Laurie/release tutorial fixes (#94)

Author: LaurieCheers-unity

tutorials/ros_unity_integration/images/generate_messages_1.png

@@ -12,25 +12,29 @@ Create a simple Unity scene which publishes a GameObject's position and rotation
 
    ```bash
     source devel/setup.bash
-	rosrun robotics_demo server_endpoint.py
+    rosrun robotics_demo server_endpoint.py
    ```
 
 Once the server_endpoint has started, it will print something similar to `[INFO] [1603488341.950794]: Starting server on 192.168.50.149:10000`.
 
 - Open another new terminal window, navigate to your ROS workspace, and run the following commands:
    ```bash
     source devel/setup.bash
-	rostopic echo pos_rot
+    rostopic echo pos_rot
    ```
 
 ## Setting Up Unity Scene
-- In the menu bar, find and select `RosMessageGeneration` -> `Auto Generate Messages` -> `Single Message ...`
-- Set the input file path to `PATH/TO/Unity-Robotics-Hub/tutorials/ros_packages/robotics_demo/msg/PosRot.msg ` and click `GENERATE!`
-    - The generated file will be saved in the default directory `Assets/RosMessages/msg`
+- In the menu bar, find and select `Robotics` -> `Generate ROS Messages...`
+- Set the ROS message path to `PATH/TO/Unity-Robotics-Hub/tutorials/ros_packages/robotics_demo`.
+    - Expand the robotics_demo subfolder and click "Build 2 msgs" to generate new C# scripts from the ROS .msg files.
+
+![](images/generate_messages_1.png)
+
+   - The generated files will be saved in the default directory `Assets/RosMessages/RoboticsDemo/msg`.
 - Create a new directory in `Assets` and name it `Scripts`
 - Create a new script in the `Scripts` directory and name it `RosPublisherExample.cs`
 - Open `RosPublisherExample.cs` and paste the following code:
-	- **Note** Script can be found at `tutorials/ros_unity_integration/unity_scripts`
+    - **Note** Script can be found at `tutorials/ros_unity_integration/unity_scripts`
 
 ```csharp
 using RosMessageTypes.RoboticsDemo;
@@ -42,7 +46,7 @@ using Random = UnityEngine.Random;
 /// </summary>
 public class RosPublisherExample : MonoBehaviour
 {
-    public ROSConnection ros;
+    ROSConnection ros;
     public string topicName = "pos_rot";
 
     // The GameObject 
@@ -53,6 +57,12 @@ public class RosPublisherExample : MonoBehaviour
     // Used to determine how much time has elapsed since the last message was published
     private float timeElapsed;
 
+    void Start()
+    {
+        // start the ROS connection
+        ros = ROSConnection.instance;
+    }
+
     private void Update()
     {
         timeElapsed += Time.deltaTime;
@@ -82,11 +92,10 @@ public class RosPublisherExample : MonoBehaviour
 
 - Add a plane and a cube to the empty Unity scene
 - Move the cube a little ways up so it is hovering above the plane
-- Create an empty GameObject, name it `RosConnection` and attach the `ROS TCP Connection/Runtime/TcpConnector/ROSConnection` script.
-	- Change the host name and port to match the ROS IP and port variables defined when you set up ROS
