //myimage.header_.stamp_ = ros_helper.RosHelper.GetUnixTimestamp();
-        //myimage.header_.frame_id_ = frame_id;
-        //ImagePub.Publish(myimage); // dit duurt waarschijnlijk zo lang
+        if (ros2Unity.Ok())
+        {
+            chatter_pub.Publish(img);
+        }
+    }
+
+    std_msgs.msg.Header GetHeader()
+    {
+        System.DateTime now = System.DateTime.UtcNow;
+
+        std_msgs.msg.Header header = new std_msgs.msg.Header();
+        builtin_interfaces.msg.Time time = new builtin_interfaces.msg.Time();
+        time.Sec = now.Second;
+        header.Stamp = time;
+        header.Frame_id = frame_id;
+        return header;
     }
 }

Unity/LineRobot/Assets/DepthCamera.cs

@@ -4,6 +4,7 @@ using System;
 using UnityEngine;
 using UnityEngine.Rendering;
 using Unity.Collections;
+using ROS2;
 
 [RequireComponent(typeof(Camera))]
 [ExecuteInEditMode]
@@ -12,43 +13,46 @@ public class DepthCamera : MonoBehaviour
     private Queue<AsyncGPUReadbackRequest> requests = new Queue<AsyncGPUReadbackRequest>();
 
     public float timeBetweenRequests = 0.2f;
-    public string topicname = "rt/depth_image/image_raw/compressed";
+    public string TopicName = "rt/depth_image";
     public string frame_id = null;
     public ComputeShader shader;
 
-    //private ImagePublisher ImagePub;
     private RenderTexture m_RenderTexture;
     private float timer = 0.0f;
-    //private Image_ myimage = new Image_(); // format 32 bits floating point for depth camera
     
-    //NativeArray<float> _buffer;
     private ComputeBuffer buffer;
     private float[] output;
     private int kernel;
 
+    private ROS2UnityComponent ros2Unity;
+    private ROS2Node ros2Node;
+    private IPublisher<sensor_msgs.msg.Image> chatter_pub;
+
     void Start()
     {
-        //ImagePub = new ImagePublisher(topicname);
+        ros2Unity = GetComponent<ROS2UnityComponent>();
+        if (ros2Unity.Ok())
+        {
+            if (ros2Node == null)
+            {
+                ros2Node = ros2Unity.CreateNode("ROS2LFRdepthcamera");
+            }
+            chatter_pub = ros2Node.CreatePublisher<sensor_msgs.msg.Image>(TopicName);
+        }
+
+        Camera camera = GetComponent<Camera>();
+        camera.depthTextureMode = camera.depthTextureMode | DepthTextureMode.Depth;
 
-        Camera MyCamera = GetComponent<Camera>();
-        MyCamera.depthTextureMode = MyCamera.depthTextureMode | DepthTextureMode.Depth;
-        m_RenderTexture = MyCamera.targetTexture;
+        m_RenderTexture = camera.targetTexture;
         m_RenderTexture.depth = 32;
-        m_RenderTexture.enableRandomWrite = true; // ik wijzig texture niet dus niet nodig
-        MyCamera.Render();
+        m_RenderTexture.enableRandomWrite = true; // ik wijzig texture niet dus niet nodig?
+        camera.Render();
 
         Debug.Log("In depthcamera, depth: " + m_RenderTexture.depth.ToString());
 
-        //myimage.encoding_ = "32FC1";
-        //myimage.height_ = (uint) m_RenderTexture.height;
-        //myimage.width_ = (uint) m_RenderTexture.width;
-        //myimage.is_bigendian_ = 0;
-        //myimage.step_ = myimage.width_; //? even kijken of dit okay is
-
         Debug.Log("In depthcamera, camsize width:" + m_RenderTexture.width.ToString() + " height:" + m_RenderTexture.height.ToString());
 
-        buffer = new ComputeBuffer(m_RenderTexture.width * m_RenderTexture.height, sizeof(float)); 
-        //_buffer = new NativeArray<float>(m_RenderTexture.height * m_RenderTexture.width, Allocator.Persistent, NativeArrayOptions.UninitializedMemory);
+        buffer = new ComputeBuffer(m_RenderTexture.width * m_RenderTexture.height, sizeof(float));
 
         kernel = shader.FindKernel("CSMain");
         shader.SetTexture(kernel, "tex", m_RenderTexture);
@@ -63,17 +67,17 @@ public class DepthCamera : MonoBehaviour
         if (timer > timeBetweenRequests)
         {
             shader.Dispatch(kernel, m_RenderTexture.width/8, m_RenderTexture.height/8, 1);
-            //buffer.GetData(output);
 
-            Debug.Log(output.ToString());
             timer = timer - timeBetweenRequests;
-            //AsyncGPUReadbackRequest rq = AsyncGPUReadback.RequestIntoNativeArray(ref _buffer, buffer);
-            //requests.Enqueue(rq);
 
-            //myimage.data_ = GetBytes(output);
-            //myimage.header_.stamp_ = ros_helper.RosHelper.GetUnixTimestamp();
-            //myimage.header_.frame_id_ = frame_id;
-            //ImagePub.Publish(myimage);
+            sensor_msgs.msg.Image img = CreateImageWithoutData();
+            Debug.Log(img);
+            img.Data = GetBytes(output);
+
+            if (ros2Unity.Ok() && chatter_pub != null)
+            {
+                chatter_pub.Publish(img);
+            }
         }
     }
 
@@ -83,11 +87,14 @@ public class DepthCamera : MonoBehaviour
         var input = request.GetData<float>().ToArray();  //float is 32 bits
 
         //Debug.Log("Got a AsyncGPUReadbackRequest with size " + input.Length.ToString() + " and require size " + (MyCamera.pixelWidth * MyCamera.pixelHeight).ToString() + ", discarding it");
-      
-        myimage.data_ = GetBytes(input);
-        myimage.header_.stamp_ = ros_helper.RosHelper.GetUnixTimestamp();
-        myimage.header_.frame_id_ = frame_id;
-        ImagePub.Publish(myimage);
+
+        sensor_msgs.msg.Image img = CreateImageWithoutData();
+        img.Data = GetBytes(input);
+
+        if (ros2Unity.Ok())
+        {
+            chatter_pub.Publish(img);
+        }
     }*/
 
     private byte[] GetBytes(float[] input)
@@ -104,9 +111,26 @@ public class DepthCamera : MonoBehaviour
         return messageinput;
     }
 
-    private void OnDisable()
+    private sensor_msgs.msg.Image CreateImageWithoutData()
     {
-        //ImagePub.Cleanup();
+        sensor_msgs.msg.Image img = new sensor_msgs.msg.Image();
+
+        // Image Header
+        std_msgs.msg.Header header = new std_msgs.msg.Header();
+        builtin_interfaces.msg.Time time = new builtin_interfaces.msg.Time();
+        System.DateTime now = System.DateTime.UtcNow;
+        time.Sec = now.Second;
+        header.Stamp = time;
+        header.Frame_id = frame_id;
+
+        // Image Details
+        img.Height = (uint) m_RenderTexture.height;
+        img.Width = (uint) m_RenderTexture.width;
+        img.Encoding = "32FC1";
+        img.Is_bigendian = 0;
+        img.Step = img.Width;
+
+        return img;
     }
 
     private void OnDestroy()

