Add linter (#227)

* Add linter and pre-commit hooks

* Formatting

* Remove setting up ruby

Author: sdiao

.editorconfig

@@ -0,0 +1,75 @@
+; see http://editorconfig.org/ for docs on this file
+; See https://github.com/dotnet/format for dotnet format
+
+root = true
+
+[*]
+ignore_if_in_header = This code was generated by a tool|<auto-generated>
+indent_style = space
+indent_size = 4
+; uncomment to help with sharing files across os's (i.e. network share or through local vm)
+#end_of_line = lf
+; avoid a bom, which causes endless problems with naive text tooling
+charset = utf-8
+trim_trailing_whitespace = true
+insert_final_newline = true
+; keeping auto-format enabled helps avoid merge hell for projects without CI-based format validation
+#disable_auto_format = true
+
+[*.cs]
+; uncomment to enable full formatting of c# files
+formatters = generic, uncrustify
+
+[*.asmdef]
+scrape_api = true
+
+[**/Tests/**.asmdef]
+scrape_api = false
+
+[*.Tests.asmdef]
+scrape_api = false
+
+[*.md]
+indent_size = 2
+; trailing whitespace is unfortunately significant in markdown
+trim_trailing_whitespace = false
+; uncomment to enable basic formatting of markdown files
+#formatters = generic
+
+[{Makefile,makefile}]
+; tab characters are part of the Makefile format
+indent_style = tab
+
+[*.asmdef]
+indent_size = 4
+
+[*.json]
+indent_size = 2
+
+[*.{vcproj,bat,cmd,xaml,tt,t4,ttinclude}]
+end_of_line = crlf
+
+; this VS-specific stuff is based on experiments to see how VS will modify a file after it has been manually edited.
+; the settings are meant to closely match what VS does to minimize unnecessary diffs.
+[*.{vcxproj,vcxproj.filters}]
+indent_style = space
+indent_size = 2
+end_of_line = crlf
+charset = utf-8-bom
+trim_trailing_whitespace = true
+insert_final_newline = false
+; must be broken out because of 51-char bug (https://github.com/editorconfig/editorconfig-visualstudio/issues/21)
+[*.{csproj,pyproj,props,targets}]
+indent_style = space
+indent_size = 2
+end_of_line = crlf
+charset = utf-8-bom
+trim_trailing_whitespace = true
+insert_final_newline = false
+[*.{sln,sln.template}]
+indent_style = tab
+indent_size = 4
+end_of_line = crlf
+charset = utf-8
+trim_trailing_whitespace = true
+insert_final_newline = false

.github/PULL_REQUEST_TEMPLATE.md

@@ -16,7 +16,7 @@ Provide any relevant links here.
 
 ## Testing and Verification
 
-Please describe the tests that you ran to verify your changes. Please also provide instructions, ROS packages, and Unity project files as appropriate so we can reproduce the test environment. 
+Please describe the tests that you ran to verify your changes. Please also provide instructions, ROS packages, and Unity project files as appropriate so we can reproduce the test environment.
 
 ### Test Configuration:
 - Unity Version: [e.g. Unity 2020.2.0f1]

.github/workflows/pre-commit.yaml

@@ -0,0 +1,19 @@
+name: pre-commit
+
+on:
+    pull_request:
+    push:
+        branches: [dev]
+
+jobs:
+    pre-commit:
+        runs-on: ubuntu-latest
+        steps:
+            - uses: actions/checkout@v2
+            - uses: actions/setup-python@v2
+              with:
+                  python-version: 3.7.x
+            - uses: actions/setup-dotnet@v1
+              with:
+                  dotnet-version: '3.1.x'
+            - uses: pre-commit/action@v2.0.0

.gitignore

@@ -2,4 +2,4 @@
 .swp
 .idea
 .vscode/
-tutorials/pick_and_place/PickAndPlaceProject/Packages/packages-lock.json
+tutorials/pick_and_place/PickAndPlaceProject/Packages/packages-lock.json

