From 5870a6525281cb5b2cd3088b8fa28e8da519c82c Mon Sep 17 00:00:00 2001
From: mqjinwon <mqjinwon@gmail.com>
Date: Tue, 16 Apr 2024 20:51:26 +0900
Subject: [PATCH] feat: adapt code to version 2023.1.1

---
 .../stride/simulator/backends/ros2_backend.py | 19 +------------------
 .../stride/simulator/params.py                |  2 +-
 .../simulator/vehicles/sensors/lidar.py       |  2 +-
 3 files changed, 3 insertions(+), 20 deletions(-)

diff --git a/exts/stride.simulator/stride/simulator/backends/ros2_backend.py b/exts/stride.simulator/stride/simulator/backends/ros2_backend.py
index ab55094..4334ef3 100644
--- a/exts/stride.simulator/stride/simulator/backends/ros2_backend.py
+++ b/exts/stride.simulator/stride/simulator/backends/ros2_backend.py
@@ -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
@@ -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")
diff --git a/exts/stride.simulator/stride/simulator/params.py b/exts/stride.simulator/stride/simulator/params.py
index 6d4f898..c0051ef 100644
--- a/exts/stride.simulator/stride/simulator/params.py
+++ b/exts/stride.simulator/stride/simulator/params.py
@@ -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,
 }
diff --git a/exts/stride.simulator/stride/simulator/vehicles/sensors/lidar.py b/exts/stride.simulator/stride/simulator/vehicles/sensors/lidar.py
index f4b8ab6..be4fab5 100644
--- a/exts/stride.simulator/stride/simulator/vehicles/sensors/lidar.py
+++ b/exts/stride.simulator/stride/simulator/vehicles/sensors/lidar.py
@@ -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