Unity/LineRobot/Assets/DepthPostprocessor.cs

@@ -1,16 +1,15 @@
 using System.Collections;
 using System.Collections.Generic;
 using UnityEngine;
+using ROS2;
 
 [RequireComponent(typeof(Camera))]
 public class DepthPostprocessor : MonoBehaviour
 {
 
     public float timeBetweenRequests = 0.2f;
-    public string topicname = "rt/depth_image/image_raw/compressed";
+    public string TopicName = "rt/depth_processor";
     public string frame_id = null;
-    //private ImagePublisher ImagePub;
-    //private Image_ myimage = new Image_(); // format 32 bits floating point for depth camera
 
     //material that's applied when doing postprocessing
     [SerializeField]
@@ -22,9 +21,22 @@ public class DepthPostprocessor : MonoBehaviour
     
     private float timer = 0.0f;
 
+    private ROS2UnityComponent ros2Unity;
+    private ROS2Node ros2Node;
+    private IPublisher<sensor_msgs.msg.Image> chatter_pub;
 
     private void Start()
     {
+        ros2Unity = GetComponent<ROS2UnityComponent>();
+        if (ros2Unity.Ok())
+        {
+            if (ros2Node == null)
+            {
+                ros2Node = ros2Unity.CreateNode("ROS2LFRdepthprocessor");
+            }
+            chatter_pub = ros2Node.CreatePublisher<sensor_msgs.msg.Image>(TopicName);
+        }
+
         Camera camera = GetComponent<Camera>();
         camera.depthTextureMode = camera.depthTextureMode | DepthTextureMode.Depth;
 
@@ -42,19 +54,28 @@ public class DepthPostprocessor : MonoBehaviour
         mater.SetInt("_width", m_RenderTexture.width);
         mater.SetInt("_height", m_RenderTexture.height);
         mater.SetBuffer("_myBuffer", buffer);
-
-        //InitPub((uint) m_RenderTexture.height, (uint) m_RenderTexture.width);
     }
 
-    private void InitPub(uint height, uint width)
+    private sensor_msgs.msg.Image CreateImageWithoutData()
     {
-        //ImagePub = new ImagePublisher(topicname);
-
-        //myimage.encoding_ = "32FC1";
-        //myimage.height_ = height;
-        //myimage.width_ = width;
-        //myimage.is_bigendian_ = 0;
-        //myimage.step_ = myimage.width_ * 4; //4 want float is 4 bytes
+        sensor_msgs.msg.Image img = new sensor_msgs.msg.Image();
+
+        // Image Header
+        std_msgs.msg.Header header = new std_msgs.msg.Header();
+        builtin_interfaces.msg.Time time = new builtin_interfaces.msg.Time();
+        System.DateTime now = System.DateTime.UtcNow;
+        time.Sec = now.Second;
+        header.Stamp = time;
+        header.Frame_id = frame_id;
+
+        // Image Details
+        img.Height = (uint) m_RenderTexture.height;
+        img.Width = (uint) m_RenderTexture.width;
+        img.Encoding = "32FC1";
+        img.Is_bigendian = 0;
+        img.Step = img.Width * 4; // 4 want float is 4 bytes
+
+        return img;
     }
 
     private byte[] GetBytes(float[] input)
@@ -81,10 +102,14 @@ public class DepthPostprocessor : MonoBehaviour
             //draws the pixels from the source texture to the destination texture
 
             buffer.GetData(output);
-            //myimage.data_ = GetBytes(output);
-            //myimage.header_.stamp_ = ros_helper.RosHelper.GetUnixTimestamp();
-            //myimage.header_.frame_id_ = frame_id;
-            //ImagePub.Publish(myimage);
+
+            sensor_msgs.msg.Image img = CreateImageWithoutData();
+            img.Data = GetBytes(output);
+
+            if (ros2Unity.Ok())
+            {
+                chatter_pub.Publish(img);
+            }
 
             timer = timer - timeBetweenRequests;
         }

Unity/LineRobot/Assets/PublishColorSensor.cs

@@ -32,6 +32,10 @@ public class PublishColorSensor : MonoBehaviour
     {
         std_msgs.msg.Float32 msg = new std_msgs.msg.Float32();
         msg.Data = SensorValue.TotalRed;
-        chatter_pub.Publish(msg);
+
+        if (ros2Unity.Ok())
+        {
+            chatter_pub.Publish(msg);
+        }
     }
 }

Unity/LineRobot/Assets/Scenes/SampleScene.unity

@@ -536,6 +536,7 @@ GameObject:
   - component: {fileID: 396615291}
   - component: {fileID: 396615290}
   - component: {fileID: 396615289}
+  - component: {fileID: 396615295}
   - component: {fileID: 396615288}
   - component: {fileID: 396615292}
   - component: {fileID: 396615293}
@@ -560,7 +561,7 @@ MonoBehaviour:
   m_Name: 
   m_EditorClassIdentifier: 
   timeBetweenRequests: 0.2
-  topicname: rt/depth_image
+  TopicName: rt/depth_image
   frame_id: 1
   shader: {fileID: 7200000, guid: 16b8366b4724e3f47bcb2fd11d8c7991, type: 3}
 --- !u!81 &396615289
@@ -653,7 +654,7 @@ MonoBehaviour:
   m_Name: 
   m_EditorClassIdentifier: 
   timeBetweenRequests: 0.2
-  topicname: rt/depth_image
+  TopicName: rt/depth_processor
   frame_id: 1
   mater: {fileID: 2100000, guid: 4a2440c87fd96694ea56b7990a068fdc, type: 2}
 --- !u!114 &396615294
@@ -669,6 +670,18 @@ MonoBehaviour:
   m_Name: 
   m_EditorClassIdentifier: 
   postprocessMaterial: {fileID: 2100000, guid: 4a2440c87fd96694ea56b7990a068fdc, type: 2}
+--- !u!114 &396615295
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 396615287}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: feab04ad06492965492b3edc6423aa53, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
 --- !u!1 &450879079
 GameObject:
   m_ObjectHideFlags: 0
@@ -1483,36 +1496,6 @@ Transform:
   m_Father: {fileID: 0}
   m_RootOrder: 10
   m_LocalEulerAnglesHint: {x: 0, y: 62.600002, z: 0}
---- !u!1 &1085185972
-GameObject:
-  m_ObjectHideFlags: 0
-  m_CorrespondingSourceObject: {fileID: 0}
-  m_PrefabInstance: {fileID: 0}
-  m_PrefabAsset: {fileID: 0}
-  serializedVersion: 6
-  m_Component:
-  - component: {fileID: 1085185974}
-  m_Layer: 0
-  m_Name: ROS2
-  m_TagString: Untagged
-  m_Icon: {fileID: 0}
-  m_NavMeshLayer: 0
-  m_StaticEditorFlags: 0
-  m_IsActive: 1
---- !u!4 &1085185974
-Transform:
-  m_ObjectHideFlags: 0
-  m_CorrespondingSourceObject: {fileID: 0}
-  m_PrefabInstance: {fileID: 0}
-  m_PrefabAsset: {fileID: 0}
-  m_GameObject: {fileID: 1085185972}
-  m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
-  m_LocalPosition: {x: 0, y: 0, z: 0}
-  m_LocalScale: {x: 1, y: 1, z: 1}
-  m_Children: []
-  m_Father: {fileID: 0}
-  m_RootOrder: 15
-  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
 --- !u!1 &1156873515
 GameObject:
   m_ObjectHideFlags: 0
@@ -8051,7 +8034,7 @@ MonoBehaviour:
   KSpeedController: 1.42
   leftspeedsetpoint: 1
   rightspeedsetpoint: 1
-  handBrake: 1
+  handBrake: 0
   speed: 0
   lefttorqueout: 0
   righttorqueout: 0

