Merge pull request #62 from Unity-Technologies/devin/pep8-endpoint

AIRO-315 Updating to new server_endpoint style

ROS-TCP-Endpoint got a pep-8 makeover. Updating the server_endpoint to match the new interface.

Tested by running through part2 of the pick and place tutorial.

Author: mrpropellers

tutorials/pick_and_place/PickAndPlaceProject/.gitignore

@@ -15,7 +15,7 @@
 /[Mm]emoryCaptures/
 
 # Asset meta data should only be ignored when the corresponding asset is also ignored
-!/[Aa]ssets/**/*.meta
+# !/[Aa]ssets/**/*.meta
 
 # Uncomment this line if you wish to ignore the asset store tools plugin
 # /[Aa]ssets/AssetStoreTools*

tutorials/pick_and_place/ROS/.gitignore

@@ -0,0 +1,3 @@
+build
+devel
+src/CMakeLists.txt

tutorials/pick_and_place/ROS/src/niryo_moveit/CMakeLists.txt

@@ -1,18 +1,11 @@
 cmake_minimum_required(VERSION 3.0.2)
 project(niryo_moveit)
 
-## Compile as C++11, supported in ROS Kinetic and newer
-# add_compile_options(-std=c++11)
-
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
 find_package(catkin REQUIRED COMPONENTS
-  roscpp
   rospy
   std_msgs
   geometry_msgs
-  tcp_endpoint
+  ros_tcp_endpoint
   message_generation
   moveit_msgs
   sensor_msgs
@@ -22,59 +15,10 @@ find_package(catkin REQUIRED COMPONENTS
 )
 roslaunch_add_file_check(launch)
 
-## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
-
-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
-
-################################################
-## Declare ROS messages, services and actions ##
-################################################
-
-## To declare and build messages, services or actions from within this
-## package, follow these steps:
-## * Let MSG_DEP_SET be the set of packages whose message types you use in
-##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
-## * In the file package.xml:
-##   * add a build_depend tag for "message_generation"
-##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
-##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
-##     but can be declared for certainty nonetheless:
-##     * add a exec_depend tag for "message_runtime"
-## * In this file (CMakeLists.txt):
-##   * add "message_generation" and every package in MSG_DEP_SET to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * add "message_runtime" and every package in MSG_DEP_SET to
-##     catkin_package(CATKIN_DEPENDS ...)
-##   * uncomment the add_*_files sections below as needed
-##     and list every .msg/.srv/.action file to be processed
-##   * uncomment the generate_messages entry below
-##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
-
-## Generate messages in the 'msg' folder
-add_message_files(
-  FILES
-  NiryoMoveitJoints.msg
-  NiryoTrajectory.msg
-)
-
-## Generate services in the 'srv' folder
-add_service_files(
-  FILES
-  MoverService.srv
-)
+add_message_files(DIRECTORY msg)
 
-## Generate actions in the 'action' folder
-# add_action_files(
-#   FILES
-#   Action1.action
-#   Action2.action
-# )
+add_service_files(DIRECTORY srv)
 
-## Generate added messages and services with any dependencies listed here
 generate_messages(
   DEPENDENCIES
   geometry_msgs
@@ -83,128 +27,15 @@ generate_messages(
   sensor_msgs
 )
 
-################################################
-## Declare ROS dynamic reconfigure parameters ##
-################################################
-
-## To declare and build dynamic reconfigure parameters within this
-## package, follow these steps:
-## * In the file package.xml:
-##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
-## * In this file (CMakeLists.txt):
-##   * add "dynamic_reconfigure" to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * uncomment the "generate_dynamic_reconfigure_options" section below
-##     and list every .cfg file to be processed
-
-## Generate dynamic reconfigure parameters in the 'cfg' folder
-# generate_dynamic_reconfigure_options(
-#   cfg/DynReconf1.cfg
-#   cfg/DynReconf2.cfg
-# )
-
-###################################
-## catkin specific configuration ##
-###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if your package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
-catkin_package(
-#  INCLUDE_DIRS include
-#  LIBRARIES niryo_moveit
-#  CATKIN_DEPENDS rospy std_msgs
-#  DEPENDS system_lib
-)
-
-###########
-## Build ##
-###########
-
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-include_directories(
-# include
-  ${catkin_INCLUDE_DIRS}
-)
+catkin_package()
 
