Final commits for v0.1.2 (#96)

* Final commits for v0.1.2

Author: LaurieCheers-unity

tutorials/pick_and_place/2_ros_tcp.md

@@ -146,7 +146,7 @@ To enable communication between Unity and ROS, a TCP endpoint running as a ROS n
 
    Opening the ROS Settings has created a ROSConnectionPrefab in `Assets/Resources` with the user-input settings. When the static `ROSConnection.instance` is referenced in a script, if a `ROSConnection` instance is not already present, the prefab will be instantiated in the Unity scene, and the connection will begin.
 
-   > Note: While using the ROS Settings menu is the suggested workflow, you may still manually create a GameObject with an attached ROSConnection component.
+   > Note: While using the ROS Settings menu is the suggested workflow as of this version, you may still manually create a GameObject with an attached ROSConnection component.
 
 1. Next, we will add a UI element that will allow user input to trigger the `Publish()` function. In the Hierarchy window, right click to add a new UI > Button. Note that this will create a new Canvas parent as well. 
 	> Note: In the `Game` view, you will see the button appear in the bottom left corner as an overlay. In `Scene` view the button will be rendered on a canvas object that may not be visible.

tutorials/pick_and_place/PickAndPlaceProject/Assets/DemoScripts/Demo.cs

@@ -53,7 +53,7 @@ public class Demo : MonoBehaviour
     string scriptPattern = "*.cs";
 
     string externalScriptsDirectory = "../Scripts";
-    string scriptsDirectory = "Assets/Scripts";
+    //string scriptsDirectory = "Assets/Scripts";
 
     string rosConnectName = "ROSConnect";
     string publisherName = "Publisher";

tutorials/pick_and_place/PickAndPlaceProject/Packages/manifest.json

@@ -4,8 +4,8 @@
     "com.unity.ide.rider": "2.0.7",
     "com.unity.ide.visualstudio": "2.0.3",
     "com.unity.ide.vscode": "1.2.2",
-    "com.unity.robotics.urdf-importer": "https://github.com/Unity-Technologies/URDF-Importer.git#v0.0.5",
-    "com.unity.robotics.ros-tcp-connector": "https://github.com/Unity-Technologies/ROS-TCP-Connector.git#v0.1.1",
+    "com.unity.robotics.urdf-importer": "https://github.com/Unity-Technologies/URDF-Importer.git#v0.1.2",
+    "com.unity.robotics.ros-tcp-connector": "https://github.com/Unity-Technologies/ROS-TCP-Connector.git#v0.1.2",
     "com.unity.test-framework": "1.1.18",
     "com.unity.textmeshpro": "3.0.1",
     "com.unity.timeline": "1.4.3",

tutorials/pick_and_place/ROS/src/niryo_moveit/scripts/server_endpoint.py

@@ -3,25 +3,22 @@
 import rospy
 
 from ros_tcp_endpoint import TcpServer, RosPublisher, RosSubscriber, RosService
-
 from niryo_moveit.msg import NiryoMoveitJoints, NiryoTrajectory
 from niryo_moveit.srv import MoverService
 
 
 def main():
     ros_node_name = rospy.get_param("/TCP_NODE_NAME", 'TCPServer')
     tcp_server = TcpServer(ros_node_name)
+    rospy.init_node(ros_node_name, anonymous=True)
 
-    # Create ROS communication objects dictionary for routing messages
-    tcp_server.source_destination_dict = {
+    # Start the Server Endpoint with a ROS communication objects dictionary for routing messages
+    tcp_server.start({
         'SourceDestination_input': RosPublisher('SourceDestination', NiryoMoveitJoints, queue_size=10),
         'NiryoTrajectory': RosSubscriber('NiryoTrajectory', NiryoTrajectory, tcp_server),
         'niryo_moveit': RosService('niryo_moveit', MoverService)
-    }
-
-    # Start the Server Endpoint
-    rospy.init_node(ros_node_name, anonymous=True)
-    tcp_server.start()
+    })
+    
     rospy.spin()
 
 

tutorials/pick_and_place/ROS/src/ros_tcp_endpoint

@@ -3,7 +3,6 @@
 import rospy
 
 from ros_tcp_endpoint import TcpServer, RosPublisher, RosSubscriber, RosService
-
 from robotics_demo.msg import PosRot, UnityColor
 from robotics_demo.srv import PositionService
 
@@ -12,15 +11,14 @@ def main():
     buffer_size = rospy.get_param("/TCP_BUFFER_SIZE", 1024)
     connections = rospy.get_param("/TCP_CONNECTIONS", 10)
     tcp_server = TcpServer(ros_node_name, buffer_size, connections)
-
-    tcp_server.source_destination_dict = {
+    rospy.init_node(ros_node_name, anonymous=True)
+    
+    tcp_server.start({
         'pos_srv': RosService('position_service', PositionService),
         'pos_rot': RosPublisher('pos_rot', PosRot, queue_size=10),
         'color': RosSubscriber('color', UnityColor, tcp_server)
-    }
-
-    rospy.init_node(ros_node_name, anonymous=True)
-    tcp_server.start()
+    })
+    
     rospy.spin()
 
