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Unity server update (#49)
ROSConnection runs a listen server with auto IP detection
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Lines changed: 77 additions & 154 deletions

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‎tutorials/pick_and_place/2_ros_tcp.md‎

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@@ -187,11 +187,10 @@ Most of the ROS setup has been provided via the `niryo_moveit` package. This sec
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sudo -H pip install rospkg jsonpickle
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```
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> In your ROS workspace, find the directory `src/niryo_moveit/scripts`. Note the file `server_endpoint.py`. This script imports the necessary dependencies from tcp_endpoint, defines the TCP host address and port values, and starts the server. `rospy.spin()` ensures the node does not exit until it is shut down.
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> In your ROS workspace, find the directory `src/niryo_moveit/scripts`. Note the file `server_endpoint.py`. This script imports the necessary dependencies from tcp_endpoint and starts the server. `rospy.spin()` ensures the node does not exit until it is shut down.
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```python
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...
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tcp_server = TCPServer(ros_tcp_ip, ros_tcp_port, ros_node_name, source_destination_dict)
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tcp_server.start()
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rospy.spin()
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...
@@ -203,32 +202,18 @@ Most of the ROS setup has been provided via the `niryo_moveit` package. This sec
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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. Navigate to `src/niryo_moveit/config/params.yaml` and open the file for editing. You will need to know the IP address of your ROS machine as well as the IP address of the machine running Unity.
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- The ROS machine IP, i.e. `ROS_IP` should be the same value as the one set as `Host Name` on the RosConnect component in Unity.
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- Finding the IP address of your local machine (the one running Unity), i.e. `UNITY_IP` depends on your operating system.
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- On a Mac, open `System Preferences > Network`. Your IP address should be listed on the active connection.
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- 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."
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- Update the `ROS_IP` and `UNITY_IP` below with the appropriate addresses and copy the contents into the `params.yaml` file.
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- Update the `ROS_IP` below with the appropriate addresses and copy the contents into the `params.yaml` file.
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```yaml
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ROS_IP: <your ROS IP>
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ROS_TCP_PORT: 10000
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UNITY_IP: <your Unity IP>
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UNITY_SERVER_PORT: 5005
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rosdistro: 'melodic'
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```
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e.g.
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```yaml
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ROS_IP: 192.168.50.149
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ROS_TCP_PORT: 10000
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UNITY_IP: 192.168.50.13
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UNITY_SERVER_PORT: 5005
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rosdistro: 'melodic'
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```
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Ensure that the `ROS_TCP_PORT` is set to 10000, and the `UNITY_SERVER_PORT` is set to 5005.
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> Note: Learn more about the server endpoint and ROS parameters [here](../ros_unity_integration/server_endpoint.md).
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> This YAML file is `rosparam set` from the launch files provided for this tutorial, which has been copied below for reference. Additionally, the server_endpoint and trajectory_subscriber nodes are launched from this file.

‎tutorials/pick_and_place/PickAndPlaceProject/Packages/manifest.json‎

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@@ -4,8 +4,8 @@
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"com.unity.ide.rider": "2.0.7",
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"com.unity.ide.visualstudio": "2.0.3",
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"com.unity.ide.vscode": "1.2.2",
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"com.unity.robotics.urdf-importer": "git+https://github.com/Unity-Technologies/URDF-Importer.git#v0.0.4",
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"com.unity.robotics.ros-tcp-connector": "git+https://github.com/Unity-Technologies/ROS-TCP-Connector.git#v0.0.2",
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"com.unity.robotics.urdf-importer": "https://github.com/Unity-Technologies/URDF-Importer.git#v0.0.4",
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"com.unity.robotics.ros-tcp-connector": "https://github.com/Unity-Technologies/ROS-TCP-Connector.git#v0.0.3",
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"com.unity.test-framework": "1.1.18",
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"com.unity.textmeshpro": "3.0.1",
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"com.unity.timeline": "1.4.3",