+- In the main menu bar, open `Robotics/ROS Settings`.
+    - Set the ROS IP address and port to match the ROS IP and port variables defined when you set up ROS.
 - Create another empty GameObject, name it `RosPublisher` and attach the `RosPublisherExample` script.
-	- Drag the cube GameObject onto the `Cube` parameter
-	- Drag the RosConnection object onto its `Ros` parameter.
+    - Drag the cube GameObject onto the `Cube` parameter.
 
 - Pressing play in the Editor should publish a message to the terminal running the `rostopic echo pos_rot` command every 0.5 seconds
 

tutorials/ros_unity_integration/images/generate_messages_2.png

@@ -4,7 +4,7 @@ Create a simple Unity scene which calls a [ROS service](http://wiki.ros.org/Serv
 
 ## Setting Up ROS
 
-(You can skip this if you already did the [ROS–Unity Integration Publisher](publisher.md) or [Subscriber](subscriber.md) tutorials.)
+(Skip to [Start the Position service](service.md#start-the-position-service) if you already did the [ROS–Unity Integration Publisher](publisher.md) or [Subscriber](subscriber.md) tutorials.)
 
 - Copy the `tutorials/ros_packages/robotics_demo` folder of this repo into the `src` folder in your Catkin workspace.
 
@@ -14,7 +14,7 @@ Create a simple Unity scene which calls a [ROS service](http://wiki.ros.org/Serv
 
    ```bash
     source devel/setup.bash
-	rosrun robotics_demo server_endpoint.py
+    rosrun robotics_demo server_endpoint.py
    ```
 
 Once the server_endpoint has started, it will print something similar to `[INFO] [1603488341.950794]: Starting server on 192.168.50.149:10000`.
@@ -24,16 +24,19 @@ Once the server_endpoint has started, it will print something similar to `[INFO]
 
    ```bash
     source devel/setup.bash
-	rosrun robotics_demo position_service.py
+    rosrun robotics_demo position_service.py
    ```
 
 ## Setting Up Unity Scene
-- Generate the C# code for `PositionService`'s messages by going to `RosMessageGeneration` -> `AutoGenerateServices` -> `Single Service...`
-- Set the input file path to `PATH/TO/Unity-Robotics-Hub/tutorials/ros_packages/robotics_demo/srv/PositionService.srv` and click `GENERATE!`
-    - The generated files will be saved in the default directory `Assets/RosMessages/srv`
+- Generate the C# code for `PositionService`'s messages by going to `Robotics` -> `Generate ROS Messages...`
+- Set the input file path to `PATH/TO/Unity-Robotics-Hub/tutorials/ros_packages/robotics_demo`, expand the robotics_demo folder and click `Build 1 srv`.
+
+![](images/generate_messages_2.png)
+
+   - The generated files will be saved in the default directory `Assets/RosMessages/RoboticsDemo/srv`.
 - Create a script and name it `RosServiceExample.cs`
 - Paste the following code into `RosServiceExample.cs`
-- **Note** Script can be found at `tutorials/ros_unity_integration/unity_scripts`
+    - **Note:** This script can be found at `tutorials/ros_unity_integration/unity_scripts`.
 
