Visualization package

CONTRIBUTING.md

@@ -52,7 +52,8 @@ 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). (Code may be reformatted to Unity coding standards where applicable.)
+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).
+(Code may be reformatted to Unity coding standards where applicable.)
 
 Please note that even if the code you are changing does not follow these conventions,
 we expect your submissions to do so.

README.md

@@ -1,4 +1,4 @@
-# ROS-TCP-Connector
+# ROS TCP Connector
 
 [![Version](https://img.shields.io/github/v/tag/Unity-Technologies/ROS-TCP-Connector)](https://github.com/Unity-Technologies/ROS-TCP-Connector/releases)
 [![License](https://img.shields.io/badge/license-Apache--2.0-green.svg)](LICENSE.md)
@@ -7,24 +7,37 @@
 ![ROS](https://img.shields.io/badge/ros2-foxy-brightgreen)
 ![Unity](https://img.shields.io/badge/unity-2020.2+-brightgreen)
 
+## Introduction
+
+This repository contains two Unity packages: the ROS TCP Connector, for sending/receiving messages from ROS, and the Visualizations Package, for adding visualizations of incoming and outgoing messages in the Unity scene.
+
 ## Installation
-1. Using Unity 2020.2 or later, open the package manager from `Window` -> `Package Manager` and select "Add package from git URL..."
-![image](https://user-images.githubusercontent.com/29758400/110989310-8ea36180-8326-11eb-8318-f67ee200a23d.png)
-2. Enter the following URL. If you don't want to use the latest version, substitute your desired version tag where we've put `v0.5.0` in this example:
-`https://github.com/Unity-Technologies/ROS-TCP-Connector.git?path=/com.unity.robotics.ros-tcp-connector#v0.5.0`
-3. Click `Add`.
+1. Using Unity 2020.2 or later, open the Package Manager from `Window` -> `Package Manager`.
+2. In the Package Manager window, find and click the + button in the upper lefthand corner of the window. Select `Add package from git URL....`
+
+    ![image](https://user-images.githubusercontent.com/29758400/110989310-8ea36180-8326-11eb-8318-f67ee200a23d.png)
 
+3. Enter the git URL for the desired package. Note: you can append a version tag to the end of the git url, like `#v0.4.0` or `#v0.5.0`, 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, enter `https://github.com/Unity-Technologies/ROS-TCP-Connector.git?path=/com.unity.robotics.ros-tcp-connector`.
+    2. For Visualizations, enter `https://github.com/Unity-Technologies/ROS-TCP-Connector.git?path=/com.unity.robotics.visualizations`.
+4. Click `Add`.
+
+To install from a local clone of the repository, see [installing a local package](https://docs.unity3d.com/Manual/upm-ui-local.html) in the Unity manual.
 
 ## Tutorials
-Scripts used to send [ROS](https://www.ros.org/) messages to an [TCP endpoint](https://github.com/Unity-Technologies/ROS_TCP_Endpoint) running as a ROS node.
+<!-- Scripts used to send [ROS](https://www.ros.org/) messages to an [TCP endpoint](https://github.com/Unity-Technologies/ROS_TCP_Endpoint) running as a ROS node. -->
+
+This Unity package provides four main features:
 
-This Unity package provides three main features:
+- ROSConnection: A component that sets up communication between ROS and Unity. See the [Unity Robotics Hub](https://github.com/Unity-Technologies/Unity-Robotics-Hub/blob/main/tutorials/ros_unity_integration/README.md) for information and tutorials.
 
-- ROSConnection: See the [Unity Robotics Hub](https://github.com/Unity-Technologies/Unity-Robotics-Hub/blob/main/tutorials/ros_unity_integration/README.md) repository for information and tutorials on how to use this component.
+- [Message Generation](MessageGeneration.md): A tool to generate C# classes for ROS message types.
 
-- [Message Generation](MessageGeneration.md)
+- Visualizations: A suite of default configurations and APIs to visualize incoming and outgoing information from ROS.
+    - See the [Nav2 SLAM Example](https://github.com/Unity-Technologies/Robotics-Nav2-SLAM-Example) for tutorials on using the Visualizations Package!
+    - You can also view the package's [Usage Information](com.unity.robotics.visualizations/Documentation~/README.md) for more details on using the package in your own project.
 
-- [ROSGeometry](ROSGeometry.md)
+- [ROSGeometry](ROSGeometry.md): A set of extensions that convert geometries between Unity and other coordinate frames.
 
 ## ROS#
 

ROSGeometry.md

@@ -43,7 +43,7 @@ Unity's standard Transform class also has a `To<C>()` extension method that retu
 
 # Internal details
 
-Some more detail about what's going on here: The core of the ROSGeometry package is the two generic structs, `Vector3<C>` and `Quaternion<C>`. The type parameter C here indicates the coordinate frame you're working in - either FLU, or RUF, or perhaps one of the more exotic frames such as NED (north, east, down) or ENU (east, north, up), used in aviation. In conversions between RUF and geographical coordinate systems, such as NED and ENU, the east direction is equivalent to the z-axis (forward) in RUF.
+Some more detail about what's going on here: The core of the ROSGeometry package is the two generic structs, `Vector3<C>` and `Quaternion<C>`. The type parameter C here indicates the coordinate frame you're working in - either FLU, or RUF, or perhaps one of the more exotic frames such as NED (north, east, down) or ENU (east, north, up), used in aviation.
 
