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Merge dev to main #162

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Merged
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Feb 22, 2021
Merged

Merge dev to main #162

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74 changes: 39 additions & 35 deletions tutorials/pick_and_place/PickAndPlaceProject/Assets/DemoScripts/Demo.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -9,6 +9,7 @@
using RosSharp;
using RosSharp.Control;
using RosSharp.Urdf.Editor;
using Unity.EditorCoroutines.Editor;
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Shouldn't need this import.

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@peifeng-unity peifeng-unity Feb 22, 2021 •
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Sorry that I didn't notice. Created a new PR to follow up #163

using UnityEditor;
using UnityEngine;
using Unity.Robotics.ROSTCPConnector;
Expand Down Expand Up @@ -75,8 +76,10 @@ void Awake()
{
EditorApplication.LockReloadAssemblies();
SetupScene();
SetupRos();
CreateTrajectoryPlannerPubliser();
AddRosMessages();
ImportRobot();
CreateRosConnection();
CreateTrajectoryPlannerPublisher();
}

void Update()
Expand Down Expand Up @@ -104,31 +107,18 @@ void OnApplicationQuit()
private void SetupScene()
{
// Instantiate the table, target, and target placement
GameObject table = InstantiatePrefab(tableName);
GameObject target = InstantiatePrefab(targetName);
GameObject targetPlacement = InstantiatePrefab(targetPlacementName);
InstantiatePrefab(tableName);
InstantiatePrefab(targetName);
InstantiatePrefab(targetPlacementName);

// Adjust main camera
GameObject camera = GameObject.Find(cameraName);
camera.transform.position = cameraPosition;
camera.transform.rotation = cameraRotation;

// Import Niryo One with URDF importer
string urdfFilepath = Path.Combine(Application.dataPath, urdfRelativeFilepath);
ImportRobot(urdfFilepath, ImportSettings.convexDecomposer.unity);

// Adjust robot parameters
Controller controller = GameObject.Find(niryoOneName).GetComponent<Controller>();
controller.stiffness = controllerStiffness;
controller.damping = controllerDamping;
controller.forceLimit = controllerForceLimit;
controller.speed = controllerSpeed;
controller.acceleration = controllerAcceleration;
GameObject.Find(baseLinkName).GetComponent<ArticulationBody>().immovable = true;
}

// Tutorial Part 2 without the Publisher object
private void SetupRos()
private void AddRosMessages()
{
if (generateRosMessages)
{
Expand All @@ -152,19 +142,9 @@ private void SetupRos()
scripts.AddRange(Directory.GetFiles(rosMessagesDirectory, scriptPattern, SearchOption.AllDirectories));
scripts.AddRange(Directory.GetFiles(externalScriptsDirectory));
RecompileScripts(scripts.ToArray());

// Create RosConnect
GameObject rosConnect = new GameObject(rosConnectName);
rosConnection = rosConnect.AddComponent<ROSConnection>();
rosConnection.rosIPAddress = hostIP;
rosConnection.rosPort = hostPort;
rosConnection.overrideUnityIP = overrideUnityIP;
rosConnection.unityPort = unityPort;
rosConnection.awaitDataMaxRetries = awaitDataMaxRetries;
rosConnection.awaitDataSleepSeconds = awaitDataSleepSeconds;
}

private void CreateTrajectoryPlannerPubliser()
private void CreateTrajectoryPlannerPublisher()
{
GameObject publisher = new GameObject(publisherName);
dynamic planner = publisher.AddComponent(assembly.GetType(trajectoryPlannerType));
Expand All @@ -182,15 +162,39 @@ private GameObject InstantiatePrefab(string name)
return gameObject;
}

private void ImportRobot(string urdfFilepath, ImportSettings.convexDecomposer convexDecomposer)
private void CreateRosConnection()
{
// Import Niryo One by URDF Importer
ImportSettings settings = new ImportSettings
// Create RosConnect
GameObject rosConnect = new GameObject(rosConnectName);
rosConnection = rosConnect.AddComponent<ROSConnection>();
rosConnection.rosIPAddress = hostIP;
rosConnection.rosPort = hostPort;
rosConnection.overrideUnityIP = overrideUnityIP;
rosConnection.unityPort = unityPort;
rosConnection.awaitDataMaxRetries = awaitDataMaxRetries;
rosConnection.awaitDataSleepSeconds = awaitDataSleepSeconds;
}

private void ImportRobot()
{
ImportSettings urdfImportSettings = new ImportSettings
{
choosenAxis = ImportSettings.axisType.yAxis,
convexMethod = convexDecomposer,
convexMethod = ImportSettings.convexDecomposer.unity
};
UrdfRobotExtensions.Create(urdfFilepath, settings);
// Import Niryo One with URDF importer
string urdfFilepath = Path.Combine(Application.dataPath, urdfRelativeFilepath);
// Create is a coroutine that would usually run only in EditMode, so we need to force its execution here
var robotImporter = UrdfRobotExtensions.Create(urdfFilepath, urdfImportSettings, false);
while (robotImporter.MoveNext()) {}
// Adjust robot parameters
Controller controller = GameObject.Find(niryoOneName).GetComponent<Controller>();
controller.stiffness = controllerStiffness;
controller.damping = controllerDamping;
controller.forceLimit = controllerForceLimit;
controller.speed = controllerSpeed;
controller.acceleration = controllerAcceleration;
GameObject.Find(baseLinkName).GetComponent<ArticulationBody>().immovable = true;
}

// Credit to https://www.codeproject.com/Tips/715891/Compiling-Csharp-Code-at-Runtime
Expand Down