From 64feb662f9695ce9b40bf0ed3d022e62395c3a8d Mon Sep 17 00:00:00 2001 From: Hamid Younesy Date: Tue, 13 Apr 2021 20:13:55 -0700 Subject: [PATCH 1/6] added example of implementing a UnityService --- .../scripts/object_pose_client.py | 32 +++++++++++++++ .../robotics_demo/scripts/server_endpoint.py | 7 ++-- .../robotics_demo/srv/ObjectPoseService.srv | 3 ++ .../unity_scripts/RosUnityServiceExample.cs | 40 +++++++++++++++++++ 4 files changed, 79 insertions(+), 3 deletions(-) create mode 100755 tutorials/ros_packages/robotics_demo/scripts/object_pose_client.py create mode 100644 tutorials/ros_packages/robotics_demo/srv/ObjectPoseService.srv create mode 100644 tutorials/ros_unity_integration/unity_scripts/RosUnityServiceExample.cs diff --git a/tutorials/ros_packages/robotics_demo/scripts/object_pose_client.py b/tutorials/ros_packages/robotics_demo/scripts/object_pose_client.py new file mode 100755 index 00000000..caeb7d04 --- /dev/null +++ b/tutorials/ros_packages/robotics_demo/scripts/object_pose_client.py @@ -0,0 +1,32 @@ +#!/usr/bin/env python + +from __future__ import print_function + +import random +import rospy +import sys + +from robotics_demo.srv import ObjectPoseService, ObjectPoseServiceResponse + + +def get_object_pose_client(name): + rospy.wait_for_service('obj_pose_srv') + try: + get_obj_pose = rospy.ServiceProxy('obj_pose_srv', ObjectPoseService) + obj_pose_resp = get_obj_pose(name) + return obj_pose_resp.object_pose + except rospy.ServiceException as e: + print("Service call failed: %s"%e) + + +def usage(): + return "%s [object_name]"%sys.argv[0] + +if __name__ == "__main__": + if len(sys.argv) == 2: + name = str(sys.argv[1]) + else: + print(usage()) + sys.exit(1) + print("Requestinng pose for %s"%(name)) + print("Pose for %s: %s"%(name, get_object_pose_client(name))) diff --git a/tutorials/ros_packages/robotics_demo/scripts/server_endpoint.py b/tutorials/ros_packages/robotics_demo/scripts/server_endpoint.py index 1fcb647e..9c0a5761 100644 --- a/tutorials/ros_packages/robotics_demo/scripts/server_endpoint.py +++ b/tutorials/ros_packages/robotics_demo/scripts/server_endpoint.py @@ -2,9 +2,9 @@ import rospy -from ros_tcp_endpoint import TcpServer, RosPublisher, RosSubscriber, RosService +from ros_tcp_endpoint import TcpServer, RosPublisher, RosSubscriber, RosService, UnityService from robotics_demo.msg import PosRot, UnityColor -from robotics_demo.srv import PositionService +from robotics_demo.srv import PositionService, ObjectPoseService def main(): ros_node_name = rospy.get_param("/TCP_NODE_NAME", 'TCPServer') @@ -16,7 +16,8 @@ def main(): tcp_server.start({ 'pos_srv': RosService('position_service', PositionService), 'pos_rot': RosPublisher('pos_rot', PosRot, queue_size=10), - 'color': RosSubscriber('color', UnityColor, tcp_server) + 'color': RosSubscriber('color', UnityColor, tcp_server), + 'obj_pose_srv': UnityService('obj_pose_srv', ObjectPoseService, tcp_server), }) rospy.spin() diff --git a/tutorials/ros_packages/robotics_demo/srv/ObjectPoseService.srv b/tutorials/ros_packages/robotics_demo/srv/ObjectPoseService.srv new file mode 100644 index 00000000..83d3c5b9 --- /dev/null +++ b/tutorials/ros_packages/robotics_demo/srv/ObjectPoseService.srv @@ -0,0 +1,3 @@ +string object_name +--- +geometry_msgs/Pose object_pose diff --git a/tutorials/ros_unity_integration/unity_scripts/RosUnityServiceExample.cs b/tutorials/ros_unity_integration/unity_scripts/RosUnityServiceExample.cs