‎tutorials/pick_and_place/PickAndPlaceProject/Packages/packages-lock.json‎

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"url": "https://packages.unity.com"
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},
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"com.unity.robotics.ros-tcp-connector": {
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"version": "git+https://github.com/Unity-Technologies/ROS-TCP-Connector.git#v0.0.2",
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"version": "https://github.com/Unity-Technologies/ROS-TCP-Connector.git#v0.0.3",
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"depth": 0,
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"source": "git",
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"dependencies": {},
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"hash": "0e963defca4eb075316d30e1e4224dee276c22cb"
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"hash": "251c159b0a4bab0950c43e6a3be4524876d2549f"
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},
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"com.unity.robotics.urdf-importer": {
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"version": "git+https://github.com/Unity-Technologies/URDF-Importer.git#v0.0.4",
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"version": "https://github.com/Unity-Technologies/URDF-Importer.git#v0.0.4",
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"depth": 0,
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"source": "git",
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"dependencies": {},

‎tutorials/pick_and_place/ROS/src/niryo_moveit/config/params.yaml‎

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ROS_IP: 192.168.50.149
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ROS_TCP_PORT: 10000
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UNITY_IP: 192.168.50.13
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UNITY_SERVER_PORT: 5005
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rosdistro: 'melodic'
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ROS_IP: 127.0.0.1

‎tutorials/pick_and_place/ROS/src/niryo_moveit/scripts/server_endpoint.py‎

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from niryo_moveit.srv import MoverService
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def main():
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# Get variables set in rosparam used for
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# server/node communication
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ros_tcp_ip = rospy.get_param("/ROS_IP")
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ros_tcp_port = rospy.get_param("/ROS_TCP_PORT")
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ros_node_name = rospy.get_param("/TCP_NODE_NAME", 'TCPServer')
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unity_machine_ip = rospy.get_param("/UNITY_IP")
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unity_machine_port = rospy.get_param("/UNITY_SERVER_PORT")
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rospy.init_node(ros_node_name, anonymous=True)
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rate = rospy.Rate(10) # 10hz
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tcp_server = TCPServer(ros_node_name)
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# Create ROS communication objects dictionary for routing messages
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source_destination_dict = {
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tcp_server.source_destination_dict = {
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'SourceDestination_input': RosPublisher('SourceDestination', NiryoMoveitJoints, queue_size=10),
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'NiryoTrajectory': RosSubscriber('NiryoTrajectory', NiryoTrajectory, unity_machine_ip, unity_machine_port),
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'NiryoTrajectory': RosSubscriber('NiryoTrajectory', NiryoTrajectory, tcp_server),
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'niryo_moveit': RosService('niryo_moveit', MoverService)
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}
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# Start the Server Endpoint
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tcp_server = TCPServer(ros_tcp_ip, ros_tcp_port, ros_node_name, source_destination_dict)
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rospy.init_node(ros_node_name, anonymous=True)
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tcp_server.start()
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rospy.spin()
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‎tutorials/pick_and_place/ROS/src/ros_tcp_endpoint‎

‎tutorials/ros_packages/robotics_demo/scripts/server_endpoint.py‎

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from robotics_demo.msg import PosRot, UnityColor
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from robotics_demo.srv import PositionService
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def main():
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ros_tcp_ip = rospy.get_param("/ROS_IP")
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ros_tcp_port = rospy.get_param("/ROS_TCP_PORT")
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ros_node_name = rospy.get_param("/TCP_NODE_NAME", 'TCPServer')
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buffer_size = rospy.get_param("/TCP_BUFFER_SIZE", 1024)
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connections = rospy.get_param("/TCP_CONNECTIONS", 10)
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tcp_server = TCPServer(ros_node_name, buffer_size, connections)
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unity_machine_ip = rospy.get_param("/UNITY_IP")
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unity_machine_port = rospy.get_param("/UNITY_SERVER_PORT")
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rospy.init_node(ros_node_name, anonymous=True)
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rate = rospy.Rate(10) # 10hz
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source_destination_dict = {
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tcp_server.source_destination_dict = {
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'pos_srv': RosService('position_service', PositionService),
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'pos_rot': RosPublisher('pos_rot', PosRot, queue_size=10),
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'color': RosSubscriber('color', UnityColor, unity_machine_ip, unity_machine_port),
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'color': RosSubscriber('color', UnityColor, tcp_server)
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}
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tcp_server = TCPServer(ros_tcp_ip, ros_tcp_port, ros_node_name, source_destination_dict, buffer_size, connections)
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rospy.init_node(ros_node_name, anonymous=True)
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tcp_server.start()
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rospy.spin()
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‎tutorials/ros_unity_integration/server_endpoint.md‎