 These are fully-fledged Vector3 and Quaternion classes, so if you want, you can work with them directly to perform geometric operations in an arbitrary coordinate space. (Note, it's a compile time error to add a Vector3<FLU> to a Vector3<RUF>.)
 

com.unity.robotics.ros-tcp-connector/CHANGELOG.md

@@ -24,6 +24,7 @@ Upgrade the TestRosTcpConnector project to use Unity LTS version 2020.3.11f1
 
 - Added an optional pooling system for ros publishers
 - Implemented a queueing and latching system to mimic the ROS implementation in Unity
+- Add support for visualizations
 
 ### Changed
 - Publishing a message to an unregistered topic will show an error.
@@ -58,8 +59,6 @@ Add badges to main README
 
 ### Changed
 
-Update the transformation of coordinate spaces using Unity's coordinate as right, up, forward (RUF) and south, up, east (SUE).
-
 ### Deprecated
 
 ### Removed

com.unity.robotics.ros-tcp-connector/Editor/MessageGeneration/ActionAutoGen.cs

@@ -21,6 +21,7 @@ namespace Unity.Robotics.ROSTCPConnector.MessageGeneration
     public class ActionAutoGen
     {
         private static readonly string[] types = { "Goal", "Result", "Feedback" };
+        private static readonly MessageSubtopic[] subtopics = { MessageSubtopic.Goal, MessageSubtopic.Result, MessageSubtopic.Feedback };
 
         public static string[] GetActionClassPaths(string inFilePath, string outPath)
         {
@@ -76,7 +77,16 @@ public static List<string> GenerateSingleAction(string inPath, string outPath, s
                 string className = inFileName + types[i] + MsgAutoGenUtilities.ActionClassSuffix;
 
                 // Parse and generate goal, result, feedback messages
-                MessageParser parser = new MessageParser(tokens, outPath, rosPackageName, "action", MsgAutoGenUtilities.builtInTypesMapping, MsgAutoGenUtilities.builtInTypesDefaultInitialValues, className);
+                MessageParser parser = new MessageParser(
+                    tokens,
+                    outPath,
+                    rosPackageName,
+                    "action",
+                    MsgAutoGenUtilities.builtInTypesMapping,
+                    MsgAutoGenUtilities.builtInTypesDefaultInitialValues,
+                    className,
+                    subtopic: subtopics[i]
+                );
                 parser.Parse();
                 warnings.AddRange(parser.GetWarnings());
 

com.unity.robotics.ros-tcp-connector/Editor/MessageGeneration/MessageParser.cs

@@ -48,10 +48,11 @@ public class MessageParser
         private HashSet<string> defaultValues = new HashSet<string>();
 
         private string body = "";
+        MessageSubtopic subtopic;
 
         private List<string> warnings = new List<string>();
 
-        public MessageParser(List<MessageToken> tokens, string outPath, string rosPackageName, string type, Dictionary<string, string> builtInTypeMapping, Dictionary<string, string> builtInTypesDefaultInitialValues, string className = "", string rosMsgName = "")
+        public MessageParser(List<MessageToken> tokens, string outPath, string rosPackageName, string type, Dictionary<string, string> builtInTypeMapping, Dictionary<string, string> builtInTypesDefaultInitialValues, string className = "", string rosMsgName = "", MessageSubtopic subtopic = MessageSubtopic.Default)
         {
             this.tokens = tokens;
 
@@ -61,6 +62,8 @@ public MessageParser(List<MessageToken> tokens, string outPath, string rosPackag
             this.rosPackageName = rosPackageName;
             this.rosPackageNamespace = MsgAutoGenUtilities.ResolvePackageName(rosPackageName);
 
+            this.subtopic = subtopic;
+
             if (className.Equals(""))
             {
                 this.className = MsgAutoGenUtilities.CapitalizeFirstLetter(inFileName) + MsgAutoGenUtilities.MessageClassSuffix;
@@ -151,6 +154,8 @@ public void Parse()
                 // Write ToString override
                 writer.Write(GenerateToString());
 