new file mode 100644 index 00000000..5e853fc2 --- /dev/null +++ b/tutorials/ros_unity_integration/unity_scripts/RosUnityServiceExample.cs @@ -0,0 +1,40 @@ +using RosMessageTypes.RoboticsDemo; +using UnityEngine; +using Unity.Robotics.ROSTCPConnector; +using Unity.Robotics.ROSTCPConnector.ROSGeometry; + +/// +/// Example demonstration of implementing a UnityService that receives a Request message from another ROS node and sends a Response back +/// +public class RosUnityServiceExample : MonoBehaviour +{ + public string serviceName = "obj_pose_srv"; + + void Start() + { + // register the service with ros + ROSConnection.instance.ImplementService(serviceName, GetObjectPose); + } + + /// + /// Callback to respond to the request + /// + /// service request containing the object name + /// service response containing the object pose (or 0 if object not found) + private MObjectPoseServiceResponse GetObjectPose(MObjectPoseServiceRequest request) + { + // process the service request + Debug.Log("Received request for object: " + request.object_name); + + // prepare a response + MObjectPoseServiceResponse objectPoseResponse = new MObjectPoseServiceResponse(); + GameObject gameObject = GameObject.Find(request.object_name); + if (gameObject) + { + objectPoseResponse.object_pose.position = gameObject.transform.position.To(); + objectPoseResponse.object_pose.orientation = gameObject.transform.rotation.To(); + } + + return objectPoseResponse; + } +} From 39578e9cd46040ed6a555ecd05560a12e1bedc6a Mon Sep 17 00:00:00 2001 From: Hamid Younesy Date: Wed, 14 Apr 2021 11:34:06 -0700 Subject: [PATCH 2/6] adding tutorial for unity service --- tutorials/ros_unity_integration/README.md | 9 +- .../images/generate_messages_1.png | Bin 67787 -> 42017 bytes .../images/generate_messages_2.png | Bin 67627 -> 37057 bytes tutorials/ros_unity_integration/service.md | 2 +- .../ros_unity_integration/unity_service.md | 125 ++++++++++++++++++ 5 files changed, 133 insertions(+), 3 deletions(-) create mode 100644 tutorials/ros_unity_integration/unity_service.md diff --git a/tutorials/ros_unity_integration/README.md b/tutorials/ros_unity_integration/README.md index 8ed68633..4f249311 100644 --- a/tutorials/ros_unity_integration/README.md +++ b/tutorials/ros_unity_integration/README.md @@ -17,6 +17,7 @@ The `ROSConnection` plugin (also from [ROS TCP Connector](https://github.com/Uni - [ROS–Unity Integration: Publisher](publisher.md) - Adding a Publisher to a Unity Scene - [ROS–Unity Integration: Subscriber](subscriber.md) - Adding a Subscriber to a Unity Scene - [ROS–Unity Integration: Service](service.md) - Adding a Service call to a Unity Scene +- [ROS–Unity Integration: UnityService](unity_service.md) - Adding a Service that runs in a Unity Scene - [ROS–Unity Integration: Server Endpoint](server_endpoint.md) - How to write a Server Endpoint ## Example Unity Scripts @@ -26,8 +27,12 @@ Example scripts implemented in tutorials: - `unity_scripts/RosPublisherExample.cs` - Publishes the position of a GameObject every 0.5 seconds. +- `unity_scripts/RosSubscriberExample.cs` + - Subscribes to a topic that accepts color messages and uses them to change the color of a GameObject in the Unity scene. + - `unity_scripts/RosServiceExample.cs` - Returns a destination position for a GameObject to move towards each time the service is called. -- `unity_scripts/RosSubscriberExample.cs` - - Subscribes to a topic that accepts color