PR feedback, package updates

maribellae · Feb 22, 2021 · 9951e3d · 9951e3d
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diff --git a/Documentation/1_set_up_the_scene.md b/Documentation/1_set_up_the_scene.md
@@ -54,20 +54,20 @@ We will need to download and install several packages. In general, packages can
 Installing the different packages may take some time (few minutes). 
 
 <p align="center">
-<img src="Gifs/1_package_imports.gif"/>
+<img src="Gifs/1_package_imports_short.gif"/>
 </p>
 
 
 #### Install Dependencies
 Install the following packages with the provided git URLs:
 
-1. [Perception package](https://github.com/Unity-Technologies/com.unity.perception) - `com.unity.perception@0.7.0-preview.1`
+1. [Perception package](https://github.com/Unity-Technologies/com.unity.perception) - `com.unity.perception@0.7.0-preview.2`
     * This will help us collect training data for our machine learning model. 
 
-2. [URDF Importer package](https://github.com/Unity-Technologies/URDF-Importer) - `https://github.com/Unity-Technologies/URDF-Importer.git#v0.1.2`
+2. [URDF Importer package](https://github.com/Unity-Technologies/URDF-Importer) - `https://github.com/Unity-Technologies/URDF-Importer.git?path=/com.unity.robotics.urdf-importer#v0.2.0`
     * This package will help us import a robot into our scene from a file in the [Unified Robot Description Format (URDF)](http://wiki.ros.org/urdf).
 
-3. [TCP Connector package](https://github.com/Unity-Technologies/ROS-TCP-Connector) - `https://github.com/Unity-Technologies/ROS-TCP-Connector.git#v0.1.2`
+3. [TCP Connector package](https://github.com/Unity-Technologies/ROS-TCP-Connector) - `https://github.com/Unity-Technologies/ROS-TCP-Connector.git?path=/com.unity.robotics.ros-tcp-connector#v0.2.0`
     * This package will enable a connection between ROS and Unity. 
 
 >Note: If you encounter a Package Manager issue, check the [Troubleshooting Guide](troubleshooting.md) for potential solutions.
@@ -81,7 +81,7 @@ The Hierarchy, Scene View, Game View, Play/Pause/Step toolbar, Inspector, Projec
 </p>
 
 
-The perception packages relies on a "ground truth render feature" to save out labeled images as training data. You don't need to worry about the details, but follow the steps below to add this component:
+The Perception package relies on a "ground truth render feature" to save out labeled images as training data. You don't need to worry about the details, but follow the steps below to add this component:
 
 1. The _**Project**_ tab contains a search bar; use it to find the file named `ForwardRenderer`, and click on the file named `ForwardRenderer.asset` as shown below:
 

diff --git a/Documentation/2_set_up_the_data_collection_scene.md b/Documentation/2_set_up_the_data_collection_scene.md
@@ -44,7 +44,7 @@ In the Inspector view for the Perception Camera component, the list of Camera La
 
 There are several other types of labelers available, and you can even write your own. If you want more information on labelers, you can consult the [Perception package documentation](https://github.com/Unity-Technologies/com.unity.perception).
 
-6. In the _**Inspector**_ tab, in the `Perception Camera` script, click on the _**+**_ button at the bottom right corner of the `List is Empty` field, and select `BoundingBox3DLabeler`. Once applied, the labeler will highlight the edges of the labeled `GameObjects`. Don't worry, this highlighting won't show up in the image data we collect, it is just there to help us visualize the labeler.
+6. In the _**Inspector**_ tab, in the `Perception Camera` script, click on the _**+**_ button at the bottom right corner of the `List is Empty` field, and select `BoundingBox3DLabeler`. Once applied, the labeler will highlight the edges of the labeled `GameObjects`. Don't worry, this highlighting won't show up in the image data we collect; it is just there to help us visualize the labeler.
 
 Once you add the labeler, the Inspector view of the Perception Camera component will look like this:
 

diff --git a/Documentation/4_pick_and_place.md b/Documentation/4_pick_and_place.md
@@ -109,7 +109,7 @@ Prefabs have been provided for the UI elements and trajectory planner for conven
 2. The ROS TCP connection needs to be created. In the top menu bar in the Unity Editor, select `Robotics -> ROS Settings`. Find the IP address of your ROS machine. 
     * If you are going to run ROS services with the Docker container introduced [above](#step-3), fill `ROS IP Address` and `Override Unity IP` with the loopback IP address `127.0.0.1`. If you will be running ROS services via a non-Dockerized setup, you will most likely want to have the `Override Unity IP` field blank, which will let the Unity IP be determined automatically. 
 