+                string subtopicParameter = subtopic == MessageSubtopic.Default ? "" : $", MessageSubtopic.{subtopic}";
+
                 writer.Write(
                     "\n" +
                     "#if UNITY_EDITOR\n" +
@@ -160,7 +165,7 @@ public void Parse()
                     "#endif\n" +
                     TWO_TABS + "public static void Register()\n" +
                     TWO_TABS + "{\n" +
-                    THREE_TABS + "MessageRegistry.Register(k_RosMessageName, Deserialize);\n" +
+                    THREE_TABS + $"MessageRegistry.Register(k_RosMessageName, Deserialize{subtopicParameter});\n" +
                     TWO_TABS + "}\n"
                 );
 

com.unity.robotics.ros-tcp-connector/Editor/MessageGeneration/ServiceAutoGen.cs

@@ -72,7 +72,15 @@ public static List<string> GenerateSingleService(string inPath, string outPath,
                 // Service is made up of request and response
                 string className = inFileName + MsgAutoGenUtilities.ServiceClassSuffix + types[i];
 
-                MessageParser parser = new MessageParser(tokens, outPath, rosPackageName, "srv", MsgAutoGenUtilities.builtInTypesMapping, MsgAutoGenUtilities.builtInTypesDefaultInitialValues, className);
+                MessageParser parser = new MessageParser(
+                    tokens,
+                    outPath,
+                    rosPackageName,
+                    "srv",
+                    MsgAutoGenUtilities.builtInTypesMapping,
+                    MsgAutoGenUtilities.builtInTypesDefaultInitialValues,
+                    className,
+                    subtopic: i == 0 ? MessageSubtopic.Default : MessageSubtopic.Response);
                 parser.Parse();
                 warnings.AddRange(parser.GetWarnings());
             }

com.unity.robotics.ros-tcp-connector/Editor/ROSSettingsEditor.cs

@@ -14,12 +14,12 @@ public static void OpenWindow()
         {
             ROSSettingsEditor window = GetWindow<ROSSettingsEditor>(false, "ROS Settings", true);
             window.minSize = new Vector2(300, 65);
-            window.maxSize = new Vector2(600, 250);
+            window.maxSize = new Vector2(600, 500);
             window.Show();
         }
 
         GameObject prefabObj;
-        ROSConnection prefab;
+        Unity.Robotics.ROSTCPConnector.ROSConnection prefab;
 
         public enum RosProtocol
         {
@@ -35,6 +35,9 @@ public enum RosProtocol
         const RosProtocol k_AlternateProtocol = RosProtocol.ROS2;
 #endif
 
+        [SerializeField] string[] m_TFTopics;
+        UnityEditor.Editor editor;
+
         protected virtual void OnGUI()
         {
             if (prefab == null)
@@ -49,8 +52,7 @@ protected virtual void OnGUI()
                     sceneObj.AddComponent<ROSConnection>();
                     if (!Directory.Exists("Assets/Resources"))
                         Directory.CreateDirectory("Assets/Resources");
-                    prefabObj = PrefabUtility.SaveAsPrefabAsset(sceneObj,
-                        "Assets/Resources/ROSConnectionPrefab.prefab");
+                    prefabObj = PrefabUtility.SaveAsPrefabAsset(sceneObj, "Assets/Resources/ROSConnectionPrefab.prefab");
                     if (prefabObj != null)
                         prefab = prefabObj.GetComponent<ROSConnection>();
                     DestroyImmediate(sceneObj);
@@ -96,8 +98,8 @@ protected virtual void OnGUI()
             prefab.RosPort = EditorGUILayout.IntField("ROS Port", prefab.RosPort);
 
             // Also set the player prefs, for users who hit play in the editor: they will expect the last-used IP address to appear in the hud
-            HUDPanel.SetIPPref(prefab.RosIPAddress);
-            HUDPanel.SetPortPref(prefab.RosPort);
+            ROSConnection.SetIPPref(prefab.RosIPAddress);
+            ROSConnection.SetPortPref(prefab.RosPort);
 
             EditorGUILayout.Space();
 
@@ -127,10 +129,27 @@ protected virtual void OnGUI()
                     "Sleep this long before checking for new network messages. (Decreasing this time will make it respond faster, but consume more CPU)."),
                 prefab.SleepTimeSeconds);
 
+            // TODO: make the settings input update the prefab
+            // EditorGUILayout.Space();
+            // if (!editor) { editor = UnityEditor.Editor.CreateEditor(this); }
+            // if (editor) { editor.OnInspectorGUI(); }
+
             if (GUI.changed)
             {
                 PrefabUtility.SavePrefabAsset(prefab.gameObject);
             }
         }
+
+        void OnInspectorUpdate() { Repaint(); }
+    }
+
+    [CustomEditor(typeof(ROSSettingsEditor), true)]
+    public class TFTopicsEditorDrawer : UnityEditor.Editor
+    {
+        public override void OnInspectorGUI()
+        {
+            var list = serializedObject.FindProperty("m_TFTopics");
+            EditorGUILayout.PropertyField(list, new GUIContent("TF Topics"), true);
+        }
     }
 }

com.unity.robotics.ros-tcp-connector/Editor/Unity.Robotics.ROSTCPConnector.Editor.asmdef

@@ -1,5 +1,6 @@
 {
     "name": "Unity.Robotics.ROSTCPConnector.Editor",
+    "rootNamespace": "",
     "references": [
         "GUID:625bfc588fb96c74696858f2c467e978"
     ],