messages and uses them to change the color of a GameObject in the Unity scene. +- `unity_scripts/RosUnityServiceExample.cs` + - Runs a service in the Unity scene that can takes GameObject names in a request and responds with the GameObject's Pose. + diff --git a/tutorials/ros_unity_integration/images/generate_messages_1.png b/tutorials/ros_unity_integration/images/generate_messages_1.png index 5b58923bc8f5208e64a52e89b255fe6f5b02e92f..96b0c13aa0f1aea2a5429ec540e065f435c8387a 100644 GIT binary patch literal 42017 zcmZ^}1z24>*ENc}yA_v>yA*eKch}e^6*+PLN_Dl5YfILdz@66-oIeJ}kTdmJyGF3o4YX1{z( zbwmN%hsuyngQ15^VoHk{gzU1ZcfRIWCl!X25Efrd8P15pGch3pOU}N&Wb?rlPTgay z9M}GMe+k6aK+zh20h1NxiKZ|qr&td;(rS@rfCdX^VbLeUR=9D5tBg*DLVxEO@1m7V zrT%P_W1}XRydwz52NpzAuWd>UM#(&+IB9yD#8V<3W*;phss#t$K_9=|n8hW|-l;2PKW&8msLTr{1jZky3mf9%<==`U96s@rq zJ2$WG17Me{?r*^6a=CZa+929|dY}}{gss)|!7MhLrJ1ZLu-&<>C!kSK#U(I#QLiTh zz$kw)tALpFn@R`$rd`$Cb!G-RHEgumm2o~?W^42lFlf}>B-&d^c 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ztGNqDby7Trtme?{J?!O$sLe@WZp*1g`j@mtzM+(cX^E$0HSMB24wo}0PY#~T zy3PmbL}YLKOT{nX?o^rc0GhS<8+WHtZ3&;Nm?!%M$&D5!P2yHw5!14@ zw`ZM8AeU^Z=$(4PG0y)h=~6&mNE)OMLo>4r$|kq$Grp`}6R?UD3HtPKGtyA#P9LLnw@5TyVkZ{iR^ zLFI#3dPpdVoRU0<)A)mM?opAy(QYYug%Cp`NTR|}i{u8rSBK)Q*OOVWfEr2W7P+OG z^N;s9^9%N+zui(_ySKU8zP`Nz#`<-aojaNCG+wnT68p^Y<_;~toJd1#;P~-^PNu)f zgKX1Ckn1$fUfFg*#eZdV*1+2nR(MxS7eKcHFdc~Syo<#?e7w;IFb;oHzML=%Z+b@~w`rPcXpGzE*f61gK zG{!`4q6%}=Vxvr|X;R;n`}VBb?R{M&7W8W0zCFiTzX>;fzm!Z<5%CDd-o_qHmcYgk z?-nt%U8sV5KqLho8+`dxlk~Wm2g=ZU4rA3qgQaYV2oLY0p*uuF!}FkZ6cXmL+y#;o;= zjI>Q7DpI@`vahZ_ILBj+X7?TItA>U%$#~4KU%z6kGA_N5>t|2W=QhX1&z02E-IU^3uyHZ&V3lzUP9tW!~%6$*ZyxlWS#qx+OJx1uVDv?yTiH} z$tWaFkm=g>we!<~!CfVG&mB;snDnlLV#3MJL%e?Vi`AExkT{JalHsaV{;UPW?{z*M zpX_s+3wTD-K(4fkM;X2Q~s?~1) z@(Ztm4NfgcGUpoCFA0^)9{>OV diff --git a/tutorials/ros_unity_integration/service.md b/tutorials/ros_unity_integration/service.md index dc210fdd..e98d36d7 100644 --- a/tutorials/ros_unity_integration/service.md +++ b/tutorials/ros_unity_integration/service.md @@ -29,7 +29,7 @@ Once the server_endpoint has started, it will print something similar to `[INFO] ## Setting Up Unity Scene - Generate the C# code for `PositionService`'s messages by going to `Robotics` -> `Generate ROS Messages...` -- Set the input file path to `PATH/TO/Unity-Robotics-Hub/tutorials/ros_packages/robotics_demo`, expand the robotics_demo folder and click `Build 1 srv`. +- Set the input file path to `PATH/TO/Unity-Robotics-Hub/tutorials/ros_packages/robotics_demo`, expand the robotics_demo folder and click `Build 2 srvs`. ![](images/generate_messages_2.png) diff --git a/tutorials/ros_unity_integration/unity_service.md b/tutorials/ros_unity_integration/unity_service.md new file mode 100644 index 00000000..d1c008c2 --- /dev/null +++ b/tutorials/ros_unity_integration/unity_service.md @@ -0,0 +1,125 @@ +# ROS–Unity Integration: UnityService + +Create a simple Unity scene which create a [Service](http://wiki.ros.org/Services) in Unity that takes a request with a GameObject's name and responds with the GameObject's pose (position and orientation) in the ROS coordinate system. + +## Setting Up ROS + +(Skip to [Setting Up the Unity Scene](unity_service.md#setting-up-the-unity-scene) if you already did the [ROS–Unity Integration Publisher](publisher.md) or [Subscriber](subscriber.md) tutorials.) + +- Copy the `tutorials/ros_packages/robotics_demo` folder of this repo into the `src` folder in your Catkin workspace. + +- Follow the [ROS–Unity Initial Setup](setup.md) guide. + +- Open a new terminal window, navigate to your ROS workspace, and run the following commands: + + ```bash + source devel/setup.bash + 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`. + +## Setting Up the Unity Scene +- Generate the C# code for `ObjectPoseService`'s messages by going to `Robotics` -> `Generate ROS Messages...