.pre-commit-config.yaml

@@ -0,0 +1,32 @@
+repos:
+    -   repo: https://github.com/pre-commit/pre-commit-hooks
+        rev: v4.0.1
+        hooks:
+            -   id: mixed-line-ending
+                exclude: >
+                    (?x)^(
+                        .*cs.meta|
+                        .*.css|
+                        .*.meta|
+                        .*.mat|
+                        .*.preset|
+                        .*.lighting|
+                        .*.dae
+                    )$
+                args: [--fix=lf]
+
+            -   id: trailing-whitespace
+                name: trailing-whitespace-markdown
+                types: [markdown]
+            -   id: check-merge-conflict
+                args: [--assume-in-merge]
+            -   id: check-yaml
+                # Won't handle the templating in yamato
+                exclude: \.yamato/.*
+
+
+    - repo: https://github.com/dotnet/format
+      rev: "7e343070a0355c86f72bdee226b5e19ffcbac931"
+      hooks:
+          - id: dotnet-format
+            args: [--folder, --include]

CONTRIBUTING.md

@@ -1,7 +1,7 @@
 # Contribution Guidelines
 
-Thank you for your interest in contributing to Unity Robotics! To facilitate your 
-contributions, we've outlined a brief set of guidelines to ensure that your extensions 
+Thank you for your interest in contributing to Unity Robotics! To facilitate your
+contributions, we've outlined a brief set of guidelines to ensure that your extensions
 can be easily integrated.
 
 ## Communication
@@ -40,10 +40,10 @@ We run continuous integration on all PRs; all tests must be passing before the P
 
 All Python code should follow the [PEP 8 style guidelines](https://pep8.org/).
 
-All C# code should follow the [Microsoft C# Coding Conventions](https://docs.microsoft.com/en-us/dotnet/csharp/programming-guide/inside-a-program/coding-conventions). 
-Additionally, the [Unity Coding package](https://docs.unity3d.com/Packages/com.unity.coding@0.1/manual/index.html) 
-can be used to format, encode, and lint your code according to the standard Unity 
-development conventions. Be aware that these Unity conventions will supersede the 
+All C# code should follow the [Microsoft C# Coding Conventions](https://docs.microsoft.com/en-us/dotnet/csharp/programming-guide/inside-a-program/coding-conventions).
+Additionally, the [Unity Coding package](https://docs.unity3d.com/Packages/com.unity.coding@0.1/manual/index.html)
+can be used to format, encode, and lint your code according to the standard Unity
+development conventions. Be aware that these Unity conventions will supersede the
 Microsoft C# Coding Conventions where applicable.
 
 Please note that even if the code you are changing does not adhere to these guidelines,
@@ -60,5 +60,5 @@ email us at [unity-robotics@unity3d.com](mailto:unity-robotics@unity3d.com).
 
 ## Contribution review
 
-Once you have a change ready following the above ground rules, simply make a 
+Once you have a change ready following the above ground rules, simply make a
 pull request in GitHub.

README.md

@@ -19,7 +19,7 @@ Simulation plays an important role in robotics development, and we’re here to
 | [Quick Installation Instructions](tutorials/quick_setup.md) | Brief steps on installing the Unity Robotics packages |
 | [Pick-and-Place Demo](tutorials/pick_and_place/README.md) | A complete end-to-end demonstration, including how to set up the Unity environment, how to import a robot from URDF, and how to set up two-way communication with ROS for control |
 | [ROS–Unity Integration](tutorials/ros_unity_integration/README.md) | A set of component-level tutorials showing how to set up communication between ROS and Unity |
-| [URDF Importer](tutorials/urdf_importer/urdf_tutorial.md) | Steps on using the Unity package for loading [URDF](http://wiki.ros.org/urdf) files | 
+| [URDF Importer](tutorials/urdf_importer/urdf_tutorial.md) | Steps on using the Unity package for loading [URDF](http://wiki.ros.org/urdf) files |
 | [Articulations Robot Demo](https://github.com/Unity-Technologies/articulations-robot-demo) | A robot simulation demonstrating Unity's new physics solver (no ROS dependency)
 