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@@ -22,37 +22,25 @@ from tcp_endpoint.RosService import RosService
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from robotics_demo.msg import PosRot, UnityColor
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from robotics_demo.srv import PositionService
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def main():
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# Get variables set in rosparam used for
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# server/node communication
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ros_tcp_ip = rospy.get_param("/ROS_IP")
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ros_tcp_port = rospy.get_param("/ROS_TCP_PORT")
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ros_node_name = rospy.get_param("/TCP_NODE_NAME", 'TCPServer')
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buffer_size = rospy.get_param("/TCP_BUFFER_SIZE", 1024)
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connections = rospy.get_param("/TCP_CONNECTIONS", 10)
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tcp_server = TCPServer(ros_node_name, buffer_size, connections)
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unity_machine_ip = rospy.get_param("/UNITY_IP")
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unity_machine_port = rospy.get_param("/UNITY_SERVER_PORT")
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rospy.init_node(ros_node_name, anonymous=True)
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rate = rospy.Rate(10) # 10hz
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# Create ROS communication objects dictionary for routing messages
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source_destination_dict = {
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tcp_server.source_destination_dict = {
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'pos_srv': RosService('position_service', PositionService),
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'pos_rot': RosPublisher('pos_rot', PosRot, queue_size=10),
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'color': RosSubscriber('color', UnityColor, unity_machine_ip, unity_machine_port),
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'color': RosSubscriber('color', UnityColor, tcp_server)
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}
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# Start the Server Endpoint
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tcp_server = TCPServer(ros_tcp_ip, ros_tcp_port, ros_node_name, source_destination_dict)
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rospy.init_node(ros_node_name, anonymous=True)
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tcp_server.start()
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rospy.spin()
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if __name__ == "__main__":
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main()
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```
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```python
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rospy.init_node(ros_node_name, anonymous=True)
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rate = rospy.Rate(10) # 10hz
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```
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## ROS Publisher
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`RosPublisher('pos_rot', PosRot, queue_size=10)`
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## ROS Subscriber
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A ROS Subscriber requires four components:
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A ROS Subscriber requires three components:
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- Topic name
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- ROS message class generated from running `catkin_make` command
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- IP address of machine running Unity
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- Corresponding TCP port of machine running Unity
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- The tcp server that will connect to Unity
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`RosSubscriber('color', UnityColor, unity_machine_ip, unity_machine_port)`
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`RosSubscriber('color', UnityColor, tcp_server)`
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## ROS Service
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A ROS Service requires two components:
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`RosService('position_service', PositionService)`
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## Creating the Server
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Requires:
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- The ROS node name
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```python
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tcp_server = TCPServer(ros_node_name)
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```
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## Source Destination Dictionary
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Create a dictionary keyed by topic or service with the corresponding ROS communication class as the value. The dictionary is used by the TCP server to direct messages to and from the ROS network.
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```python
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source_destination_dict = {
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tcp_server.source_destination_dict = {
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'pos_srv': RosService('position_service', PositionService),
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'pos_rot': RosPublisher('pos_rot', PosRot, queue_size=10),
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'color': RosSubscriber('color', Color, unity_machine_ip, unity_machine_port),
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'color': RosSubscriber('color', Color, tcp_server),
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}
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```
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## Starting the Server
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Requires:
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- IP of machine the script will be executing on
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- The port to open for incoming connections
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- The ROS node name
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- Dictionary of service or topic names to corresponding class
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```python
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tcp_server = TCPServer(ros_tcp_ip, ros_tcp_port, ros_node_name, source_destination_dict)
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tcp_server.start()
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rospy.spin()
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```
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These values can be hardcoded, but for the sake of portability, we recommend setting the parameters using the `rosparam set` command, or a `rosparam` YAML file.
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The following parameters can be hardcoded, but for the sake of portability, we recommend setting the parameters using the `rosparam set` command, or a `rosparam` YAML file.
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```python
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ros_tcp_ip = rospy.get_param("/ROS_IP")
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ros_tcp_port = rospy.get_param("/ROS_TCP_PORT")
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ros_node_name = rospy.get_param("/TCP_NODE_NAME", 'TCPServer')
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unity_machine_ip = rospy.get_param("/UNITY_IP")
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unity_machine_port = rospy.get_param("/UNITY_SERVER_PORT")
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buffer_size = rospy.get_param("/TCP_BUFFER_SIZE", 1024)
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connections = rospy.get_param("/TCP_CONNECTIONS", 10)
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```
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In addition, the TCPServer class uses the ROS parameters ROS_IP and ROS_TCP_PORT to determine what ip & port to listen on.
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> Note: Read more about the ROS Parameter Server [here](http://wiki.ros.org/Parameter%20Server).
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## Launch File
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<param name="ROS_TCP_PORT" type="int" value="10000" />
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<param name="TCP_NODE_NAME" type="str" value="TCPServer" />
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<param name="UNITY_IP" type="str" value="192.168.1.105" />
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<param name="UNITY_SERVER_PORT" type="int" value="5005" />
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<group ns="position_service_and_endpoint">
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<node pkg="robotics_demo" name="position_service" type="position_service.py"/>
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<node pkg="robotics_demo" name="server_endpoint" type="server_endpoint.py"/>