` + - Set the input file path to `PATH/TO/Unity-Robotics-Hub/tutorials/ros_packages/robotics_demo`, expand the robotics_demo folder and click `Build 2 srvs` (Note that you may skip this step if you have already done it in the previous tutorial). + + ![](images/generate_messages_2.png) + + - The generated files will be saved in the default directory `Assets/RosMessages/RoboticsDemo/srv`. + +- Create a new C# script and name it `RosUnityServiceExample.cs` +- Paste the following code into `RosUnityServiceExample.cs` + - **Note:** This script can be found at `tutorials/ros_unity_integration/unity_scripts`. + +```csharp +using RosMessageTypes.RoboticsDemo; +using UnityEngine; +using Unity.Robotics.ROSTCPConnector; +using Unity.Robotics.ROSTCPConnector.ROSGeometry; + +///

+/// Example demonstration of implementing a UnityService that receives a Request message from another ROS node and sends a Response back +/// +public class RosUnityServiceExample : MonoBehaviour +{ + public string serviceName = "obj_pose_srv"; + + void Start() + { + // register the service with ROS + ROSConnection.instance.ImplementService(serviceName, GetObjectPose); + } + + /// + /// Callback to respond to the request + /// + /// service request containing the object name + /// service response containing the object pose (or 0 if object not found) + private MObjectPoseServiceResponse GetObjectPose(MObjectPoseServiceRequest request) + { + // process the service request + Debug.Log("Received request for object: " + request.object_name); + + // prepare a response + MObjectPoseServiceResponse objectPoseResponse = new MObjectPoseServiceResponse(); + // Find a game object with the requested name + GameObject gameObject = GameObject.Find(request.object_name); + if (gameObject) + { + // Fill-in the response with the object pose converted from Unity coordinate to ROS coordinate system + objectPoseResponse.object_pose.position = gameObject.transform.position.To(); + objectPoseResponse.object_pose.orientation = gameObject.transform.rotation.To(); + } + + return objectPoseResponse; + } +} +``` + +- From the main menu bar, open `Robotics/ROS Settings`, and change the `ROS IP Address` variable to the ROS IP. +- Create an empty GameObject and name it `UnityService`. +- Attach the `RosUnityServiceExample` script to the `UnityService` GameObject. +- Pressing play in the Editor should start running as a ROS node, waiting to accept ObjectPose requests. Once a connection to ROS has been established, a message will be printed on the ROS terminal similar to `ROS-Unity Handshake received, will connect to 192.168.50.130:5005`. + + +## Start the Client +- On your ROS system, open a new terminal window, navigate to your ROS workspace, and run the following commands: + + ```bash + source devel/setup.bash + rosrun robotics_demo object_pose_client.py Cube + ``` +- This wil print an output similar to the following with the current pose information of the game object (note that the coordinates are converted to the ROS coordinate system in