-    * If you are **not** going to run ROS services with the Docker container, e.g. a dedicated Linux machine or VM, open a terminal window in this ROS workspace. Set the ROS IP Address field as the output of the following command:
+    * If you are **not** going to run ROS services with the Docker container, e.g. if you are using a dedicated Linux machine or VM instead, open a terminal window in this ROS workspace. Set the ROS IP Address field as the output of the following command:
 
     ```bash
     hostname -I

diff --git a/Documentation/Gifs/1_package_imports_short.gif b/Documentation/Gifs/1_package_imports_short.gif
diff --git a/Documentation/Images/2_perception_camera.png b/Documentation/Images/2_perception_camera.png
diff --git a/Documentation/quick_demo_full.md b/Documentation/quick_demo_full.md
@@ -42,7 +42,7 @@ In your root `Object-Pose-Estimation` folder, you should have a `ROS` folder. In
 
 1. Download the [pose estimation model](https://github.com/Unity-Technologies/Object-Pose-Estimation/releases/download/v0.0.1/UR3_single_cube_model.tar) we have trained.
 
-2. Go inside the `ROS/SRC/ur3_moveit` folder and create a folder `models`. Copy the `UR3_single_cube_model.tar` file you've just downloaded into this folder.
+2. Go inside the `ROS/src/ur3_moveit` folder and create a folder `models`. Copy the `UR3_single_cube_model.tar` file you've just downloaded into this folder.
 
 
 ## Set up the ROS side

diff --git a/PoseEstimationDemoProject/Assets/TutorialAssets/RosMessages/Moveit/msg/RobotTrajectory.cs b/PoseEstimationDemoProject/Assets/TutorialAssets/RosMessages/Moveit/msg/RobotTrajectory.cs
@@ -3,7 +3,7 @@
 using System.Linq;
 using System.Collections.Generic;
 using System.Text;
-using RosMessageGeneration;
+using Unity.Robotics.ROSTCPConnector.MessageGeneration;
 
 namespace RosMessageTypes.Moveit
 {

diff --git a/PoseEstimationDemoProject/Assets/TutorialAssets/RosMessages/Ur3Moveit/msg/UR3MoveitJoints.cs b/PoseEstimationDemoProject/Assets/TutorialAssets/RosMessages/Ur3Moveit/msg/UR3MoveitJoints.cs
@@ -3,7 +3,7 @@
 using System.Linq;
 using System.Collections.Generic;
 using System.Text;
-using RosMessageGeneration;
+using Unity.Robotics.ROSTCPConnector.MessageGeneration;
 
 namespace RosMessageTypes.Ur3Moveit
 {

diff --git a/PoseEstimationDemoProject/Assets/TutorialAssets/RosMessages/Ur3Moveit/msg/UR3Trajectory.cs b/PoseEstimationDemoProject/Assets/TutorialAssets/RosMessages/Ur3Moveit/msg/UR3Trajectory.cs
@@ -3,7 +3,7 @@
 using System.Linq;
 using System.Collections.Generic;
 using System.Text;
-using RosMessageGeneration;
+using Unity.Robotics.ROSTCPConnector.MessageGeneration;
 
 namespace RosMessageTypes.Ur3Moveit
 {

diff --git a/...imationDemoProject/Assets/TutorialAssets/RosMessages/Ur3Moveit/srv/MoverServiceRequest.cs b/...imationDemoProject/Assets/TutorialAssets/RosMessages/Ur3Moveit/srv/MoverServiceRequest.cs
@@ -3,7 +3,7 @@
 using System.Linq;
 using System.Collections.Generic;
 using System.Text;
-using RosMessageGeneration;
+using Unity.Robotics.ROSTCPConnector.MessageGeneration;
 
 namespace RosMessageTypes.Ur3Moveit
 {

diff --git a/...mationDemoProject/Assets/TutorialAssets/RosMessages/Ur3Moveit/srv/MoverServiceResponse.cs b/...mationDemoProject/Assets/TutorialAssets/RosMessages/Ur3Moveit/srv/MoverServiceResponse.cs
@@ -3,7 +3,7 @@
 using System.Linq;
 using System.Collections.Generic;
 using System.Text;
-using RosMessageGeneration;
+using Unity.Robotics.ROSTCPConnector.MessageGeneration;
 
 namespace RosMessageTypes.Ur3Moveit
 {

diff --git a/...moProject/Assets/TutorialAssets/RosMessages/Ur3Moveit/srv/PoseEstimationServiceRequest.cs b/...moProject/Assets/TutorialAssets/RosMessages/Ur3Moveit/srv/PoseEstimationServiceRequest.cs
@@ -3,7 +3,7 @@
 using System.Linq;
 using System.Collections.Generic;
 using System.Text;
-using RosMessageGeneration;
+using Unity.Robotics.ROSTCPConnector.MessageGeneration;
 
 namespace RosMessageTypes.Ur3Moveit
 {

diff --git a/...oProject/Assets/TutorialAssets/RosMessages/Ur3Moveit/srv/PoseEstimationServiceResponse.cs b/...oProject/Assets/TutorialAssets/RosMessages/Ur3Moveit/srv/PoseEstimationServiceResponse.cs
@@ -3,7 +3,7 @@
 using System.Linq;
 using System.Collections.Generic;
 using System.Text;
-using RosMessageGeneration;
+using Unity.Robotics.ROSTCPConnector.MessageGeneration;
 
 namespace RosMessageTypes.Ur3Moveit
 {

diff --git a/PoseEstimationDemoProject/Assets/TutorialAssets/Scripts/TrajectoryPlanner.cs b/PoseEstimationDemoProject/Assets/TutorialAssets/Scripts/TrajectoryPlanner.cs
@@ -4,7 +4,8 @@
 using UnityEngine;
 using UnityEngine.UI;
 