Unity/LineRobot/Library/CurrentLayout-default.dwlt

@@ -19,9 +19,9 @@ MonoBehaviour:
     width: 1536
     height: 780.8
   m_ShowMode: 4
-  m_Title: Inspector
+  m_Title: Hierarchy
   m_RootView: {fileID: 4}
-  m_MinSize: {x: 875, y: 371}
+  m_MinSize: {x: 875, y: 300}
   m_MaxSize: {x: 10000, y: 10000}
   m_Maximized: 1
 --- !u!114 &2
@@ -43,8 +43,8 @@ MonoBehaviour:
     y: 0
     width: 218.4
     height: 730.8
-  m_MinSize: {x: 100, y: 100}
-  m_MaxSize: {x: 4000, y: 4000}
+  m_MinSize: {x: 101, y: 121}
+  m_MaxSize: {x: 4001, y: 4021}
   m_ActualView: {fileID: 13}
   m_Panes:
   - {fileID: 13}
@@ -69,8 +69,8 @@ MonoBehaviour:
     y: 0
     width: 758.4
     height: 459.2
-  m_MinSize: {x: 200, y: 200}
-  m_MaxSize: {x: 4000, y: 4000}
+  m_MinSize: {x: 202, y: 221}
+  m_MaxSize: {x: 4002, y: 4021}
   m_ActualView: {fileID: 17}
   m_Panes:
   - {fileID: 17}
@@ -172,10 +172,10 @@ MonoBehaviour:
     y: 30
     width: 1536
     height: 730.8
-  m_MinSize: {x: 677, y: 321}
-  m_MaxSize: {x: 16002, y: 8042}
+  m_MinSize: {x: 680, y: 342}
+  m_MaxSize: {x: 16005, y: 8042}
   vertical: 0
-  controlID: 146
+  controlID: 85
 --- !u!114 &8
 MonoBehaviour:
   m_ObjectHideFlags: 52
@@ -197,10 +197,10 @@ MonoBehaviour:
     y: 0
     width: 1004.8
     height: 730.8
-  m_MinSize: {x: 302, y: 321}
-  m_MaxSize: {x: 8002, y: 8042}
+  m_MinSize: {x: 304, y: 342}
+  m_MaxSize: {x: 8004, y: 8042}
   vertical: 1
-  controlID: 87
+  controlID: 86
 --- !u!114 &9
 MonoBehaviour:
   m_ObjectHideFlags: 52
@@ -222,10 +222,10 @@ MonoBehaviour:
     y: 0
     width: 1004.8
     height: 459.2
-  m_MinSize: {x: 302, y: 200}
-  m_MaxSize: {x: 8002, y: 4021}
+  m_MinSize: {x: 304, y: 221}
+  m_MaxSize: {x: 8004, y: 4021}
   vertical: 0
-  controlID: 88
+  controlID: 87
 --- !u!114 &10
 MonoBehaviour:
   m_ObjectHideFlags: 52
@@ -245,8 +245,8 @@ MonoBehaviour:
     y: 0
     width: 246.4
     height: 459.2
-  m_MinSize: {x: 102, y: 121}
-  m_MaxSize: {x: 4002, y: 4021}
+  m_MinSize: {x: 100, y: 100}
+  m_MaxSize: {x: 4000, y: 4000}
   m_ActualView: {fileID: 18}
   m_Panes:
   - {fileID: 18}
@@ -273,8 +273,8 @@ MonoBehaviour:
     y: 459.2
     width: 1004.8
     height: 271.59998
-  m_MinSize: {x: 100, y: 100}
-  m_MaxSize: {x: 4000, y: 4000}
+  m_MinSize: {x: 102, y: 121}
+  m_MaxSize: {x: 4002, y: 4021}
   m_ActualView: {fileID: 21}
   m_Panes:
   - {fileID: 20}
@@ -338,9 +338,9 @@ MonoBehaviour:
   m_SceneHierarchy:
     m_TreeViewState:
       scrollPos: {x: 0, y: 0}
-      m_SelectedIDs: f2480000
-      m_LastClickedID: 18674
-      m_ExpandedIDs: fa38ffff4efbffff50fbffff7e490000d64b0000
+      m_SelectedIDs: 4efbffff
+      m_LastClickedID: -1202
+      m_ExpandedIDs: 4efbffff50fbffff
       m_RenameOverlay:
         m_UserAcceptedRename: 0
         m_Name: 
@@ -758,22 +758,22 @@ MonoBehaviour:
     m_SkipHidden: 0
     m_SearchArea: 1
     m_Folders:
-    - Assets
+    - Assets/Ros2ForUnity/Scripts
     m_Globs: []
     m_OriginalText: 
   m_ViewMode: 1
   m_StartGridSize: 16
   m_LastFolders:
-  - Assets
+  - Assets/Ros2ForUnity/Scripts
   m_LastFoldersGridSize: 16
   m_LastProjectPath: C:\Users\randy\Documents\git\linerobot\Unity\LineRobot
   m_LockTracker:
     m_IsLocked: 0
   m_FolderTreeState:
-    scrollPos: {x: 0, y: 0}
-    m_SelectedIDs: f6510000
-    m_LastClickedID: 20982
-    m_ExpandedIDs: 00000000ee510000f0510000f2510000f4510000f6510000f8510000fa510000225200002e52000000ca9a3b
+    scrollPos: {x: 0, y: 25.400024}
+    m_SelectedIDs: 02520000
+    m_LastClickedID: 20994
+    m_ExpandedIDs: 00000000f2510000f4510000f6510000f8510000fa510000fc510000fe510000005200000252000000ca9a3b
     m_RenameOverlay:
       m_UserAcceptedRename: 0
       m_Name: 
@@ -801,7 +801,7 @@ MonoBehaviour:
     scrollPos: {x: 0, y: 0}
     m_SelectedIDs: 
     m_LastClickedID: 0
-    m_ExpandedIDs: 00000000ee510000f0510000f2510000f4510000f6510000f8510000fa510000
+    m_ExpandedIDs: 00000000f2510000f4510000f6510000f8510000fa510000fc510000fe5100000052000002520000
     m_RenameOverlay:
       m_UserAcceptedRename: 0
       m_Name: 
@@ -826,9 +826,9 @@ MonoBehaviour:
       m_Icon: {fileID: 0}
       m_ResourceFile: 
   m_ListAreaState:
-    m_SelectedInstanceIDs: 62490000
-    m_LastClickedInstanceID: 18786
-    m_HadKeyboardFocusLastEvent: 1
+    m_SelectedInstanceIDs: 
+    m_LastClickedInstanceID: 0
+    m_HadKeyboardFocusLastEvent: 0
     m_ExpandedInstanceIDs: c6230000bc390000a4340000483600003c3500004c3e0000523e0000a8960000aa960000060001006aff0000ae440000c66b00006aad01003a4c0000ce4c00007c4d0000d06400004853000064760000607600004a4400007e41000094410000144200005e41000024440000da3a00009e40000066410000c4430000f8430000104400001a440000b443000084410000423f0000683f0000ea370000104d0000943d0000803c0000623c0000fc3c00009c3d0000aa3d0000ca420000a4b3000000000000
     m_RenameOverlay:
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@@ -916,7 +916,7 @@ MonoBehaviour:
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     m_PrefName: Preview_InspectorPreview
   m_LastInspectedObjectInstanceID: -1
-  m_LastVerticalScrollValue: 295.2
+  m_LastVerticalScrollValue: 402.40002
   m_GlobalObjectId: 
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Unity/LineRobot/Library/ScriptAssemblies/BuiltinAssemblies.stamp

