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Merged
merged 6 commits into from
Jun 1, 2021
Merged

Update Demo #235

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8498ac4
Update Demo
sdiao May 27, 2021
fc17c2f
Minor fix
sdiao May 27, 2021
2703c29
Update tutorial manifest to use v0.4.0
sdiao Jun 1, 2021
ab4ff35
Update ros_tcp_endpoint module
sdiao Jun 1, 2021
8b4d47f
Update quick_setup version
sdiao Jun 1, 2021
d1f64ff
Update tutorial manifest
sdiao Jun 1, 2021
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15 changes: 6 additions & 9 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 @@ -8,6 +8,7 @@
using System.Text;
using RosSharp;
using RosSharp.Control;
using RosSharp.Urdf;
using RosSharp.Urdf.Editor;
using UnityEditor;
using UnityEngine;
Expand Down Expand Up @@ -166,12 +167,8 @@ private void CreateRosConnection()
// 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;
rosConnection.RosIPAddress = hostIP;
rosConnection.RosPort = hostPort;
}

private void ImportRobot()
Expand All @@ -185,7 +182,7 @@ private void ImportRobot()
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()) {}
while (robotImporter.MoveNext()) { }
// Adjust robot parameters
Controller controller = GameObject.Find(niryoOneName).GetComponent<Controller>();
controller.stiffness = controllerStiffness;
Expand All @@ -210,9 +207,9 @@ private void RecompileScripts(string[] filepaths)
parameters.GenerateExecutable = false;

string[] texts = new string[filepaths.Length];
for (int i = 0; i < filepaths.Length; i ++)
for (int i = 0; i < filepaths.Length; i++)
{
texts[i] = File.ReadAllText(filepaths[i]);
texts[i] = File.ReadAllText(filepaths[i]);
}
CompilerResults results = provider.CompileAssemblyFromSource(parameters, texts);
checkCompileErrors(results);
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5 changes: 2 additions & 3 deletions tutorials/pick_and_place/PickAndPlaceProject/Packages/manifest.json
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Original file line number Diff line number Diff line change
Expand Up @@ -4,9 +4,8 @@
"com.unity.ide.rider": "2.0.7",
"com.unity.ide.visualstudio": "2.0.3",
"com.unity.ide.vscode": "1.2.2",
"com.unity.robotics.ros-tcp-connector":
"https://github.com/Unity-Technologies/ROS-TCP-Connector.git?path=/com.unity.robotics.ros-tcp-connector#v0.3.0",
"com.unity.robotics.urdf-importer": "https://github.com/Unity-Technologies/URDF-Importer.git?path=/com.unity.robotics.urdf-importer#v0.3.0",
"com.unity.robotics.ros-tcp-connector": "https://github.com/Unity-Technologies/ROS-TCP-Connector.git?path=/com.unity.robotics.ros-tcp-connector#v0.4.0",
"com.unity.robotics.urdf-importer": "https://github.com/Unity-Technologies/URDF-Importer.git?path=/com.unity.robotics.urdf-importer#v0.4.0",
"com.unity.test-framework": "1.1.18",
"com.unity.textmeshpro": "3.0.1",
"com.unity.timeline": "1.4.3",
Expand Down
2 changes: 1 addition & 1 deletion tutorials/pick_and_place/ROS/src/ros_tcp_endpoint
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Submodule ros_tcp_endpoint updated 34 files
+5 −0 .github/ISSUE_TEMPLATE/config.yml
+3 −2 .github/PULL_REQUEST_TEMPLATE.md
+14 −0 .github/workflows/pre-commit.yaml
+12 −0 .pre-commit-config.yaml
+18 −5 .yamato/yamato-config.yml
+47 −0 CHANGELOG.md
+8 −2 CMakeLists.txt
+7 −7 CONTRIBUTING.md
+7 −6 README.md
+1 −1 config/params.yaml
+4 −0 msg/RosUnitySrvMessage.msg
+1 −1 package.xml
+3 −0 requirements.txt
+1 −3 setup.py
+97 −60 src/ros_tcp_endpoint/client.py
+4 −2 src/ros_tcp_endpoint/communication.py
+2 −1 src/ros_tcp_endpoint/default_server_endpoint.py
+2 −0 src/ros_tcp_endpoint/exceptions.py
+1 −0 src/ros_tcp_endpoint/publisher.py
+98 −24 src/ros_tcp_endpoint/server.py
+1 −0 src/ros_tcp_endpoint/service.py
+86 −80 src/ros_tcp_endpoint/tcp_sender.py
+16 −0 src/ros_tcp_endpoint/thread_pauser.py
+2 −1 src/ros_tcp_endpoint/unity_service.py
+0 −4 srv/UnityHandshake.srv
+49 −0 test/test_client.py
+20 −0 test/test_publisher.py
+18 −0 test/test_ros_service.py
+168 −0 test/test_server.py
+0 −23 test/test_smoke.py
+21 −0 test/test_subscriber.py
+57 −0 test/test_tcp_sender.py
+17 −0 test/test_thread_pauser.py
+21 −0 test/test_unity_service.py
2 changes: 1 addition & 1 deletion tutorials/quick_setup.md
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Original file line number Diff line number Diff line change
Expand Up @@ -11,7 +11,7 @@ This page provides brief instructions on installing the Unity Robotics packages.

![](../images/packman.png)

1. Enter the git URL for the desired package. Note: you can append a version tag to the end of the git url, like `#v0.2.0` or `#v0.3.0`, to declare a specific package version, or exclude the tag to get the latest from the package's `main` branch.
1. Enter the git URL for the desired package. Note: you can append a version tag to the end of the git url, like `#v0.3.0` or `#v0.4.0`, to declare a specific package version, or exclude the tag to get the latest from the package's `main` branch.
1. For the [ROS-TCP-Connector](https://github.com/Unity-Technologies/ROS-TCP-Connector), enter `https://github.com/Unity-Technologies/ROS-TCP-Connector.git?path=/com.unity.robotics.ros-tcp-connector`.
1. For the [URDF-Importer](https://github.com/Unity-Technologies/URDF-Importer), enter `https://github.com/Unity-Technologies/URDF-Importer.git?path=/com.unity.robotics.urdf-importer`.

Expand Down