-using ROSGeometry;
+using Unity.Robotics.ROSTCPConnector;
+using Unity.Robotics.ROSTCPConnector.ROSGeometry;
 using RosMessageTypes.Ur3Moveit;
 using Quaternion = UnityEngine.Quaternion;
 using Transform = UnityEngine.Transform;

diff --git a/PoseEstimationDemoProject/Packages/manifest.json b/PoseEstimationDemoProject/Packages/manifest.json
@@ -6,8 +6,8 @@
     "com.unity.ide.vscode": "1.2.3",
     "com.unity.perception": "0.7.0-preview.2",
     "com.unity.render-pipelines.universal": "10.2.2",
-    "com.unity.robotics.ros-tcp-connector": "https://github.com/Unity-Technologies/ROS-TCP-Connector.git#v0.1.2",
-    "com.unity.robotics.urdf-importer": "https://github.com/Unity-Technologies/URDF-Importer.git#v0.1.2",
+    "com.unity.robotics.ros-tcp-connector": "https://github.com/Unity-Technologies/ROS-TCP-Connector.git?path=/com.unity.robotics.ros-tcp-connector#v0.2.0",
+    "com.unity.robotics.urdf-importer": "https://github.com/Unity-Technologies/URDF-Importer.git?path=/com.unity.robotics.urdf-importer#v0.2.0",
     "com.unity.test-framework": "1.1.20",
     "com.unity.textmeshpro": "3.0.1",
     "com.unity.timeline": "1.4.4",

diff --git a/PoseEstimationDemoProject/Packages/packages-lock.json b/PoseEstimationDemoProject/Packages/packages-lock.json
@@ -26,6 +26,13 @@
       },
       "url": "https://packages.unity.com"
     },
+    "com.unity.editorcoroutines": {
+      "version": "1.0.0",
+      "depth": 1,
+      "source": "registry",
+      "dependencies": {},
+      "url": "https://packages.unity.com"
+    },
     "com.unity.entities": {
       "version": "0.8.0-preview.8",
       "depth": 1,
@@ -155,18 +162,20 @@
       "url": "https://packages.unity.com"
     },
     "com.unity.robotics.ros-tcp-connector": {
-      "version": "https://github.com/Unity-Technologies/ROS-TCP-Connector.git#v0.1.2",
+      "version": "https://github.com/Unity-Technologies/ROS-TCP-Connector.git?path=/com.unity.robotics.ros-tcp-connector#v0.2.0",
       "depth": 0,
       "source": "git",
       "dependencies": {},
-      "hash": "ab45157ad3c11a5bce500ec181c2472895cd54dd"
+      "hash": "b75c1fa508989fb7502bfcc0a1a89a318758b61c"
     },
     "com.unity.robotics.urdf-importer": {
-      "version": "https://github.com/Unity-Technologies/URDF-Importer.git#v0.1.2",
+      "version": "https://github.com/Unity-Technologies/URDF-Importer.git?path=/com.unity.robotics.urdf-importer#v0.2.0",
       "depth": 0,
       "source": "git",
-      "dependencies": {},
-      "hash": "5ba94b3aac837b86468ebb7c460f26524f6b7e53"
+      "dependencies": {
+        "com.unity.editorcoroutines": "1.0.0"
+      },
+      "hash": "f663d6f959dac5abde446bd4ab19e799552273d7"
     },
     "com.unity.scriptablebuildpipeline": {
       "version": "1.6.4-preview",

diff --git a/ROS/src/ur3_moveit/package.xml b/ROS/src/ur3_moveit/package.xml
@@ -18,7 +18,7 @@
   <build_depend>rospy</build_depend>
   <build_depend>std_msgs</build_depend>
   <build_depend>geometry_msgs</build_depend>
-  <build_depend>tcp_endpoint</build_depend>
+  <build_depend>ros_tcp_endpoint</build_depend>
   <build_depend>moveit_msgs</build_depend>
   <build_depend>sensor_msgs</build_depend>
   <build_depend>controller_manager</build_depend>
@@ -27,12 +27,12 @@
   <build_export_depend>rospy</build_export_depend>
   <build_export_depend>std_msgs</build_export_depend>
   <build_export_depend>geometry_msgs</build_export_depend>
-  <build_export_depend>tcp_endpoint</build_export_depend>
+  <build_export_depend>ros_tcp_endpoint</build_export_depend>
   <exec_depend>roscpp</exec_depend>
   <exec_depend>rospy</exec_depend>
   <exec_depend>std_msgs</exec_depend>
   <exec_depend>geometry_msgs</exec_depend>
-  <exec_depend>tcp_endpoint</exec_depend>
+  <exec_depend>ros_tcp_endpoint</exec_depend>
 
 <!--   <run_depend>franka_description</run_depend> -->
   <exec_depend>moveit_ros_move_group</exec_depend>