 

tutorials/pick_and_place/img/1_controller.png

@@ -15,7 +15,6 @@ The following is an example of a server endpoint Python script that:
 import rospy
 
 from ros_tcp_endpoint import TcpServer, RosPublisher, RosSubscriber, RosService
-
 from robotics_demo.msg import PosRot, UnityColor
 from robotics_demo.srv import PositionService
 
@@ -24,15 +23,14 @@ def main():
     buffer_size = rospy.get_param("/TCP_BUFFER_SIZE", 1024)
     connections = rospy.get_param("/TCP_CONNECTIONS", 10)
     tcp_server = TcpServer(ros_node_name, buffer_size, connections)
-
-    tcp_server.source_destination_dict = {
+    rospy.init_node(ros_node_name, anonymous=True)
+    
+    tcp_server.start({
         'pos_srv': RosService('position_service', PositionService),
         'pos_rot': RosPublisher('pos_rot', PosRot, queue_size=10),
         'color': RosSubscriber('color', UnityColor, tcp_server)
-    }
-
-    rospy.init_node(ros_node_name, anonymous=True)
-    tcp_server.start()
+    })
+    
     rospy.spin()
 
 
@@ -44,7 +42,6 @@ if __name__ == "__main__":
 ## Import Statements for Services and Messages
 ```python
 from ros_tcp_endpoint import TcpServer, RosPublisher, RosSubscriber, RosService
-
 from robotics_demo.msg import PosRot, UnityColor
 from robotics_demo.srv import PositionService
 ```
@@ -56,63 +53,71 @@ Requires:
 - The ROS node name
 
 ```python
-    tcp_server = TcpServer(ros_node_name, buffer_size=1024, connections=10)
+    tcp_server = TcpServer(ros_node_name, buffer_size, connections)
 ```
 
-The `ros_node_name` is required and the `buffer_size` and `connections` are optional. They are set to `1024` and `10` by default if not provided in the constructor arguments.
+The `ros_node_name` argument is required and the `buffer_size` and `connections` are optional. They are set to `1024` and `10` by default if not provided in the constructor arguments.
 
-## Source Destination Dictionary
+## Instantiate the ROS Node
 
-Create a dictionary keyed by topic or service with the corresponding ROS communication class as the value. The dictionary is used by the TCP server to direct messages to and from the ROS network.
+```python
+    rospy.init_node(ros_node_name, anonymous=True)
+```
+
+## Starting the Server
 
 ```python
-    tcp_server.source_destination_dict = {
+    tcp_server.start({
         'pos_srv': RosService('position_service', PositionService),
         'pos_rot': RosPublisher('pos_rot', PosRot, queue_size=10),
-        'color': RosSubscriber('color', Color, tcp_server),
-    }
+        'color': RosSubscriber('color', UnityColor, tcp_server)
+    })
+    
+    rospy.spin()
 ```
 
-## ROS Service
-A ROS Service requires two components:
-
-- Service name
-- ROS Service class generated from running `catkin_make` command
+## Source Destination Dictionary
 
-`RosService('position_service', PositionService)`
+The argument to start() is a dictionary keyed by topic or service with the corresponding ROS communication class as the value. The dictionary is used by the TCP server to direct messages to and from the ROS network.
 
 ## ROS Publisher
-A ROS Publisher requires three components:
+A ROS Publisher allows a Unity component to send messages on a given topic to other ROS nodes. It requires three components:
 
 - Topic name
 - ROS message class generated from running `catkin_make` command
-- Queue size
+- Queue size (optional)
 
 `RosPublisher('pos_rot', PosRot, queue_size=10)`
 
 ## ROS Subscriber
-A ROS Subscriber requires three components:
+A ROS Subscriber allows a Unity component to receive messages from other ROS nodes on a given topic. It requires three components:
 
 - Topic name
 - ROS message class generated from running `catkin_make` command
 - The tcp server that will connect to Unity
 
 `RosSubscriber('color', UnityColor, tcp_server)`
 
-## Instantiate the ROS Node
+## ROS Service
+A ROS Service is similar to a RosPublisher, in that a Unity component sends a Request message to another ROS node. Unlike a Publisher, the Unity component then waits for a Response back. It requires two components:
 
-```python
-    rospy.init_node(ros_node_name, anonymous=True)
-```
+- Service name
+- ROS Service class generated from running `catkin_make` command
 
-## Starting the Server
+`RosService('position_service', PositionService)`
+
+## Unity Service
+
+A Unity Service is similar to a RosSubscriber, in that a Unity component receives a Request message from another ROS node. It then sends a Response back. It requires three components:
+
+- Service name
+- ROS Service class generated from running `catkin_make` command
+- The tcp server that will connect to Unity
+
+`UnityService('unity_service', PositionService, tcp_server)`
 
-```python
-    tcp_server.start()
-    rospy.spin()
-    
-```
 
+## Parameters
 
 The following parameters can be hardcoded, but for the sake of portability, we recommend setting the parameters using the `rosparam set` command, or a `rosparam` YAML file.
 
@@ -132,7 +137,7 @@ An example launch file that will set the appropriate ROSPARAM values required fo
 ```
 <launch>
 
-    <env name="ROS_IP" value="192.168.1.116"/>
+    <env name="ROS_IP" value="127.0.0.1"/>
     <env name="ROS_HOSTNAME" value="$(env ROS_IP)"/>
     
     <param name="ROS_IP" type="str" value="$(env ROS_IP)" />