@@ -0,0 +1 @@
+08da4dfcea0a7e00.08da4dfcf7276d00

Unity/LineRobot/Logs/ApiUpdaterCheck.txt

@@ -168,3 +168,103 @@ C# parse time         : 211ms
 candidates check time : 46ms
 console write time    : 0ms
 
+[api-updater (non-obsolete-error-filter)] 6/21/2022 2:16:55 PM : Starting C:/Program Files/Unity/Hub/Editor/2020.3.36f1/Editor/Data/Tools/ScriptUpdater/APIUpdater.NonObsoleteApiUpdaterDetector.exe
+[api-updater (non-obsolete-error-filter)] 
+----------------------------------
+jit/startup time      : 1041.5245ms
+moved types parse time: 57ms
+candidates parse time : 1ms
+C# parse time         : 827ms
+candidates check time : 53ms
+console write time    : 0ms
+
+[api-updater (non-obsolete-error-filter)] 6/21/2022 2:23:18 PM : Starting C:/Program Files/Unity/Hub/Editor/2020.3.36f1/Editor/Data/Tools/ScriptUpdater/APIUpdater.NonObsoleteApiUpdaterDetector.exe
+[api-updater (non-obsolete-error-filter)] 
+----------------------------------
+jit/startup time      : 92.5045ms
+moved types parse time: 54ms
+candidates parse time : 1ms
+C# parse time         : 204ms
+candidates check time : 46ms
+console write time    : 0ms
+
+[api-updater (non-obsolete-error-filter)] 6/21/2022 2:23:41 PM : Starting C:/Program Files/Unity/Hub/Editor/2020.3.36f1/Editor/Data/Tools/ScriptUpdater/APIUpdater.NonObsoleteApiUpdaterDetector.exe
+[api-updater (non-obsolete-error-filter)] 
+----------------------------------
+jit/startup time      : 83.84ms
+moved types parse time: 58ms
+candidates parse time : 1ms
+C# parse time         : 231ms
+candidates check time : 47ms
+console write time    : 0ms
+
+[api-updater (non-obsolete-error-filter)] 6/21/2022 2:23:53 PM : Starting C:/Program Files/Unity/Hub/Editor/2020.3.36f1/Editor/Data/Tools/ScriptUpdater/APIUpdater.NonObsoleteApiUpdaterDetector.exe
+[api-updater (non-obsolete-error-filter)] 
+----------------------------------
+jit/startup time      : 103.7251ms
+moved types parse time: 62ms
+candidates parse time : 1ms
+C# parse time         : 238ms
+candidates check time : 66ms
+console write time    : 0ms
+
+[api-updater (non-obsolete-error-filter)] 6/21/2022 2:26:37 PM : Starting C:/Program Files/Unity/Hub/Editor/2020.3.36f1/Editor/Data/Tools/ScriptUpdater/APIUpdater.NonObsoleteApiUpdaterDetector.exe
+[api-updater (non-obsolete-error-filter)] 
+----------------------------------
+jit/startup time      : 103.7227ms
+moved types parse time: 61ms
+candidates parse time : 2ms
+C# parse time         : 218ms
+candidates check time : 46ms
+console write time    : 0ms
+
+[api-updater (non-obsolete-error-filter)] 6/21/2022 2:34:08 PM : Starting C:/Program Files/Unity/Hub/Editor/2020.3.36f1/Editor/Data/Tools/ScriptUpdater/APIUpdater.NonObsoleteApiUpdaterDetector.exe
+[api-updater (non-obsolete-error-filter)] 
+----------------------------------
+jit/startup time      : 88.7636ms
+moved types parse time: 55ms
+candidates parse time : 1ms
+C# parse time         : 220ms
+candidates check time : 52ms
+console write time    : 0ms
+
+[api-updater (non-obsolete-error-filter)] 6/21/2022 2:34:18 PM : Starting C:/Program Files/Unity/Hub/Editor/2020.3.36f1/Editor/Data/Tools/ScriptUpdater/APIUpdater.NonObsoleteApiUpdaterDetector.exe
+[api-updater (non-obsolete-error-filter)] 
+----------------------------------
+jit/startup time      : 132.9733ms
+moved types parse time: 56ms
+candidates parse time : 2ms
+C# parse time         : 208ms
+candidates check time : 49ms
+console write time    : 0ms
+
+[api-updater (non-obsolete-error-filter)] 6/21/2022 2:34:30 PM : Starting C:/Program Files/Unity/Hub/Editor/2020.3.36f1/Editor/Data/Tools/ScriptUpdater/APIUpdater.NonObsoleteApiUpdaterDetector.exe
+[api-updater (non-obsolete-error-filter)] 
+----------------------------------
+jit/startup time      : 125.7437ms
+moved types parse time: 62ms
+candidates parse time : 1ms
+C# parse time         : 212ms
+candidates check time : 47ms
+console write time    : 0ms
+
+[api-updater (non-obsolete-error-filter)] 6/21/2022 2:37:54 PM : Starting C:/Program Files/Unity/Hub/Editor/2020.3.36f1/Editor/Data/Tools/ScriptUpdater/APIUpdater.NonObsoleteApiUpdaterDetector.exe
+[api-updater (non-obsolete-error-filter)] 
+----------------------------------
+jit/startup time      : 113.0011ms
+moved types parse time: 58ms
+candidates parse time : 1ms
+C# parse time         : 216ms
+candidates check time : 49ms
+console write time    : 0ms
+
+[api-updater (non-obsolete-error-filter)] 6/21/2022 2:38:12 PM : Starting C:/Program Files/Unity/Hub/Editor/2020.3.36f1/Editor/Data/Tools/ScriptUpdater/APIUpdater.NonObsoleteApiUpdaterDetector.exe
+[api-updater (non-obsolete-error-filter)] 
+----------------------------------
+jit/startup time      : 93.4237ms
+moved types parse time: 56ms
+candidates parse time : 1ms
+C# parse time         : 216ms
+candidates check time : 48ms
+console write time    : 0ms
+