our Unity Service): + + ```bash + Requestinng pose for Cube + Pose for Cube: + position: + x: 0.0 + y: -1.0 + z: 0.20000000298023224 + orientation: + x: 0.0 + y: -0.0 + z: 0.0 + w: -1.0 + ``` +You may replace `Cube` with the name of any other GameObject currently present in the Unity hierarchy. + +- Alternatively you may also call the ROS service using `rosservice call`: + + ```bash + rosservice call /obj_pose_srv Cube + ``` + ```bash + object_pose: + position: + x: 0.0 + y: -1.0 + z: 0.20000000298023224 + orientation: + x: 0.0 + y: -0.0 + z: 0.0 + w: -1.0 + ``` \ No newline at end of file From 61babbf15655e88c1c604cee9fcead0d9d4a7593 Mon Sep 17 00:00:00 2001 From: Hamid Younesy Date: Wed, 14 Apr 2021 11:38:20 -0700 Subject: [PATCH 3/6] added a couple comments to the example code --- .../unity_scripts/RosUnityServiceExample.cs | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/tutorials/ros_unity_integration/unity_scripts/RosUnityServiceExample.cs b/tutorials/ros_unity_integration/unity_scripts/RosUnityServiceExample.cs index 5e853fc2..d916e1ad 100644 --- a/tutorials/ros_unity_integration/unity_scripts/RosUnityServiceExample.cs +++ b/tutorials/ros_unity_integration/unity_scripts/RosUnityServiceExample.cs @@ -12,7 +12,7 @@ public class RosUnityServiceExample : MonoBehaviour void Start() { - // register the service with ros + // register the service with ROS ROSConnection.instance.ImplementService(serviceName, GetObjectPose); } @@ -28,9 +28,11 @@ private MObjectPoseServiceResponse GetObjectPose(MObjectPoseServiceRequest reque // prepare a response MObjectPoseServiceResponse objectPoseResponse = new MObjectPoseServiceResponse(); + // Find a game object with the requested name GameObject gameObject = GameObject.Find(request.object_name); if (gameObject) { + // Fill-in the response with the object pose converted from Unity coordinate to ROS coordinate system objectPoseResponse.object_pose.position = gameObject.transform.position.To(); objectPoseResponse.object_pose.orientation = gameObject.transform.rotation.To(); } From 7a59a028fbcda9d76891cb4f19f4212f33b64303 Mon Sep 17 00:00:00 2001 From: Hamid Younesy Date: Wed, 14 Apr 2021 12:59:14 -0700 Subject: [PATCH 4/6] typos and code standard fixes --- .../robotics_demo/scripts/object_pose_client.py | 2 +- tutorials/ros_unity_integration/README.md | 2 +- .../unity_scripts/RosUnityServiceExample.cs | 5 +++-- tutorials/ros_unity_integration/unity_service.md | 7 ++++--- 4 files changed, 9 insertions(+), 7 deletions(-) diff --git a/tutorials/ros_packages/robotics_demo/scripts/object_pose_client.py b/tutorials/ros_packages/robotics_demo/scripts/object_pose_client.py index caeb7d04..3ebe8b07 100755 --- a/tutorials/ros_packages/robotics_demo/scripts/object_pose_client.py +++ b/tutorials/ros_packages/robotics_demo/scripts/object_pose_client.py @@ -28,5 +28,5 @@ def usage(): else: print(usage()) sys.exit(1) - print("Requestinng pose for %s"%(name)) + print("Requesting pose for %s"%(name)) print("Pose for %s: %s"%(name, get_object_pose_client(name))) diff --git a/tutorials/ros_unity_integration/README.md b/tutorials/ros_unity_integration/README.md index 4f249311..2f985cef 100644 --- a/tutorials/ros_unity_integration/README.md +++ b/tutorials/ros_unity_integration/README.md @@ -34,5 +34,5 @@ Example scripts implemented in tutorials: - Returns a destination position for a GameObject to move towards each time the service is