 
@@ -43,7 +43,7 @@ Unite Now 2020: Simulating Robots with ROS and Unity [video](https://resources.u
 - (August 26, 2020)
 Announcing Unity Robotic Simulation [blog post](https://unity.com/solutions/automotive-transportation-manufacturing/robotics)
 - (May 20, 2020)
-Use articulation bodies to easily prototype industrial designs with realistic motion and behavior [blog post](https://blogs.unity3d.com/2020/05/20/use-articulation-bodies-to-easily-prototype-industrial-designs-with-realistic-motion-and-behavior/) 
+Use articulation bodies to easily prototype industrial designs with realistic motion and behavior [blog post](https://blogs.unity3d.com/2020/05/20/use-articulation-bodies-to-easily-prototype-industrial-designs-with-realistic-motion-and-behavior/)
 
 ### More from Unity
 
@@ -67,8 +67,8 @@ Here’s a peek into what our Physics Team is hard at work on…
 
 ## Community and Feedback
 
-The Unity Robotics projects are open-source and we encourage and welcome contributions. 
-If you wish to contribute, be sure to review our [contribution guidelines](CONTRIBUTING.md) 
+The Unity Robotics projects are open-source and we encourage and welcome contributions.
+If you wish to contribute, be sure to review our [contribution guidelines](CONTRIBUTING.md)
 and [code of conduct](CODE_OF_CONDUCT.md).
 
 ## Support
@@ -77,7 +77,7 @@ For questions or discussions about Unity Robotics package installations or how t
 
 For feature requests, bugs, or other issues, please file a [GitHub issue](https://github.com/Unity-Technologies/Unity-Robotics-Hub/issues) using the provided templates and the Robotics team will investigate as soon as possible.
 
-For any other questions or feedback, connect directly with the 
+For any other questions or feedback, connect directly with the
 Robotics team at [unity-robotics@unity3d.com](mailto:unity-robotics@unity3d.com).
 
 ## License

faq.md

@@ -21,7 +21,7 @@ How does your Unity integration compare to ROS#?
 ---
 Two of the Unity Robotics repos (URDF Importer and TCP Connector) have been forked from the [Siemens ROS# repo](https://github.com/siemens/ros-sharp).
 
-In the URDF Importer we have added the functionality to instantiate a robot from URDF into a Unity scene with [Articulation Body](https://docs.unity3d.com/2020.2/Documentation/Manual/class-ArticulationBody.html) components on their corresponding joints. 
+In the URDF Importer we have added the functionality to instantiate a robot from URDF into a Unity scene with [Articulation Body](https://docs.unity3d.com/2020.2/Documentation/Manual/class-ArticulationBody.html) components on their corresponding joints.
 
 Aside from facilitating communication with the TCP Endpoint, the TCP Connector contains the `MessageGeneration` code from ROS#. We added the extra functionality that when generating a C# class from a ROS message, functions are also generated that will serialize and deserialize the messages as ROS would internally.
 

tutorials/pick_and_place/0_ros_setup.md

@@ -1,7 +1,7 @@
 # Pick-and-Place Tutorial: Part 0
 
 This part provides two options for setting up your ROS workspace: using Docker, or manually setting up a catkin workspace.
-  
+
 **Table of Contents**
   - [Option A: Use Docker](#option-a-use-docker)
   - [Option B: Manual Setup](#option-b-manual-setup)
@@ -34,28 +34,28 @@ git clone --recurse-submodules https://github.com/Unity-Technologies/Unity-Robot
     docker build -t unity-robotics:pick-and-place -f docker/Dockerfile .
     ```
 