Unity/LineRobot/Logs/AssetImportWorker0-prev.log

@@ -0,0 +1,502 @@
+Using pre-set license
+Built from 'master' branch; Version is '2020.3.36f1 (71f96b79b9f0) revision 7469419'; Using compiler version '192528614'; Build Type 'Release'
+OS: 'Windows 10  (10.0.19044) 64bit Professional' Language: 'en' Physical Memory: 16238 MB
+BatchMode: 1, IsHumanControllingUs: 0, StartBugReporterOnCrash: 0, Is64bit: 1, IsPro: 0
+
+COMMAND LINE ARGUMENTS:
+C:\Program Files\Unity\Hub\Editor\2020.3.36f1\Editor\Unity.exe
+-adb2
+-batchMode
+-noUpm
+-name
+AssetImportWorker0
+-projectPath
+C:/Users/randy/Documents/git/linerobot/Unity/LineRobot
+-logFile
+Logs/AssetImportWorker0.log
+-srvPort
+55360
+Successfully changed project path to: C:/Users/randy/Documents/git/linerobot/Unity/LineRobot
+C:/Users/randy/Documents/git/linerobot/Unity/LineRobot
+Using Asset Import Pipeline V2.
+Refreshing native plugins compatible for Editor in 366.95 ms, found 675 plugins.
+Preloading 0 native plugins for Editor in 0.00 ms.
+Initialize engine version: 2020.3.36f1 (71f96b79b9f0)
+[Subsystems] Discovering subsystems at path C:/Program Files/Unity/Hub/Editor/2020.3.36f1/Editor/Data/Resources/UnitySubsystems
+[Subsystems] Discovering subsystems at path C:/Users/randy/Documents/git/linerobot/Unity/LineRobot/Assets
+GfxDevice: creating device client; threaded=0
+Direct3D:
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+    Renderer: Intel(R) HD Graphics 620 (ID=0x5916)
+    Vendor:   
+    VRAM:     8119 MB
+    Driver:   30.0.100.9865
+Initialize mono
+Mono path[0] = 'C:/Program Files/Unity/Hub/Editor/2020.3.36f1/Editor/Data/Managed'
+Mono path[1] = 'C:/Program Files/Unity/Hub/Editor/2020.3.36f1/Editor/Data/MonoBleedingEdge/lib/mono/unityjit'
+Mono config path = 'C:/Program Files/Unity/Hub/Editor/2020.3.36f1/Editor/Data/MonoBleedingEdge/etc'
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+Preloading 0 native plugins for Editor in 0.00 ms.
+Mono: successfully reloaded assembly
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+Mono: successfully reloaded assembly
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+Domain Reload Profiling:
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+========================================================================
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+  custom:video-decoder-ogg-theora: a1e56fd34408186e4bbccfd4996cb3dc -> 
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+  custom:audio-encoder-webm-vorbis: bf7c407c2cedff20999df2af8eb42d56 -> 
+========================================================================
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+  artifactKey: Guid(3bc5fe5b48713264a88b7cfdd9ff3be4) Importer(815301076,1909f56bfc062723c751e8b465ee728b)
+Start importing Assets/DepthCamera.cs using Guid(3bc5fe5b48713264a88b7cfdd9ff3be4) Importer(815301076,1909f56bfc062723c751e8b465ee728b)  -> (artifact id: 'eccf3bfcd612c2b643a18a1717ab345e') in 0.071877 seconds 
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+  custom:video-codec-MediaFoundation-h265: 746d11721c4dcdbdad8f713fa42b33f4 -> 
+  custom:video-decoder-webm-vp8: 9c59270c3fd7afecdb556c50c9e8de78 -> 
+  custom:audio-decoder-ogg-vorbis: bf7c407c2cedff20999df2af8eb42d56 -> 
+  custom:audio-encoder-webm-vorbis: bf7c407c2cedff20999df2af8eb42d56 -> 
+========================================================================
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+  custom:audio-encoder-webm-vorbis: bf7c407c2cedff20999df2af8eb42d56 -> 
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+
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+  custom:framework-win-MediaFoundation: 216162199b28c13a410421893ffa2e32 -> 
+  custom:video-decoder-ogg-theora: a1e56fd34408186e4bbccfd4996cb3dc -> 
+  custom:container-muxer-webm: aa71ff27fc2769a1b78a27578f13a17b -> 
+  custom:container-demuxer-webm: 4f35f7cbe854078d1ac9338744f61a02 -> 
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+  custom:video-encoder-webm-vp8: eb34c28f22e8b96e1ab97ce403110664 -> 
+  custom:video-codec-MediaFoundation-h265: 746d11721c4dcdbdad8f713fa42b33f4 -> 
+  custom:video-decoder-webm-vp8: 9c59270c3fd7afecdb556c50c9e8de78 -> 
+  custom:audio-decoder-ogg-vorbis: bf7c407c2cedff20999df2af8eb42d56 -> 
+  custom:audio-encoder-webm-vorbis: bf7c407c2cedff20999df2af8eb42d56 -> 
+========================================================================
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+Native extension for WindowsStandalone target not found
+Refreshing native plugins compatible for Editor in 10.24 ms, found 675 plugins.
+Preloading 0 native plugins for Editor in 0.00 ms.
+Mono: successfully reloaded assembly
+- Completed reload, in  1.267 seconds
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+
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+  custom:container-demuxer-ogg: 62fdf1f143b41e24485cea50d1cbac27 -> 
+  custom:video-encoder-webm-vp8: eb34c28f22e8b96e1ab97ce403110664 -> 
+  custom:video-codec-MediaFoundation-h265: 746d11721c4dcdbdad8f713fa42b33f4 -> 
+  custom:video-decoder-webm-vp8: 9c59270c3fd7afecdb556c50c9e8de78 -> 
+  custom:audio-decoder-ogg-vorbis: bf7c407c2cedff20999df2af8eb42d56 -> 
+  custom:audio-encoder-webm-vorbis: bf7c407c2cedff20999df2af8eb42d56 -> 
+========================================================================
+Received Prepare
+Registering precompiled user dll's ...
+Registered in 0.170577 seconds.
+Begin MonoManager ReloadAssembly
+Native extension for WindowsStandalone target not found
+Refreshing native plugins compatible for Editor in 10.72 ms, found 675 plugins.
+Preloading 0 native plugins for Editor in 0.00 ms.
+Mono: successfully reloaded assembly
+- Completed reload, in  1.236 seconds
+Domain Reload Profiling:
+	ReloadAssembly (1237ms)
+		BeginReloadAssembly (166ms)
+			ExecutionOrderSort (0ms)
+			DisableScriptedObjects (5ms)
+			BackupInstance (0ms)
+			ReleaseScriptingObjects (0ms)
+			CreateAndSetChildDomain (46ms)
+		EndReloadAssembly (994ms)
+			LoadAssemblies (136ms)
+			RebuildTransferFunctionScriptingTraits (0ms)
+			SetupTypeCache (384ms)
+			ReleaseScriptCaches (1ms)
+			RebuildScriptCaches (46ms)
+			SetupLoadedEditorAssemblies (307ms)
+				LogAssemblyErrors (0ms)
+				InitializePlatformSupportModulesInManaged (5ms)
+				SetLoadedEditorAssemblies (1ms)
+				RefreshPlugins (11ms)
+				BeforeProcessingInitializeOnLoad (61ms)
+				ProcessInitializeOnLoadAttributes (207ms)
+				ProcessInitializeOnLoadMethodAttributes (14ms)
+				AfterProcessingInitializeOnLoad (8ms)
+				EditorAssembliesLoaded (0ms)
+			ExecutionOrderSort2 (0ms)
+			AwakeInstancesAfterBackupRestoration (2ms)
+Platform modules already initialized, skipping
+Refreshing native plugins compatible for Editor in 10.21 ms, found 675 plugins.
