Updated perception package version to 0.8.0: Lightweight tags (#26)

* Reverting submodules, updating robotics package information

* Tutorial updates per package tags

.gitmodules

@@ -10,7 +10,4 @@
 [submodule "ROS/src/robotiq"]
 	path = ROS/src/robotiq
 	url = https://github.com/JStech/robotiq.git
-	branch = noetic-mods
-[submodule "PoseEstimationDemoProject/Packages/ROS-TCP-Connector"]
-	path = PoseEstimationDemoProject/Packages/ROS-TCP-Connector
-	url = https://github.com/Unity-Technologies/ROS-TCP-Connector.git
+	branch = noetic-mods

Documentation/1_set_up_the_scene.md

@@ -61,13 +61,13 @@ It can take a few minutes for the manager to download and import packages.
 #### Install Dependencies
 Install the following packages with the provided git URLs:
 
-1. [Perception package](https://github.com/Unity-Technologies/com.unity.perception) - `com.unity.perception@0.7.0-preview.2`
+1. [Perception package](https://github.com/Unity-Technologies/com.unity.perception) - `com.unity.perception@0.8.0-preview.3`
     * This will help us collect training data for our machine learning model. 
 
-2. [URDF Importer package](https://github.com/Unity-Technologies/URDF-Importer) - `https://github.com/Unity-Technologies/URDF-Importer.git?path=/com.unity.robotics.urdf-importer#v0.2.0`
+2. [URDF Importer package](https://github.com/Unity-Technologies/URDF-Importer) - `https://github.com/Unity-Technologies/URDF-Importer.git?path=/com.unity.robotics.urdf-importer#v0.2.0-light`
     * This package will help us import a robot into our scene from a file in the [Unified Robot Description Format (URDF)](http://wiki.ros.org/urdf).
 
-3. [TCP Connector package](https://github.com/Unity-Technologies/ROS-TCP-Connector) - `https://github.com/Unity-Technologies/ROS-TCP-Connector.git?path=/com.unity.robotics.ros-tcp-connector#v0.2.0`
+3. [TCP Connector package](https://github.com/Unity-Technologies/ROS-TCP-Connector) - `https://github.com/Unity-Technologies/ROS-TCP-Connector.git?path=/com.unity.robotics.ros-tcp-connector#v0.2.0-light`
     * This package will enable a connection between ROS and Unity. 
 
 >Note: If you encounter a Package Manager issue, check the [Troubleshooting Guide](troubleshooting.md) for potential solutions.

Documentation/troubleshooting.md

@@ -16,10 +16,11 @@
 
 ### Package Installation
 - If you are receiving a `[Package Manager Window] Unable to add package ... xcrun: error: invalid developer path...`, you may need to install the [Command Line Tools](https://developer.apple.com/library/archive/technotes/tn2339/_index.html) package for macOS via `xcode-select --install`.
+- If receiving `[Package Manager] Done resolving packages in ... seconds ... An error occurred while resolving packages: Project has invalid dependencies: ... Error when executing git command. fatal: update_ref failed for ref 'HEAD': cannot update ref 'refs/heads/master'` or similar git-related Package Manger errors, please note that this is a known issue that is being tracked on the [Issue Tracker](https://issuetracker.unity3d.com/issues/package-resolution-error-when-using-a-git-dependency-referencing-an-annotated-tag-in-its-git-url). The current workaround is to use a lightweight tag for the git URLs, i.e. `https://github.com/...#v0.2.0-light`. This workaround is reflected in the current version of the tutorial.
   
 ### Assets, Materials
 - Upon import, the cube and floor materials may appear to be bright pink (i.e. missing texture).
-  - Cube: Go to `Assets/TutorialAssets/Materials`. Select the `AlphabetCubeMaterial`. There is a section called `Surface Inputs`. If the Base Map is not assigned, select the circle next to this field. Click on it and start typing `NonsymmetricCubeTexture` and select it when it appears. Apply this updated `AlphabetCubeMaterial` to the Cube. Your Inspector view should look like the following:
+  - Cube: Go to `Assets/TutorialAssets/Materials`. Select the `AlphabetCubeMaterial`. There is a section called `Surface Inputs`. If the Base Map is not assigned, select the circle next to this field. Click on it and start typing `NonsymmetricCubeTexture` and select it when it appears. Apply this updated `AlphabetCubeMaterial` to the Cube. Your Inspector view of the Material should look like the following:
   ![](Images/1_alphabet_material.png)
   - Floor: Assign the `NavyFloor` material to the Floor object.
 - If all of the project materials appear to have missing textures, ensure you have created the project using the Universal Render Pipeline.

PoseEstimationDemoProject/Packages/ROS-TCP-Connector

@@ -1 +0,0 @@
-Subproject commit 2b09bf7e77e270b789676aef69a9b5f5c55e4315

PoseEstimationDemoProject/Packages/URDF-Importer

@@ -1 +0,0 @@
-Subproject commit bbb411e21dc48e50252b2cb0028330633f97f3cf

PoseEstimationDemoProject/Packages/manifest.json

@@ -6,8 +6,8 @@
     "com.unity.ide.vscode": "1.2.3",
     "com.unity.perception": "0.8.0-preview.3",
     "com.unity.render-pipelines.universal": "10.3.1",
-    "com.unity.robotics.ros-tcp-connector": "file:ROS-TCP-Connector/com.unity.robotics.ros-tcp-connector",
-    "com.unity.robotics.urdf-importer": "file:URDF-Importer/com.unity.robotics.urdf-importer",
+    "com.unity.robotics.ros-tcp-connector": "https://github.com/Unity-Technologies/ROS-TCP-Connector.git?path=/com.unity.robotics.ros-tcp-connector#v0.2.0-light",
+    "com.unity.robotics.urdf-importer": "https://github.com/Unity-Technologies/URDF-Importer.git?path=/com.unity.robotics.urdf-importer#v0.2.0-light",
     "com.unity.simulation.capture": "0.0.10-preview.21",
     "com.unity.test-framework": "1.1.22",
     "com.unity.textmeshpro": "3.0.1",
@@ -46,4 +46,4 @@
     "com.unity.modules.wind": "1.0.0",
     "com.unity.modules.xr": "1.0.0"
   }
-}
+}

PoseEstimationDemoProject/Packages/packages-lock.json

@@ -113,18 +113,20 @@
       "url": "https://packages.unity.com"
     },
     "com.unity.robotics.ros-tcp-connector": {
-      "version": "file:ROS-TCP-Connector/com.unity.robotics.ros-tcp-connector",
+      "version": "https://github.com/Unity-Technologies/ROS-TCP-Connector.git?path=/com.unity.robotics.ros-tcp-connector#v0.2.0-light",
       "depth": 0,
-      "source": "local",
-      "dependencies": {}
+      "source": "git",
+      "dependencies": {},
+      "hash": "2b09bf7e77e270b789676aef69a9b5f5c55e4315"
     },
     "com.unity.robotics.urdf-importer": {
-      "version": "file:URDF-Importer/com.unity.robotics.urdf-importer",
+      "version": "https://github.com/Unity-Technologies/URDF-Importer.git?path=/com.unity.robotics.urdf-importer#v0.2.0-light",
       "depth": 0,
-      "source": "local",
+      "source": "git",
       "dependencies": {
         "com.unity.editorcoroutines": "1.0.0"
-      }
+      },
+      "hash": "bbb411e21dc48e50252b2cb0028330633f97f3cf"
     },
     "com.unity.searcher": {
       "version": "4.3.1",