‎tutorials/ros_unity_integration/service.md‎

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}
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```
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- Create an empty GameObject, name it `RosConnection`, and attach the `Plugins/TCPConnection/ROSConnection` script to it.
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- 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.)
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- In the Inspector window of the Editor change the `Host Name` variable on the `RosConnection` GameObject to the ROS IP.
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- Create another empty GameObject and name it `RosService`.
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- Attach the `RosServiceExample` script to the `RosService` GameObject. Drag the cube GameObject onto its `cube` parameter and the RosConnection GameObject onto its `Ros` parameter.

‎tutorials/ros_unity_integration/setup.md‎

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1. Note that in the `server_endpoint`, the script fetches parameters for the TCP connection. You will need to know the IP address of your ROS machine as well as the IP address of the machine running Unity.
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- The ROS machine IP, i.e. `ROS_IP` should be the same value as the one set as `Host Name` on the RosConnect component in Unity.
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- Finding the IP address of your local machine (the one running Unity), i.e. `UNITY_IP` depends on your operating system.
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- On a Mac, open `System Preferences > Network`. Your IP address should be listed on the active connection.
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- 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."
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1. The ROS parameter values can be set using a YAML file. Create a `params.yaml` file in your package, e.g. `./config/params.yaml`. Open the file for editing.
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1. Update the `ROS_IP` and `UNITY_IP` below with the appropriate addresses and copy the contents into the `params.yaml` file.
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1. Update the `ROS_IP` below with the appropriate address and copy the contents into the `params.yaml` file.
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```yaml
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ROS_IP: <your ROS IP>
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ROS_TCP_PORT: 10000
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UNITY_IP: <your Unity IP>
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UNITY_SERVER_PORT: 5005
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rosdistro: 'melodic'
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```
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```yaml
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ROS_IP: 192.168.50.149
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ROS_TCP_PORT: 10000
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UNITY_IP: 192.168.50.13
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UNITY_SERVER_PORT: 5005
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rosdistro: 'melodic'
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```
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Ensure that the `ROS_TCP_PORT` is set to 10000, and the `UNITY_SERVER_PORT` is set to 5005.
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Ensure that the `ROS_TCP_PORT` is set to 10000.
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1. Set these newly defined parameters by running `rosparam load`, e.g.:
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