+Preloading 0 native plugins for Editor in 0.00 ms.
+Unloading 2247 Unused Serialized files (Serialized files now loaded: 0)
+System memory in use before: 183.0 MB.
+System memory in use after: 183.2 MB.
+
+Unloading 714 unused Assets to reduce memory usage. Loaded Objects now: 2032.
+Total: 3.325300 ms (FindLiveObjects: 0.238800 ms CreateObjectMapping: 0.110600 ms MarkObjects: 2.818300 ms  DeleteObjects: 0.156700 ms)
+
+AssetImportParameters requested are different than current active one (requested -> active):
+  custom:framework-win-MediaFoundation: 216162199b28c13a410421893ffa2e32 -> 
+  custom:video-decoder-ogg-theora: a1e56fd34408186e4bbccfd4996cb3dc -> 
+  custom:container-muxer-webm: aa71ff27fc2769a1b78a27578f13a17b -> 
+  custom:container-demuxer-webm: 4f35f7cbe854078d1ac9338744f61a02 -> 
+  custom:container-demuxer-ogg: 62fdf1f143b41e24485cea50d1cbac27 -> 
+  custom:video-encoder-webm-vp8: eb34c28f22e8b96e1ab97ce403110664 -> 
+  custom:video-codec-MediaFoundation-h265: 746d11721c4dcdbdad8f713fa42b33f4 -> 
+  custom:video-decoder-webm-vp8: 9c59270c3fd7afecdb556c50c9e8de78 -> 
+  custom:audio-decoder-ogg-vorbis: bf7c407c2cedff20999df2af8eb42d56 -> 
+  custom:audio-encoder-webm-vorbis: bf7c407c2cedff20999df2af8eb42d56 -> 
+========================================================================
+Received Prepare
+Registering precompiled user dll's ...
+Registered in 0.197720 seconds.
+Begin MonoManager ReloadAssembly
+Native extension for WindowsStandalone target not found
+Refreshing native plugins compatible for Editor in 12.61 ms, found 675 plugins.
+Preloading 0 native plugins for Editor in 0.00 ms.
+Mono: successfully reloaded assembly
+- Completed reload, in  1.486 seconds
+Domain Reload Profiling:
+	ReloadAssembly (1487ms)
+		BeginReloadAssembly (167ms)
+			ExecutionOrderSort (0ms)
+			DisableScriptedObjects (5ms)
+			BackupInstance (0ms)
+			ReleaseScriptingObjects (0ms)
+			CreateAndSetChildDomain (39ms)
+		EndReloadAssembly (1157ms)
+			LoadAssemblies (184ms)
+			RebuildTransferFunctionScriptingTraits (0ms)
+			SetupTypeCache (394ms)
+			ReleaseScriptCaches (1ms)
+			RebuildScriptCaches (45ms)
+			SetupLoadedEditorAssemblies (422ms)
+				LogAssemblyErrors (0ms)
+				InitializePlatformSupportModulesInManaged (5ms)
+				SetLoadedEditorAssemblies (1ms)
+				RefreshPlugins (13ms)
+				BeforeProcessingInitializeOnLoad (62ms)
+				ProcessInitializeOnLoadAttributes (314ms)
+				ProcessInitializeOnLoadMethodAttributes (19ms)
+				AfterProcessingInitializeOnLoad (8ms)
+				EditorAssembliesLoaded (0ms)
+			ExecutionOrderSort2 (0ms)
+			AwakeInstancesAfterBackupRestoration (4ms)
+Platform modules already initialized, skipping
+Refreshing native plugins compatible for Editor in 11.01 ms, found 675 plugins.
+Preloading 0 native plugins for Editor in 0.00 ms.
+Unloading 2247 Unused Serialized files (Serialized files now loaded: 0)
+System memory in use before: 183.0 MB.
+System memory in use after: 183.2 MB.
+
+Unloading 714 unused Assets to reduce memory usage. Loaded Objects now: 2035.
+Total: 2.921800 ms (FindLiveObjects: 0.228600 ms CreateObjectMapping: 0.148700 ms MarkObjects: 2.388700 ms  DeleteObjects: 0.154900 ms)
+
+AssetImportParameters requested are different than current active one (requested -> active):
+  custom:framework-win-MediaFoundation: 216162199b28c13a410421893ffa2e32 -> 
+  custom:video-decoder-ogg-theora: a1e56fd34408186e4bbccfd4996cb3dc -> 
+  custom:container-muxer-webm: aa71ff27fc2769a1b78a27578f13a17b -> 
+  custom:container-demuxer-webm: 4f35f7cbe854078d1ac9338744f61a02 -> 
+  custom:container-demuxer-ogg: 62fdf1f143b41e24485cea50d1cbac27 -> 
+  custom:video-encoder-webm-vp8: eb34c28f22e8b96e1ab97ce403110664 -> 
+  custom:video-codec-MediaFoundation-h265: 746d11721c4dcdbdad8f713fa42b33f4 -> 
+  custom:video-decoder-webm-vp8: 9c59270c3fd7afecdb556c50c9e8de78 -> 
+  custom:audio-decoder-ogg-vorbis: bf7c407c2cedff20999df2af8eb42d56 -> 
+  custom:audio-encoder-webm-vorbis: bf7c407c2cedff20999df2af8eb42d56 -> 
+========================================================================
+Received Prepare
+Registering precompiled user dll's ...
+Registered in 0.155279 seconds.
+Begin MonoManager ReloadAssembly
+Native extension for WindowsStandalone target not found
+Refreshing native plugins compatible for Editor in 18.76 ms, found 675 plugins.
+Preloading 0 native plugins for Editor in 0.00 ms.
+Mono: successfully reloaded assembly
+- Completed reload, in  1.543 seconds
+Domain Reload Profiling:
+	ReloadAssembly (1544ms)
+		BeginReloadAssembly (292ms)
+			ExecutionOrderSort (0ms)
+			DisableScriptedObjects (9ms)
+			BackupInstance (0ms)
+			ReleaseScriptingObjects (0ms)
+			CreateAndSetChildDomain (183ms)
+		EndReloadAssembly (1186ms)
+			LoadAssemblies (124ms)
+			RebuildTransferFunctionScriptingTraits (0ms)
+			SetupTypeCache (374ms)
+			ReleaseScriptCaches (1ms)
+			RebuildScriptCaches (148ms)
+			SetupLoadedEditorAssemblies (366ms)
+				LogAssemblyErrors (0ms)
+				InitializePlatformSupportModulesInManaged (10ms)
+				SetLoadedEditorAssemblies (1ms)
+				RefreshPlugins (19ms)
+				BeforeProcessingInitializeOnLoad (95ms)
+				ProcessInitializeOnLoadAttributes (219ms)
+				ProcessInitializeOnLoadMethodAttributes (14ms)
+				AfterProcessingInitializeOnLoad (8ms)
+				EditorAssembliesLoaded (0ms)
+			ExecutionOrderSort2 (0ms)
+			AwakeInstancesAfterBackupRestoration (2ms)
+Platform modules already initialized, skipping
+Refreshing native plugins compatible for Editor in 9.73 ms, found 675 plugins.
+Preloading 0 native plugins for Editor in 0.00 ms.
+Unloading 2247 Unused Serialized files (Serialized files now loaded: 0)
+System memory in use before: 183.0 MB.
+System memory in use after: 183.2 MB.
+
+Unloading 714 unused Assets to reduce memory usage. Loaded Objects now: 2038.
+Total: 3.551500 ms (FindLiveObjects: 0.230200 ms CreateObjectMapping: 0.098500 ms MarkObjects: 3.048600 ms  DeleteObjects: 0.172600 ms)
+
+AssetImportParameters requested are different than current active one (requested -> active):
+  custom:framework-win-MediaFoundation: 216162199b28c13a410421893ffa2e32 -> 
+  custom:video-decoder-ogg-theora: a1e56fd34408186e4bbccfd4996cb3dc -> 
+  custom:container-muxer-webm: aa71ff27fc2769a1b78a27578f13a17b -> 
+  custom:container-demuxer-webm: 4f35f7cbe854078d1ac9338744f61a02 -> 
+  custom:container-demuxer-ogg: 62fdf1f143b41e24485cea50d1cbac27 -> 
+  custom:video-encoder-webm-vp8: eb34c28f22e8b96e1ab97ce403110664 -> 
+  custom:video-codec-MediaFoundation-h265: 746d11721c4dcdbdad8f713fa42b33f4 -> 
+  custom:video-decoder-webm-vp8: 9c59270c3fd7afecdb556c50c9e8de78 -> 
+  custom:audio-decoder-ogg-vorbis: bf7c407c2cedff20999df2af8eb42d56 -> 
+  custom:audio-encoder-webm-vorbis: bf7c407c2cedff20999df2af8eb42d56 -> 
+AssetImportWorkerClient::OnTransportError - code=2 error=End of file

