Fixes before release 0.7.0 (#351)

* Remove ROS2 Beta Mentions (#272) * update the ros setup tutorial for ROS_TCP_PORT (#256) * Laurie/no ros2 beta (#265) * No references to ROS2 beta * Better message generation note * Tutorial links * fix compile issue due to property renaming choosenAxis --> chosenAxis * fix compile issues in pick and place related to the assembly definitions * updating snippets in tutorial part 2 to match the updated source code * revert unneeded change to EditMode assembly definition * Updated change log (v0.6.0 and v0.7.0) * updated part2 gif anims * updating ros and unity dependencies to latest release (0.7.0)
2022-02-02 14:38:55 -08:00 · 2022-02-02 14:38:55 -08:00 · e1bf935f80
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@ -4,6 +4,7 @@ All notable changes to this repository will be documented in this file.

 The format is based on [Keep a Changelog](http://keepachangelog.com/en/1.0.0/) and this project adheres to [Semantic Versioning](http://semver.org/spec/v2.0.0.html).

+
 ## Unreleased

 ### Upgrade Notes
@ -12,20 +13,38 @@ The format is based on [Keep a Changelog](http://keepachangelog.com/en/1.0.0/) a

 ### Added

+### Changed
+
+### Deprecated
+
+### Removed
+
+### Fixed
+
+
+## v0.7.0
+
+### Added
+
 Added Sonarqube scanners.

+### Changed
+
+Updates to PickAndPlace dependencies. ROS-TCP-Connector v0.7.0, ROS-TCP-Endpoint v0.7.0, URDF-Importer v 0.5.2
+
+Updated PickAndPlace project and tutorial part2 for documnentation and compilation fixes.
+
+
+## v0.6.0 2021-10-04
+
+### Added
+
 Fixed the ROS-Unity Integration tutorial `robo_demo.launch` to be up-to-date with file paths, and updated Pick-and-Place Part 2 ROS Settings screenshot.

 Add the [Close Stale Issues](https://github.com/marketplace/actions/close-stale-issues) action

 Updated Pick-and-Place scripts for style conformity, updated custom msg formats and made according script and tutorial changes.

-### Changed
-
-### Deprecated
-
-### Removed
-
 ### Fixed

 Fixed dotnet format
--- a/tutorials/pick_and_place/2_ros_tcp.md
+++ b/tutorials/pick_and_place/2_ros_tcp.md
@ -81,7 +81,7 @@ To enable communication between Unity and ROS, a TCP endpoint running as a ROS n

 1. In this repo, navigate to `Unity-Robotics-Hub/tutorials/pick_and_place`. Select and copy the `Scripts` folder and contents into the `Assets` folder of your Unity project. You should now find two C# scripts in your project's `Assets/Scripts`.

-   > Note: The SourceDestinationPublisher script is one of the included files. This script will communicate with ROS, grabbing the positions of the target and destination objects and sending it to the ROS Topic `"SourceDestination_input"`. The `Publish()` function is defined as follows:
+   > Note: The SourceDestinationPublisher script is one of the included files. This script will communicate with ROS, grabbing the positions of the target and destination objects and sending it to the ROS Topic `"/niryo_joints"`. The `Publish()` function is defined as follows:

   ```csharp
   public void Publish()
@ -108,11 +108,11 @@ To enable communication between Unity and ROS, a TCP endpoint running as a ROS n
        };

        // Finally send the message to server_endpoint.py running in ROS
-        m_Ros.Send(m_TopicName, sourceDestinationMessage);
+        m_Ros.Publish(m_TopicName, sourceDestinationMessage);
   }
   ```

-   > This function first takes in the current joint target values. Then, it grabs the poses of the `target` and the `targetPlacement` objects, adds them to the newly created message `sourceDestinationMessage`, and calls `Send()` to send this information to the ROS topic `topicName` (defined as `"SourceDestination_input"`).
+   > This function first takes in the current joint target values. Then, it grabs the poses of the `m_Target` and the `m_TargetPlacement` objects, adds them to the newly created message `sourceDestinationMessage`, and calls `Send()` to send this information to the ROS topic `m_TopicName` (defined as `"/niryo_joints"`).

   > Note: Going from Unity world space to ROS world space requires a conversion. Unity's coordinate space has x Right, y Up, and z Forward (hence "RUF" coordinates); ROS has x Forward, y Left and z Up (hence "FLU"). So a Unity `(x,y,z)` coordinate is equivalent to the ROS `(z,-x,y)` coordinate. These conversions are done by the `To<FLU>` function in the ROS-TCP-Connector package's [ROSGeometry component](https://github.com/Unity-Technologies/ROS-TCP-Connector/blob/main/ROSGeometry.md).