 ```csharp
 using System;
@@ -43,7 +46,7 @@ using Debug = UnityEngine.Debug;
 
 public class RosServiceExample : MonoBehaviour
 {
-    public ROSConnection ros;
+    ROSConnection ros;
 
     public string serviceName = "pos_srv";
 
@@ -58,6 +61,7 @@ public class RosServiceExample : MonoBehaviour
 
     void Start()
     {
+        ros = ROSConnection.instance;
         destination = cube.transform.position;
     }
 
@@ -98,10 +102,9 @@ public class RosServiceExample : MonoBehaviour
 }
 ```
 
-- Create an empty GameObject, name it `RosConnection`, and attach the `Plugins/TCPConnection/ROSConnection` script to it. (Or, if you're reusing the same scene from the previous tutorials, you can just keep the existing RosConnection object.)
-- In the Inspector window of the Editor change the `Host Name` variable on the `RosConnection` GameObject to the ROS IP.
-- Create another empty GameObject and name it `RosService`.
-- Attach the `RosServiceExample` script to the `RosService` GameObject. Drag the cube GameObject onto its `cube` parameter and the RosConnection GameObject onto its `Ros` parameter.
+- From the main menu bar, open `Robotics/ROS Settings`, and change the `ROS IP Address` variable to the ROS IP.
+- Create an empty GameObject and name it `RosService`.
+- Attach the `RosServiceExample` script to the `RosService` GameObject. Drag the cube GameObject onto its `cube` parameter.
 - Pressing play in the Editor should start communication with the `position_service` script, running as a ROS node, causing the cube to move to random positions in the scene.
 
 ![](images/tcp_3.gif)

tutorials/ros_unity_integration/publisher.md

@@ -62,4 +62,4 @@ Once ROS Core has started, it will print `started core service [/rosout]` to the
 
 ![](images/add_package_2.png)
 
-Messages being passed between Unity and ROS need to be serialized exactly as ROS serializes them internally. This is achieved with the RosMessageGeneration utility, which generates C# classes, including serialization and deserialization functions, based on ROS message files. Adding the ROS TCP Connector package should have created a new Unity menu option, “RosMessageGeneration”, which we will use to generate these messages later.
+Messages being passed between Unity and ROS need to be serialized exactly as ROS serializes them internally. This is achieved with the RosMessageGeneration utility, which generates C# classes, including serialization and deserialization functions, based on ROS message files. Adding the ROS TCP Connector package should have created a new Unity menu option, “Robotics/Generate ROS Messages”, which we will use to generate these messages later.

tutorials/ros_unity_integration/service.md

@@ -2,11 +2,9 @@
 
 Create a simple Unity scene which subscribes to a [ROS topic](http://wiki.ros.org/ROS/Tutorials/UnderstandingTopics#ROS_Topics) to change the colour of a GameObject.
 
-**NOTE:** If following from [Publisher](publisher.md) tutorial proceed to [Setting Up Unity Scene](subscriber.md#setting-up-unity-scene) step.
-
 ## Setting Up ROS
 
-(You can skip this if you already did the [ROS–Unity Integration Publisher](publisher.md) tutorial.)
+(Skip to [Setting Up Unity Scene](subscriber.md#setting-up-unity-scene) if you already did the [Publisher](publisher.md) tutorial.)
 
 - Copy the `tutorials/ros_packages/robotics_demo` folder of this repo into the `src` folder in your Catkin workspace.
 
@@ -16,31 +14,34 @@ Create a simple Unity scene which subscribes to a [ROS topic](http://wiki.ros.or
 
    ```bash
     source devel/setup.bash
-	rosrun robotics_demo server_endpoint.py
+    rosrun robotics_demo server_endpoint.py
    ```
 
 Once the server_endpoint has started, it will print something similar to `[INFO] [1603488341.950794]: Starting server on 192.168.50.149:10000`.
 
+- In Unity, we need to generate the C# code for the `UnityColor` message. Open `Robotics` -> `Generate ROS Messages...`.
+    - Set the ROS message path to `PATH/TO/Unity-Robotics-Hub/tutorials/ros_packages/robotics_demo/`, expand the robotics_demo subfolder and click `Build 2 msgs`.
+    
+![](images/generate_messages_1.png)
+
+   - The generated files will be saved in the default directory `Assets/RosMessages/RoboticsDemo/msg`.
+
 ## Setting Up Unity Scene
-- Generate the C# code for `UnityColor` message by going to `RosMessageGeneration` -> `AutoGenerateMessages` -> `Single Message...`
-- Set the input file path to `PATH/TO/Unity-Robotics-Hub/tutorials/ros_packages/robotics_demo/msg/UnityColor.msg` and click `GENERATE!`
-    - The generated file will be saved in the default directory `Assets/RosMessages/msg`
 - Create a script and name it `RosSubscriberExample.cs`
 - Paste the following code into `RosSubscriberExample.cs`
-	- **Note** Script can be found at `tutorials/ros_unity_integration/unity_scripts`
+    - **Note** Script can be found at `tutorials/ros_unity_integration/unity_scripts`
 