called. - `unity_scripts/RosUnityServiceExample.cs` - - Runs a service in the Unity scene that can takes GameObject names in a request and responds with the GameObject's Pose. + - Runs a service in the Unity scene that takes a GameObject's name and responds with the Pose of that object. diff --git a/tutorials/ros_unity_integration/unity_scripts/RosUnityServiceExample.cs b/tutorials/ros_unity_integration/unity_scripts/RosUnityServiceExample.cs index d916e1ad..c9d3f50d 100644 --- a/tutorials/ros_unity_integration/unity_scripts/RosUnityServiceExample.cs +++ b/tutorials/ros_unity_integration/unity_scripts/RosUnityServiceExample.cs @@ -8,12 +8,13 @@ /// public class RosUnityServiceExample : MonoBehaviour { - public string serviceName = "obj_pose_srv"; + [SerializeField] + string m_ServiceName = "obj_pose_srv"; void Start() { // register the service with ROS - ROSConnection.instance.ImplementService(serviceName, GetObjectPose); + ROSConnection.instance.ImplementService(m_ServiceName, GetObjectPose); } /// diff --git a/tutorials/ros_unity_integration/unity_service.md b/tutorials/ros_unity_integration/unity_service.md index d1c008c2..366656e5 100644 --- a/tutorials/ros_unity_integration/unity_service.md +++ b/tutorials/ros_unity_integration/unity_service.md @@ -42,12 +42,13 @@ using Unity.Robotics.ROSTCPConnector.ROSGeometry; /// public class RosUnityServiceExample : MonoBehaviour { - public string serviceName = "obj_pose_srv"; + [SerializeField] + string m_ServiceName = "obj_pose_srv"; void Start() { // register the service with ROS - ROSConnection.instance.ImplementService(serviceName, GetObjectPose); + ROSConnection.instance.ImplementService(m_ServiceName, GetObjectPose); } /// @@ -92,7 +93,7 @@ public class RosUnityServiceExample : MonoBehaviour - This wil print an output similar to the following with the current pose information of the game object (note that the coordinates are converted to the ROS coordinate system in our Unity Service): ```bash - Requestinng pose for Cube + Requesting pose for Cube Pose for Cube: position: x: 0.0 From 7b4cd05a877aeaac079e592b0f17bbf35f592d96 Mon Sep 17 00:00:00 2001 From: Hamid Younesy Date: Wed, 14 Apr 2021 13:09:15 -0700 Subject: [PATCH 5/6] consistency: changing the service name for position_service to pos_srv --- .../robotics_demo/scripts/position_service.py | 2 +- .../robotics_demo/scripts/server_endpoint.py | 2 +- .../ros_unity_integration/server_endpoint.md | 18 ++++++++++-------- 3 files changed, 12 insertions(+), 10 deletions(-) diff --git a/tutorials/ros_packages/robotics_demo/scripts/position_service.py b/tutorials/ros_packages/robotics_demo/scripts/position_service.py index d9ce9a9f..1a0e11a5 100755 --- a/tutorials/ros_packages/robotics_demo/scripts/position_service.py +++ b/tutorials/ros_packages/robotics_demo/scripts/position_service.py @@ -18,7 +18,7 @@ def new_position(req): def translate_position_server(): rospy.init_node('position_server') - s = rospy.Service('position_service', PositionService, new_position) + s = rospy.Service('pos_srv', PositionService, new_position) print("Ready to move cubes!") rospy.spin() diff --git a/tutorials/ros_packages/robotics_demo/scripts/server_endpoint.py b/tutorials/ros_packages/robotics_demo/scripts/server_endpoint.py index 9c0a5761..ababf68c 100644 --- a/tutorials/ros_packages/robotics_demo/scripts/server_endpoint.py +++ b/tutorials/ros_packages/robotics_demo/scripts/server_endpoint.py @@ -14,9 +14,9 @@ def main(): 