--- a/tutorials/pick_and_place/PickAndPlaceProject/Assets/DemoScripts/Demo.cs
+++ b/tutorials/pick_and_place/PickAndPlaceProject/Assets/DemoScripts/Demo.cs
@ -192,7 +192,7 @@ public class Demo : MonoBehaviour
    {
        var urdfImportSettings = new ImportSettings
        {
-            choosenAxis = ImportSettings.axisType.yAxis,
+            chosenAxis = ImportSettings.axisType.yAxis,
            convexMethod = ImportSettings.convexDecomposer.unity
        };

--- a/tutorials/pick_and_place/PickAndPlaceProject/Assets/RosMessages/Unity.Robotics.RosMessages.asmdef
+++ b/tutorials/pick_and_place/PickAndPlaceProject/Assets/RosMessages/Unity.Robotics.RosMessages.asmdef
@ -2,7 +2,9 @@
    "name": "Unity.Robotics.RosMessages",
    "rootNamespace": "",
    "references": [
-        "GUID:625bfc588fb96c74696858f2c467e978"
+        "Unity.Robotics.ROSTCPConnector",
+        "Unity.Robotics.ROSTCPConnector.MessageGeneration",
+        "Unity.Robotics.ROSTCPConnector.Messages"
    ],
    "includePlatforms": [],
    "excludePlatforms": [],
--- a/tutorials/pick_and_place/PickAndPlaceProject/Assets/Scripts/Unity.Robotics.PickAndPlace.asmdef
+++ b/tutorials/pick_and_place/PickAndPlaceProject/Assets/Scripts/Unity.Robotics.PickAndPlace.asmdef
@ -2,9 +2,11 @@
    "name": "Unity.Robotics.PickAndPlace",
    "rootNamespace": "",
    "references": [
-        "GUID:204b12c73a0ba074c888ec09a2713605",
-        "GUID:625bfc588fb96c74696858f2c467e978",
-        "GUID:b1ef917f7a8a86a4eb639ec2352edbf8"
+        "Unity.Robotics.RosMessages",
+        "Unity.Robotics.ROSTCPConnector",
+        "Unity.Robotics.UrdfImporter",
+        "Unity.Robotics.ROSTCPConnector.MessageGeneration",
+        "Unity.Robotics.ROSTCPConnector.Messages"
    ],
    "includePlatforms": [],
    "excludePlatforms": [],
--- a/tutorials/pick_and_place/PickAndPlaceProject/Assets/Tests/EditMode/EditMode.asmdef
+++ b/tutorials/pick_and_place/PickAndPlaceProject/Assets/Tests/EditMode/EditMode.asmdef
@ -2,14 +2,14 @@
    "name": "EditMode",
    "rootNamespace": "",
    "references": [
-        "GUID:27619889b8ba8c24980f49ee34dbb44a",
-        "GUID:0acc523941302664db1f4e527237feb3",
-        "GUID:1da8e23352f14494396eac5033ba9894",
-        "GUID:625bfc588fb96c74696858f2c467e978",
-        "GUID:204b12c73a0ba074c888ec09a2713605",
-        "GUID:465c1207fffb96245a352265e7622205",
-        "GUID:b1ef917f7a8a86a4eb639ec2352edbf8",
-        "GUID:79169c04a5f9b014e919b69ac8df4286"
+        "UnityEngine.TestRunner",
+        "UnityEditor.TestRunner",
+        "Unity.Robotics.ROSTCPConnector.Editor",
+        "Unity.Robotics.ROSTCPConnector",
+        "Unity.Robotics.RosMessages",
+        "Unity.Robotics.UrdfImporter.Editor",
+        "Unity.Robotics.UrdfImporter",
+        "Unity.Robotics.PickAndPlace"
    ],
    "includePlatforms": [
        "Editor"
--- a/tutorials/pick_and_place/PickAndPlaceProject/Assets/Tests/EditMode/PickAndPlaceIntegrationTest.cs
+++ b/tutorials/pick_and_place/PickAndPlaceProject/Assets/Tests/EditMode/PickAndPlaceIntegrationTest.cs
@ -61,7 +61,7 @@ namespace IntegrationTests