-## Declare a C++ library
-# add_library(${PROJECT_NAME}
-#   src/${PROJECT_NAME}/niryo_moveit.cpp
-# )
-
-## Add cmake target dependencies of the library
-## as an example, code may need to be generated before libraries
-## either from message generation or dynamic reconfigure
-# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Declare a C++ executable
-## With catkin_make all packages are built within a single CMake context
-## The recommended prefix ensures that target names across packages don't collide
-# add_executable(${PROJECT_NAME}_node src/niryo_moveit_node.cpp)
-
-## Rename C++ executable without prefix
-## The above recommended prefix causes long target names, the following renames the
-## target back to the shorter version for ease of user use
-## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
-# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
-
-## Add cmake target dependencies of the executable
-## same as for the library above
-# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Specify libraries to link a library or executable target against
-# target_link_libraries(${PROJECT_NAME}_node
-#   ${catkin_LIBRARIES}
-# )
-
-#############
-## Install ##
-#############
-
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
-
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
 catkin_install_python(PROGRAMS
   scripts/mover.py
   scripts/server_endpoint.py
   scripts/trajectory_subscriber.py
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 
-## Mark executables for installation
-## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
-# install(TARGETS ${PROJECT_NAME}_node
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark libraries for installation
-## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
-# install(TARGETS ${PROJECT_NAME}
-#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
-# )
-
-## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
-#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-#   FILES_MATCHING PATTERN "*.h"
-#   PATTERN ".svn" EXCLUDE
-# )
-
-## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-#   # myfile1
-#   # myfile2
-#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
-
-# FROM panda MoveIt tutorial repo
 install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
   PATTERN "setup_assistant.launch" EXCLUDE)
 install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

tutorials/pick_and_place/ROS/src/niryo_moveit/package.xml

@@ -5,16 +5,15 @@
   <description>The niryo_moveit package</description>
 
 
-  <maintainer email="unity@todo.todo">unity</maintainer>
+  <maintainer email="unity-robotics@unity3d.com">Unity Robotics</maintainer>
 
-  <license>TODO</license>
+  <license>Apache 2.0</license>
 
     <build_depend>message_generation</build_depend>
 
     <exec_depend>message_runtime</exec_depend>
 
   <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>roscpp</build_depend>
   <build_depend>rospy</build_depend>
   <build_depend>std_msgs</build_depend>
   <build_depend>geometry_msgs</build_depend>
@@ -23,12 +22,10 @@
   <build_depend>sensor_msgs</build_depend>
   <build_depend>controller_manager</build_depend>
   <build_depend>roslaunch</build_depend>
-  <build_export_depend>roscpp</build_export_depend>
   <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>
-  <exec_depend>roscpp</exec_depend>
   <exec_depend>rospy</exec_depend>
   <exec_depend>std_msgs</exec_depend>
   <exec_depend>geometry_msgs</exec_depend>

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

@@ -2,14 +2,12 @@
 
 import rospy
 
-from tcp_endpoint.RosTCPServer import TCPServer
-from tcp_endpoint.RosPublisher import RosPublisher
-from tcp_endpoint.RosSubscriber import RosSubscriber
-from tcp_endpoint.RosService import RosService
+from ros_tcp_endpoint import TCPServer, RosPublisher, RosSubscriber, RosService
 
 from niryo_moveit.msg import NiryoMoveitJoints, NiryoTrajectory
 from niryo_moveit.srv import MoverService
 
+
 def main():
     ros_node_name = rospy.get_param("/TCP_NODE_NAME", 'TCPServer')
     tcp_server = TCPServer(ros_node_name)