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), + 'pos_srv': RosService('pos_srv', PositionService), 'obj_pose_srv': UnityService('obj_pose_srv', ObjectPoseService, tcp_server), }) diff --git a/tutorials/ros_unity_integration/server_endpoint.md b/tutorials/ros_unity_integration/server_endpoint.md index 25fa8345..1ed7881e 100644 --- a/tutorials/ros_unity_integration/server_endpoint.md +++ b/tutorials/ros_unity_integration/server_endpoint.md @@ -14,9 +14,9 @@ The following is an example of a server endpoint Python script that: import rospy -from ros_tcp_endpoint import TcpServer, RosPublisher, RosSubscriber, RosService +from ros_tcp_endpoint import TcpServer, RosPublisher, RosSubscriber, RosService, UnityService from robotics_demo.msg import PosRot, UnityColor -from robotics_demo.srv import PositionService +from robotics_demo.srv import PositionService, ObjectPoseService def main(): ros_node_name = rospy.get_param("/TCP_NODE_NAME", 'TCPServer') @@ -26,9 +26,10 @@ def main(): 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) + 'color': RosSubscriber('color', UnityColor, tcp_server), + 'pos_srv': RosService('pos_srv', PositionService), + 'obj_pose_srv': UnityService('obj_pose_srv', ObjectPoseService, tcp_server), }) rospy.spin() @@ -68,9 +69,10 @@ The `ros_node_name` argument is required and the `buffer_size` and `connections` ```python tcp_server.start({ - 'pos_srv': RosService('position_service', PositionService), 'pos_rot': RosPublisher('pos_rot', PosRot, queue_size=10), - 'color': RosSubscriber('color', UnityColor, tcp_server) + 'color': RosSubscriber('color', UnityColor, tcp_server), + 'pos_srv': RosService('pos_srv', PositionService), + 'obj_pose_srv': UnityService('obj_pose_srv', ObjectPoseService, tcp_server), }) rospy.spin() @@ -104,7 +106,7 @@ A ROS Service is similar to a RosPublisher, in that a Unity component sends a Re - Service name - ROS Service class generated from running `catkin_make` command -`RosService('position_service', PositionService)` +`RosService('pos_srv', PositionService)` ## Unity Service @@ -114,7 +116,7 @@ A Unity Service is similar to a RosSubscriber, in that a Unity component receive - ROS Service class generated from running `catkin_make` command - The tcp server that will connect to Unity -`UnityService('unity_service', PositionService, tcp_server)` +`UnityService('obj_pose_srv', ObjectPoseService, tcp_server)` ## Parameters From 33c739d5d209237d2397c0dc375fec79ff0fe0a5 Mon Sep 17 00:00:00 2001 From: Hamid Younesy Date: Wed, 14 Apr 2021 13:13:26 -0700 Subject: [PATCH 6/6] updating the tutorial to match the corresponding script --- tutorials/ros_unity_integration/server_endpoint.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/tutorials/ros_unity_integration/server_endpoint.md b/tutorials/ros_unity_integration/server_endpoint.md index 1ed7881e..aa65fdc6 100644 --- a/tutorials/ros_unity_integration/server_endpoint.md +++ b/tutorials/ros_unity_integration/server_endpoint.md @@ -42,9 +42,9 @@ if __name__ == "__main__": ## Import Statements for Services and Messages ```python -from ros_tcp_endpoint import TcpServer, RosPublisher, RosSubscriber, RosService +from ros_tcp_endpoint import TcpServer, RosPublisher, RosSubscriber, RosService, UnityService from robotics_demo.msg import PosRot, UnityColor -from robotics_demo.srv import PositionService +from robotics_demo.srv import PositionService, ObjectPoseService ``` ## Creating the Server