        readonly ImportSettings k_UrdfImportSettings = new ImportSettings
        {
-            choosenAxis = ImportSettings.axisType.yAxis,
+            chosenAxis = ImportSettings.axisType.yAxis,
            convexMethod = ImportSettings.convexDecomposer.unity
        };
        #endregion
--- a/tutorials/pick_and_place/PickAndPlaceProject/Assets/Tests/PlayMode/PlayMode.asmdef
+++ b/tutorials/pick_and_place/PickAndPlaceProject/Assets/Tests/PlayMode/PlayMode.asmdef
@ -4,7 +4,7 @@
    "references": [
        "UnityEngine.TestRunner",
        "UnityEditor.TestRunner",
-        "Unity.Robotics.URDFImporter",
+        "Unity.Robotics.UrdfImporter",
        "Unity.Robotics.ROSTCPConnector",
        "Unity.Robotics.RosMessages",
        "Unity.Robotics.PickAndPlace"
--- a/tutorials/pick_and_place/PickAndPlaceProject/Packages/manifest.json
+++ b/tutorials/pick_and_place/PickAndPlaceProject/Packages/manifest.json
@ -3,8 +3,8 @@
    "com.unity.ide.rider": "2.0.7",
    "com.unity.ide.visualstudio": "2.0.8",
    "com.unity.ide.vscode": "1.2.3",
-    "com.unity.robotics.ros-tcp-connector": "https://github.com/Unity-Technologies/ROS-TCP-Connector.git?path=/com.unity.robotics.ros-tcp-connector#v0.6.0",
-    "com.unity.robotics.urdf-importer": "https://github.com/Unity-Technologies/URDF-Importer.git?path=/com.unity.robotics.urdf-importer#v0.5.0",
+    "com.unity.robotics.ros-tcp-connector": "https://github.com/Unity-Technologies/ROS-TCP-Connector.git?path=/com.unity.robotics.ros-tcp-connector#v0.7.0",
+    "com.unity.robotics.urdf-importer": "https://github.com/Unity-Technologies/URDF-Importer.git?path=/com.unity.robotics.urdf-importer#v0.5.2",
    "com.unity.test-framework": "1.1.24",
    "com.unity.textmeshpro": "3.0.6",
    "com.unity.timeline": "1.4.8",
--- a/tutorials/pick_and_place/ROS/src/ros_tcp_endpoint
+++ b/tutorials/pick_and_place/ROS/src/ros_tcp_endpoint
@ -1 +1 @@
-Subproject commit 715a402ec09ce8095faabed915e3371638b4246a
+Subproject commit 993d366b8900bf9f3d2da444fde64c0379b4dc7c
--- a/tutorials/pick_and_place/img/2_sourcedest.gif
+++ b/tutorials/pick_and_place/img/2_sourcedest.gif
--- a/tutorials/pick_and_place/img/2_target.gif
+++ b/tutorials/pick_and_place/img/2_target.gif
--- a/tutorials/ros_unity_integration/ros2_docker/Dockerfile
+++ b/tutorials/ros_unity_integration/ros2_docker/Dockerfile
@ -7,7 +7,7 @@ RUN mkdir -p /home/dev_ws/src
 COPY ./ros2_packages/ /home/dev_ws/src

 #Check out ROS-TCP-Endpoint, ROS2 version
-RUN git clone https://github.com/Unity-Technologies/ROS-TCP-Endpoint /home/dev_ws/src/ros_tcp_endpoint -b ROS2v0.6.0
+RUN git clone https://github.com/Unity-Technologies/ROS-TCP-Endpoint /home/dev_ws/src/ros_tcp_endpoint -b ROS2v0.7.0

 # Reference script with commands to source workspace
 COPY ./ros2_docker/source_ros.sh /home/dev_ws/source_ros.sh
--- a/tutorials/ros_unity_integration/ros_docker/Dockerfile
+++ b/tutorials/ros_unity_integration/ros_docker/Dockerfile
@ -5,7 +5,7 @@ ENV ROS_WORKSPACE=/catkin_ws
 # Copy packages
 COPY ./ros_packages/ $ROS_WORKSPACE/src/
 	
-RUN git clone https://github.com/Unity-Technologies/ROS-TCP-Endpoint $ROS_WORKSPACE/src/ros_tcp_endpoint -b v0.6.0
+RUN git clone https://github.com/Unity-Technologies/ROS-TCP-Endpoint $ROS_WORKSPACE/src/ros_tcp_endpoint -b v0.7.0

 COPY ./ros_docker/set-up-workspace /setup.sh
 #COPY docker/tutorial /