Updating tutorials for ROS2 (#247)

Author: LaurieCheers-unity

tutorials/pick_and_place/PickAndPlaceProject/Assets/DemoScripts/Demo.cs

@@ -59,9 +59,6 @@ public class Demo : MonoBehaviour
     string rosConnectName = "ROSConnect";
     string publisherName = "Publisher";
     int hostPort = 10000;
-    int unityPort = 5005;
-    int awaitDataMaxRetries = 10;
-    int awaitDataSleepSeconds = 1;
 
     string trajectoryPlannerType = "TrajectoryPlanner";
     string rosServiceName = "niryo_moveit";

tutorials/pick_and_place/ROS/src/ros_tcp_endpoint

@@ -52,7 +52,7 @@ void Start()
 
     public void Publish()
     {
-        MNiryoMoveitJoints sourceDestinationMessage = new MNiryoMoveitJoints();
+        NiryoMoveitJointsMsg sourceDestinationMessage = new NiryoMoveitJointsMsg();
 
         sourceDestinationMessage.joint_00 = jointArticulationBodies[0].xDrive.target;
         sourceDestinationMessage.joint_01 = jointArticulationBodies[1].xDrive.target;
@@ -62,14 +62,14 @@ public void Publish()
         sourceDestinationMessage.joint_05 = jointArticulationBodies[5].xDrive.target;
 
         // Pick Pose
-        sourceDestinationMessage.pick_pose = new MPose
+        sourceDestinationMessage.pick_pose = new PoseMsg
         {
             position = target.transform.position.To<FLU>(),
             orientation = Quaternion.Euler(90, target.transform.eulerAngles.y, 0).To<FLU>()
         };
 
         // Place Pose
-        sourceDestinationMessage.place_pose = new MPose
+        sourceDestinationMessage.place_pose = new PoseMsg
         {
             position = targetPlacement.transform.position.To<FLU>(),
             orientation = pickOrientation.To<FLU>()

tutorials/pick_and_place/Scripts/SourceDestinationPublisher.cs

@@ -78,9 +78,9 @@ private void OpenGripper()
     ///     Get the current values of the robot's joint angles.
     /// </summary>
     /// <returns>NiryoMoveitJoints</returns>
-    MNiryoMoveitJoints CurrentJointConfig()
+    NiryoMoveitJointsMsg CurrentJointConfig()
     {
-        MNiryoMoveitJoints joints = new MNiryoMoveitJoints();
+        NiryoMoveitJointsMsg joints = new NiryoMoveitJointsMsg();
 
         joints.joint_00 = jointArticulationBodies[0].xDrive.target;
         joints.joint_01 = jointArticulationBodies[1].xDrive.target;
@@ -101,28 +101,28 @@ MNiryoMoveitJoints CurrentJointConfig()
     /// </summary>
     public void PublishJoints()
     {
-        MMoverServiceRequest request = new MMoverServiceRequest();
+        MoverServiceRequest request = new MoverServiceRequest();
         request.joints_input = CurrentJointConfig();
 
         // Pick Pose
-        request.pick_pose = new MPose
+        request.pick_pose = new PoseMsg
         {
             position = (target.transform.position + pickPoseOffset).To<FLU>(),
             // The hardcoded x/z angles assure that the gripper is always positioned above the target cube before grasping.
             orientation = Quaternion.Euler(90, target.transform.eulerAngles.y, 0).To<FLU>()
         };
 
         // Place Pose
-        request.place_pose = new MPose
+        request.place_pose = new PoseMsg
         {
             position = (targetPlacement.transform.position + pickPoseOffset).To<FLU>(),
             orientation = pickOrientation.To<FLU>()
         };
 
-        ros.SendServiceMessage<MMoverServiceResponse>(rosServiceName, request, TrajectoryResponse);
+        ros.SendServiceMessage<MoverServiceResponse>(rosServiceName, request, TrajectoryResponse);
     }
 
-    void TrajectoryResponse(MMoverServiceResponse response)
+    void TrajectoryResponse(MoverServiceResponse response)
     {
         if (response.trajectories.Length > 0)
         {
@@ -149,7 +149,7 @@ void TrajectoryResponse(MMoverServiceResponse response)
     /// </summary>
     /// <param name="response"> MoverServiceResponse received from niryo_moveit mover service running in ROS</param>
     /// <returns></returns>
-    private IEnumerator ExecuteTrajectories(MMoverServiceResponse response)
+    private IEnumerator ExecuteTrajectories(MoverServiceResponse response)
     {
         if (response.trajectories != null)
         {

tutorials/pick_and_place/Scripts/TrajectoryPlanner.cs

@@ -1,6 +1,6 @@
 #!/bin/bash
 
 source /opt/ros/melodic/setup.bash
-echo "ROS_IP: $(hostname -i)" > $ROS_WORKSPACE/src/niryo_moveit/config/params.yaml
+echo "ROS_IP: $(hostname -i)" > $ROS_WORKSPACE/src/ros-tcp-endpoint/config/params.yaml
 cd $ROS_WORKSPACE
-catkin_make
+catkin_make

tutorials/pick_and_place/docker/set-up-workspace

@@ -14,13 +14,12 @@ The `ROSConnection` plugin (also from [ROS TCP Connector](https://github.com/Uni
 
 
 ## Tutorials
-- [ROS–Unity Integration: Initial Setup](setup.md) - ROS-Unity Initial Setup
+- [ROS–Unity Integration: Initial Setup](setup.md) - ROS–Unity Initial Setup
 - [ROS–Unity Integration: Network Description](network.md) - Description of network settings and troubleshooting
-- [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
+- [ROS–Unity Integration: Publisher](publisher.md) - Publish messages from a Unity Scene
+- [ROS–Unity Integration: Subscriber](subscriber.md) - Subscribe to receive messages in a Unity Scene
+- [ROS–Unity Integration: Unity Service](unity_service.md) - Implement a service inside a Unity Scene
+- [ROS–Unity Integration: Service Call](service_call.md) - Call an external service from a Unity Scene
 
 ## Example Unity Scripts
 
@@ -32,9 +31,9 @@ Example scripts implemented in tutorials:
 - `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/RosUnityServiceExample.cs`
 	- Runs a service in the Unity scene that takes a GameObject's name and responds with the Pose of that object.
 
+- `unity_scripts/RosServiceExample.cs`
+	- Returns a destination position for a GameObject to move towards each time the service is called.
+