-    > Note: The provided Dockerfile uses the [ROS Melodic base Image](https://hub.docker.com/_/ros/). Building the image will install the necessary packages, copy the [provided ROS packages and submodules](ROS/) to the container, and build the catkin workspace. 
-    
-1. Start the newly built Docker container: 
-   
+    > Note: The provided Dockerfile uses the [ROS Melodic base Image](https://hub.docker.com/_/ros/). Building the image will install the necessary packages, copy the [provided ROS packages and submodules](ROS/) to the container, and build the catkin workspace.
+
+1. Start the newly built Docker container:
+
     ```docker
     docker run -it --rm -p 10000:10000 -p 5005:5005 unity-robotics:pick-and-place /bin/bash
     ```
 
-    When this is complete, it will print: `Successfully tagged unity-robotics:pick-and-place`. This console should open into a bash shell at the ROS workspace root, e.g. `root@8d88ed579657:/catkin_ws#`. 
+    When this is complete, it will print: `Successfully tagged unity-robotics:pick-and-place`. This console should open into a bash shell at the ROS workspace root, e.g. `root@8d88ed579657:/catkin_ws#`.
 
 The ROS workspace is now ready to accept commands!
 
 ---
 
 ## Option B: Manual Setup
 
-1. Navigate to the `/PATH/TO/Unity-Robotics-Hub/tutorials/pick_and_place/ROS` directory of this downloaded repo. 
+1. Navigate to the `/PATH/TO/Unity-Robotics-Hub/tutorials/pick_and_place/ROS` directory of this downloaded repo.
    - This directory will be used as the [ROS catkin workspace](http://wiki.ros.org/catkin/Tutorials/using_a_workspace).
-   - If you cloned the project and forgot to use `--recurse-submodules`, or if any submodule in this directory doesn't have content, you can run the command `git submodule update --init --recursive` to download packages for Git submodules. 
+   - If you cloned the project and forgot to use `--recurse-submodules`, or if any submodule in this directory doesn't have content, you can run the command `git submodule update --init --recursive` to download packages for Git submodules.
    - Copy or download this directory to your ROS operating system if you are doing ROS operations in another machine, VM, or container.
     > Note: This contains the ROS packages for the pick-and-place task, including [ROS TCP Endpoint](https://github.com/Unity-Technologies/ROS-TCP-Endpoint), [Niryo One ROS stack](https://github.com/NiryoRobotics/niryo_one_ros), [MoveIt Msgs](https://github.com/ros-planning/moveit_msgs), `niryo_moveit`, and `niryo_one_urdf`.
-  
+
 1. The provided files require the following packages to be installed. ROS Melodic users should run the following commands if the packages are not already present:
 
    ```bash
@@ -75,7 +75,7 @@ The ROS workspace is now ready to accept commands!
 1. If you have not already built and sourced the ROS workspace since importing the new ROS packages, navigate to your ROS workplace, and run `catkin_make && source devel/setup.bash`. Ensure there are no errors.
 
 1. The ROS parameters will need to be set to your configuration in order to allow the server endpoint to fetch values for the TCP connection, stored in `src/niryo_moveit/config/params.yaml`. From your ROS workspace, assign the ROS IP in this `yaml` file:
-    
+
     ```bash
     echo "ROS_IP: $(hostname -I)" > src/niryo_moveit/config/params.yaml
     ```
@@ -85,7 +85,7 @@ The ROS workspace is now ready to accept commands!
     ```yaml
     ROS_IP: <your ROS IP>
     ```
-    
+
     e.g.
 
     ```yaml
@@ -98,17 +98,17 @@ The ROS workspace is now ready to accept commands!
 
 ## Troubleshooting
 - Building the Docker image may throw an `Could not find a package configuration file provided by...` exception if one or more of the directories in ROS/ appears empty. Try downloading the submodules again via `git submodule update --init --recursive`.
-  
+
 - `...failed because unknown error handler name 'rosmsg'` This is due to a bug in an outdated package version. Try running `sudo apt-get update && sudo apt-get upgrade` to upgrade packages.
-  
+
 - If the ROS TCP handshake fails (e.g. `ROS-Unity server listening...` printed on the Unity side but no `ROS-Unity Handshake received` on the ROS side), the ROS IP may not have been set correctly in the params.yaml file. Try running `echo "ROS_IP: $(hostname -I)" > src/niryo_moveit/config/params.yaml` in a terminal from your ROS workspace.
 
 ---
 
 ## Resources
 - [Getting started with Docker](https://docs.docker.com/get-started/)
 - Setting up a ROS workspace:
-   
+
    > Note: this tutorial has been tested with ROS Melodic as well as ROS Noetic.
    -  http://wiki.ros.org/ROS/Installation
    -  http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment