Update tutorial text (#148)

Author: LaurieCheers-unity

tutorials/ros_unity_integration/publisher.md

@@ -12,46 +12,56 @@ Create a simple Unity scene which publishes a GameObject's position and rotation
 
    ```bash
     source devel/setup.bash
-	rosrun robotics_demo server_endpoint.py
+    rosrun robotics_demo server_endpoint.py
    ```
 
 Once the server_endpoint has started, it will print something similar to `[INFO] [1603488341.950794]: Starting server on 192.168.50.149:10000`.
 
 - Open another new terminal window, navigate to your ROS workspace, and run the following commands:
    ```bash
     source devel/setup.bash
-	rostopic echo pos_rot
+    rostopic echo pos_rot
    ```
 
 ## Setting Up Unity Scene
-- In the menu bar, find and select `RosMessageGeneration` -> `Auto Generate Messages` -> `Single Message ...`
-- Set the input file path to `PATH/TO/Unity-Robotics-Hub/tutorials/ros_packages/robotics_demo/msg/PosRot.msg ` and click `GENERATE!`
-    - The generated file will be saved in the default directory `Assets/RosMessages/msg`
+- In the menu bar, find and select `Robotics` -> `Generate ROS Messages...`
+- Set the ROS message path to `PATH/TO/Unity-Robotics-Hub/tutorials/ros_packages/robotics_demo`.
+    - Expand the robotics_demo subfolder and click "Build 2 msgs" to generate new C# scripts from the ROS .msg files.
+
+![](images/generate_messages_1.png)
+
+   - The generated files will be saved in the default directory `Assets/RosMessages/RoboticsDemo/msg`.
 - Create a new directory in `Assets` and name it `Scripts`
 - Create a new script in the `Scripts` directory and name it `RosPublisherExample.cs`
 - Open `RosPublisherExample.cs` and paste the following code:
-	- **Note** Script can be found at `tutorials/ros_unity_integration/unity_scripts`
+    - **Note** Script can be found at `tutorials/ros_unity_integration/unity_scripts`
 
 ```csharp
 using RosMessageTypes.RoboticsDemo;
 using UnityEngine;
-using Random = UnityEngine.Random;
+using Unity.Robotics.ROSTCPConnector;
 
 /// <summary>
 /// 
 /// </summary>
 public class RosPublisherExample : MonoBehaviour
 {
-    public ROSConnection ros;
+    ROSConnection ros;
     public string topicName = "pos_rot";
 
-    // The GameObject 
+    // The game object 
     public GameObject cube;
     // Publish the cube's position and rotation every N seconds
     public float publishMessageFrequency = 0.5f;
 
     // Used to determine how much time has elapsed since the last message was published
     private float timeElapsed;
+    
+    void Start()
+    {
+        // start the ROS connection
+        ros = ROSConnection.instance;
+    }
 
     private void Update()
     {
@@ -82,14 +92,13 @@ public class RosPublisherExample : MonoBehaviour
 
 - Add a plane and a cube to the empty Unity scene
 - Move the cube a little ways up so it is hovering above the plane
-- Create an empty GameObject, name it `RosConnection` and attach the `ROS TCP Connection/Runtime/TcpConnector/ROSConnection` script.
-	- Change the host name and port to match the ROS IP and port variables defined when you set up ROS
+- In the main menu bar, open `Robotics/ROS Settings`.
+    - Set the ROS IP address and port to match the ROS IP and port variables defined when you set up ROS.
 - Create another empty GameObject, name it `RosPublisher` and attach the `RosPublisherExample` script.
-	- Drag the cube GameObject onto the `Cube` parameter
-	- Drag the RosConnection object onto its `Ros` parameter.
+    - Drag the cube GameObject onto the `Cube` parameter.
 
 - Pressing play in the Editor should publish a message to the terminal running the `rostopic echo pos_rot` command every 0.5 seconds
 
 ![](images/tcp_1.gif)
 
-Continue to the [ROS Subscriber](subscriber.md) tutorial.
+Continue to the [ROS Subscriber](subscriber.md) tutorial.

tutorials/ros_unity_integration/subscriber.md

@@ -11,7 +11,7 @@ Create a simple Unity scene which subscribes to a [ROS topic](http://wiki.ros.or
 - Follow the [ROS–Unity Initial Setup](setup.md) guide.
 
 - Open a new terminal window, navigate to your Catkin workspace, and run the following commands:
-
+  
    ```bash
     source devel/setup.bash
     rosrun robotics_demo server_endpoint.py
@@ -21,7 +21,7 @@ Once the server_endpoint has started, it will print something similar to `[INFO]
 
 - In Unity, we need to generate the C# code for the `UnityColor` message. Open `Robotics` -> `Generate ROS Messages...`.
     - Set the ROS message path to `PATH/TO/Unity-Robotics-Hub/tutorials/ros_packages/robotics_demo/`, expand the robotics_demo subfolder and click `Build 2 msgs`.
-
+    
 ![](images/generate_messages_1.png)
 
    - The generated files will be saved in the default directory `Assets/RosMessages/RoboticsDemo/msg`.
@@ -34,7 +34,7 @@ Once the server_endpoint has started, it will print something similar to `[INFO]
 ```csharp
 using UnityEngine;
 using Unity.Robotics.ROSTCPConnector;
-using RosColor = RosMessageTypes.RoboticsDemo.MUnityColor;
+using RosColor = RosMessageTypes.RoboticsDemo.UnityColor;
 
 public class RosSubscriberExample : MonoBehaviour
 {
@@ -56,13 +56,16 @@ public class RosSubscriberExample : MonoBehaviour
 - Attach the `RosSubscriberExample` script to the `RosSubscriber` GameObject and drag the cube GameObject onto the `cube` parameter in the Inspector window.
 
 - From the Unity menu bar, open `Robotics/ROS Settings`, and set the `ROS IP Address` variable to your ROS IP.
+    - Unlike the previous tutorial, using a subscriber requires an incoming connection from ROS to Unity. You may need to adjust your firewall settings for this to work.
+    - The IP for Unity to listen on should be determined automatically, but if you're having trouble, you can set it manually in the `Override Unity IP` field. Finding the IP address of your local machine (the one running Unity) depends on your operating system.
+        - On a Mac, open `System Preferences > Network`. Your IP address should be listed on the active connection.
+        - On Windows, click the Wi-Fi icon on the taskbar, and open `Properties`. Your IP address should be listed near the bottom, next to "IPv4 address."
+
 - Press play in the editor
 
 ### In ROS Terminal Window
 - After the scene has entered Play mode, run the following command: `rosrun robotics_demo color_publisher.py` to change the color of the cube GameObject in Unity to a random color
 
-> Please reference [networking troubleshooting](network.md) doc if any errors are thrown.
-
 ![](images/tcp_2.gif)
 
 Continue to the [ROS–Unity Integration Service](service.md).