Unity/LineRobot/Logs/shadercompiler-AssetImportWorker0.log

@@ -1,6 +0,0 @@
-Base path: 'C:/Program Files/Unity/Hub/Editor/2020.3.36f1/Editor/Data', plugins path 'C:/Program Files/Unity/Hub/Editor/2020.3.36f1/Editor/Data/PlaybackEngines'
-Cmd: initializeCompiler
-
-Unhandled exception: Protocol error - failed to read magic number (error -2147483644, transferred 0/4)
-
-Quitting shader compiler process

pythonDDS/ospl-info.log

@@ -414,3 +414,192 @@ Node        : LAPTOP-3FV3GHNR
 Process     : python.exe <15564>
 Thread      : 17512
 Internals   : 6.9.181127OSS/42c7cafa/42c7cafa/Database close/c_base.c/3272/0/1649773582.140864600/0
+========================================================================================
+Report      : INFO
+Date        : 2022-06-21T15:32:44+0200
+Description : ---------------------------------------------------------------
+              -- The service is using the following configuration settings --
+              ---------------------------------------------------------------
+              Domain (id)          : ospl_sp_ddsi (0)
+              Storage              : 0 Kbytes
+              Storage threshold    : 1024 Kbytes
+              Storage address      : Not available
+              Locking              : default
+              Memory mode          : Heap memory
+              Builtin topics       : true
+              Priority inheritance : false
+              SystemId             : 473082460 from [1,2147483647]
+Node        : LAPTOP-3FV3GHNR
+Process     : python.exe <2576>
+Thread      : spliced 5984
+Internals   : 6.9.181127OSS/42c7cafa/42c7cafa/The OpenSplice domain service/u_domain.c/785/0/1655818364.708978200/0
+========================================================================================
+Report      : INFO
+Date        : 2022-06-21T15:32:44+0200
+Description : Service durability disabled
+Node        : LAPTOP-3FV3GHNR
+Process     : python.exe <2576>
+Thread      : spliced 5984
+Internals   : 6.9.181127OSS/42c7cafa/42c7cafa/OpenSplice domain service/sr_componentInfo.c/446/0/1655818364.710844800/0
+========================================================================================
+Report      : INFO
+Date        : 2022-06-21T15:32:44+0200
+Description : Service cmsoap disabled
+Node        : LAPTOP-3FV3GHNR
+Process     : python.exe <2576>
+Thread      : spliced 5984
+Internals   : 6.9.181127OSS/42c7cafa/42c7cafa/OpenSplice domain service/sr_componentInfo.c/446/0/1655818364.711268900/0
+========================================================================================
+Report      : INFO
+Date        : 2022-06-21T15:32:44+0200
+Description : ++++++++++++++++++++++++++++++++++++++++++++++++
+              ++ The service 'splicedaemon' is now operational. 
+              ++++++++++++++++++++++++++++++++++++++++++++++++
+Node        : LAPTOP-3FV3GHNR
+Process     : python.exe <2576>
+Thread      : spliced 5984
+Internals   : 6.9.181127OSS/42c7cafa/42c7cafa/v_serviceChangeState/v_service.c/266/0/1655818364.716181400/0
+========================================================================================
+Report      : INFO
+Date        : 2022-06-21T15:32:44+0200
+Description : ++++++++++++++++++++++++++++++++++++++++++++++++
+              ++ The service 'ddsi2' is now operational. 
+              ++++++++++++++++++++++++++++++++++++++++++++++++
+Node        : LAPTOP-3FV3GHNR
+Process     : python.exe <2576>
+Thread      : ddsi2 13608
+Internals   : 6.9.181127OSS/42c7cafa/42c7cafa/v_serviceChangeState/v_service.c/266/0/1655818364.796088600/0
+========================================================================================
+Report      : INFO
+Date        : 2022-06-21T15:32:45+0200
+Description : Removed 1228 objects
+Node        : LAPTOP-3FV3GHNR
+Process     : python.exe <2576>
+Thread      : 13696
+Internals   : 6.9.181127OSS/42c7cafa/42c7cafa/Database close/c_base.c/3272/0/1655818365.859443300/0
+========================================================================================
+Report      : INFO
+Date        : 2022-06-21T15:33:08+0200
+Description : ---------------------------------------------------------------
+              -- The service is using the following configuration settings --
+              ---------------------------------------------------------------
+              Domain (id)          : ospl_sp_ddsi_1gbps (0)
+              Storage              : 0 Kbytes
+              Storage threshold    : 1024 Kbytes
+              Storage address      : Not available
+              Locking              : default
+              Memory mode          : Heap memory
+              Builtin topics       : true
+              Priority inheritance : false
+              SystemId             : 1136963734 from [1,2147483647]
+Node        : LAPTOP-3FV3GHNR
+Process     : python.exe <13624>
+Thread      : spliced 6136
+Internals   : 6.9.181127OSS/42c7cafa/42c7cafa/The OpenSplice domain service/u_domain.c/785/0/1655818388.255854200/0
+========================================================================================
+Report      : INFO
+Date        : 2022-06-21T15:33:08+0200
+Description : Service cmsoap disabled
+Node        : LAPTOP-3FV3GHNR
+Process     : python.exe <13624>
+Thread      : spliced 6136
+Internals   : 6.9.181127OSS/42c7cafa/42c7cafa/OpenSplice domain service/sr_componentInfo.c/446/0/1655818388.256807400/0
+========================================================================================
+Report      : INFO
+Date        : 2022-06-21T15:33:08+0200
+Description : ++++++++++++++++++++++++++++++++++++++++++++++++