 ```csharp
 using UnityEngine;
 using RosColor = RosMessageTypes.RoboticsDemo.UnityColor;
 
 public class RosSubscriberExample : MonoBehaviour
 {
-    public ROSConnection ros;
     public GameObject cube;
 
     void Start()
     {
-        ros.Subscribe<RosColor>("color", ColorChange);
+        ROSConnection.instance.Subscribe<RosColor>("color", ColorChange);
     }
 
     void ColorChange(RosColor colorMessage)
@@ -50,14 +51,15 @@ public class RosSubscriberExample : MonoBehaviour
 }
 ```
 
-- Create an empty GameObject, name it `RosConnection` and attach the `Packages/ROS TCP Connection/Runtime/TcpConnector/ROSConnection` script. (Or, if you're reusing the same scene from the Publisher tutorial, you can just keep the existing RosConnection object.)
-	- Change the host name and port to match the ROS IP and port variables defined when you set up ROS.
-	- The IP for Unity to listen on should be determined automatically, but if you're having trouble, you can set it manually in the `Override Unity IP` field. Finding the IP address of your local machine (the one running Unity) depends on your operating system.
-		- On a Mac, open `System Preferences > Network`. Your IP address should be listed on the active connection.
-		- On Windows, click the Wi-Fi icon on the taskbar, and open `Properties`. Your IP address should be listed near the bottom, next to "IPv4 address."
-
 - Create an empty GameObject and name it `RosSubscriber`
-- Attach the `RosSubscriberExample` script to the `RosSubscriber` GameObject, drag the cube GameObject onto the `cube` parameter in the Inspector window and the `RosConnection` object onto the `ros` parameter.
+- Attach the `RosSubscriberExample` script to the `RosSubscriber` GameObject and drag the cube GameObject onto the `cube` parameter in the Inspector window.
+
+- From the Unity menu bar, open `Robotics/ROS Settings`, and set the `ROS IP Address` variable to your ROS IP.
+    - Unlike the previous tutorial, using a subscriber requires an incoming connection from ROS to Unity. You may need to adjust your firewall settings for this to work.
+    - The IP for Unity to listen on should be determined automatically, but if you're having trouble, you can set it manually in the `Override Unity IP` field. Finding the IP address of your local machine (the one running Unity) depends on your operating system.
+        - On a Mac, open `System Preferences > Network`. Your IP address should be listed on the active connection.
+        - On Windows, click the Wi-Fi icon on the taskbar, and open `Properties`. Your IP address should be listed near the bottom, next to "IPv4 address."
+
 - Press play in the editor
 
 ### In ROS Terminal Window

tutorials/ros_unity_integration/setup.md

@@ -7,7 +7,7 @@
 /// </summary>
 public class RosPublisherExample : MonoBehaviour
 {
-    public ROSConnection ros;
+    ROSConnection ros;
     public string topicName = "pos_rot";
 
     // The game object 
@@ -17,6 +17,12 @@ public class RosPublisherExample : MonoBehaviour
 
     // Used to determine how much time has elapsed since the last message was published
     private float timeElapsed;
+    
+    void Start()
+    {
+        // start the ROS connection
+        ros = ROSConnection.instance;
+    }
 
     private void Update()
     {

tutorials/ros_unity_integration/subscriber.md

@@ -5,7 +5,7 @@
 
 public class RosServiceExample : MonoBehaviour
 {
-    public ROSConnection ros;
+    ROSConnection ros;
 
     public string serviceName = "pos_srv";
 
@@ -20,6 +20,7 @@ public class RosServiceExample : MonoBehaviour
 
     void Start()
     {
+        ros = ROSConnection.instance;
         destination = cube.transform.position;
     }
 

tutorials/ros_unity_integration/unity_scripts/RosPublisherExample.cs

@@ -3,12 +3,11 @@
 
 public class RosSubscriberExample : MonoBehaviour
 {
-    public ROSConnection ros;
     public GameObject cube;
 
     void Start()
     {
-        ros.Subscribe<RosColor>("color", ColorChange);
+        ROSConnection.instance.Subscribe<RosColor>("color", ColorChange);
     }
 
     void ColorChange(RosColor colorMessage)