+              ++ The service 'splicedaemon' is now operational. 
+              ++++++++++++++++++++++++++++++++++++++++++++++++
+Node        : LAPTOP-3FV3GHNR
+Process     : python.exe <13624>
+Thread      : spliced 6136
+Internals   : 6.9.181127OSS/42c7cafa/42c7cafa/v_serviceChangeState/v_service.c/266/0/1655818388.257699500/0
+========================================================================================
+Report      : INFO
+Date        : 2022-06-21T15:33:08+0200
+Description : ++++++++++++++++++++++++++++++++++++++++++++++++
+              ++ The service 'ddsi2' is now operational. 
+              ++++++++++++++++++++++++++++++++++++++++++++++++
+Node        : LAPTOP-3FV3GHNR
+Process     : python.exe <13624>
+Thread      : ddsi2 2352
+Internals   : 6.9.181127OSS/42c7cafa/42c7cafa/v_serviceChangeState/v_service.c/266/0/1655818388.318831600/0
+========================================================================================
+Report      : INFO
+Date        : 2022-06-21T15:33:08+0200
+Description : The durability service can be identified by ID: 1136963734
+Node        : LAPTOP-3FV3GHNR
+Process     : python.exe <13624>
+Thread      : durability 15672
+Internals   : 6.9.181127OSS/42c7cafa/42c7cafa/DurabilityService/d_durability.c/554/0/1655818388.642660600/0
+========================================================================================
+Report      : INFO
+Date        : 2022-06-21T15:33:09+0200
+Description : Removed 1228 objects
+Node        : LAPTOP-3FV3GHNR
+Process     : python.exe <13624>
+Thread      : 1284
+Internals   : 6.9.181127OSS/42c7cafa/42c7cafa/Database close/c_base.c/3272/0/1655818389.436430400/0
+========================================================================================
+Report      : INFO
+Date        : 2022-06-21T15:36:54+0200
+Description : ---------------------------------------------------------------
+              -- The service is using the following configuration settings --
+              ---------------------------------------------------------------
+              Domain (id)          : ospl_sp_ddsi (0)
+              Storage              : 0 Kbytes
+              Storage threshold    : 1024 Kbytes
+              Storage address      : Not available
+              Locking              : default
+              Memory mode          : Heap memory
+              Builtin topics       : true
+              Priority inheritance : false
+              SystemId             : 92669188 from [1,2147483647]
+Node        : LAPTOP-3FV3GHNR
+Process     : python.exe <16748>
+Thread      : spliced 13712
+Internals   : 6.9.181127OSS/42c7cafa/42c7cafa/The OpenSplice domain service/u_domain.c/785/0/1655818614.465426900/0
+========================================================================================
+Report      : INFO
+Date        : 2022-06-21T15:36:54+0200
+Description : Service cmsoap disabled
+Node        : LAPTOP-3FV3GHNR
+Process     : python.exe <16748>
+Thread      : spliced 13712
+Internals   : 6.9.181127OSS/42c7cafa/42c7cafa/OpenSplice domain service/sr_componentInfo.c/446/0/1655818614.466302000/0
+========================================================================================
+Report      : INFO
+Date        : 2022-06-21T15:36:54+0200
+Description : Service durability disabled
+Node        : LAPTOP-3FV3GHNR
+Process     : python.exe <16748>
+Thread      : spliced 13712
+Internals   : 6.9.181127OSS/42c7cafa/42c7cafa/OpenSplice domain service/sr_componentInfo.c/446/0/1655818614.466515900/0
+========================================================================================
+Report      : INFO
+Date        : 2022-06-21T15:36:54+0200
+Description : ++++++++++++++++++++++++++++++++++++++++++++++++
+              ++ The service 'splicedaemon' is now operational. 
+              ++++++++++++++++++++++++++++++++++++++++++++++++
+Node        : LAPTOP-3FV3GHNR
+Process     : python.exe <16748>
+Thread      : spliced 13712
+Internals   : 6.9.181127OSS/42c7cafa/42c7cafa/v_serviceChangeState/v_service.c/266/0/1655818614.467271200/0
+========================================================================================
+Report      : INFO
+Date        : 2022-06-21T15:36:54+0200
+Description : ++++++++++++++++++++++++++++++++++++++++++++++++
+              ++ The service 'ddsi2' is now operational. 
+              ++++++++++++++++++++++++++++++++++++++++++++++++
+Node        : LAPTOP-3FV3GHNR
+Process     : python.exe <16748>
+Thread      : ddsi2 10808
+Internals   : 6.9.181127OSS/42c7cafa/42c7cafa/v_serviceChangeState/v_service.c/266/0/1655818614.487209000/0
+========================================================================================
+Report      : INFO
+Date        : 2022-06-21T15:36:55+0200
+Description : Removed 1228 objects
+Node        : LAPTOP-3FV3GHNR
+Process     : python.exe <16748>
+Thread      : 13228
+Internals   : 6.9.181127OSS/42c7cafa/42c7cafa/Database close/c_base.c/3272/0/1655818615.656129400/0

pythonDDS/read_depthimage.py

@@ -22,6 +22,7 @@ class ImageReader():
     
         def on_data_available(self, entity):
             l = entity.take(1)
+            print("here")
           
             for (sd, si) in l:
                 current_frame = self.convert(sd)
@@ -65,7 +66,7 @@ class ImageReader():
         topic = Topic(dp, topicname, Image___TypeSupport(), qp.get_topic_qos(), None)
         self.reader = sub.create_datareader(topic, qp.get_reader_qos(), self.listener)
 
-reader = ImageReader("rt/depth_image") 
+reader = ImageReader("rt/depth_processor") 
 
 input("Press a key to stop ...")