Merge Dev to Main for release 0.4.0 (#241)

* Fixing issue with Demo.cs not working with new URDF Importer co-routine * remove unused import (#163) * update package import urls for tcp connector and urdf importer (#166) * Update urdf_tutorial.md (#168) * Added M prefixes to docs (#167) * Adding Editor version to Ros Integration Readme * Updating package dependencies to proper versions Pick and place tutorial was failing to compile its scripts because the package manifest was pointing to an older version of ROS-TCP-Connector. Updated the manifest and also pulled latest changes for ros_tcp_endpoint. Tested by running DemoScene * Updating Contribution Content (#186) * Contributing content * PR feedback * Adding PR template (#191) * fixing typo in ros-unity service tutorial (#198) * Unity service example (#199) * added example of implementing a UnityService * adding tutorial for unity service * added a couple comments to the example code * typos and code standard fixes * consistency: changing the service name for position_service to pos_srv * updating the tutorial to match the corresponding script * Update the list of new physics features (#204) * add new sections for the released new physics features Co-authored-by: Amanda <31416491+at669@users.noreply.github.com> * Update to 0.3.0 (#207) * Removing old version tags from git URLs in quick_setup Addressing user issue #209. Our quick_setup guide was still recommending users check out v.0.2.0 of our packages. Removed the reference to a specific package version and instead included a note that users can explicitly declare a package version if desired. Tested by making the change locally in the package manifest. * Adding network troubleshooting doc. (#195) * Adding network troubleshooting doc. * Updating tutorials to the glorious new world (#211) * add changelog (#218) add changelog * Forum links to README, config.yml (#219) * Add linter (#227) * Add linter and pre-commit hooks * Formatting * Remove setting up ruby * Resolve conflicts 2 (#233) * Merging dev branch into main (#78) * Reverting params.yaml and updating code in server_endpoint.md * TcpServer class was renamed * convert all files with dos2unix (#76) * Minor tutorial tweaks, update version numbers Co-authored-by: Devin Miller <devin.miller@unity3d.com> Co-authored-by: Peifeng Jing <peifeng.jing@unity3d.com> * Updating instructions for URDF repository (#71) * 1. Adding images for URDF tutorial 2. Adding instructions highlighting Disable Collison tag * Adding link to example of disable collision tag in the niryo_one URDF file * Sarah/readme update (#112) * Adding physics roadmap and minor formatting changes * formatting nits * Calling out feature requests * Update for ROS-TCP-Connector namespace changes * Mpinol/simrealrebased (#107) * Adding sim and real pnp files. * Update with new instructions (#147) * Update tutorial text (#148) * AIRO-405 Adding Yamato boilerplate to Robotics Hub (#144) * Adding testing boilerplate * Adding tests to run after message generation * Tweaks to ensure run works in Bokken image * Enabling audio by default, but disabling it in yamato config * Hotfix: Remove DemoScripts asmdef The DemoScripts.asmdef was a bit of experimental cruft that snuck in via my Yamato changes. This causes Demo.cs to compile as an Editor script, which means it can no longer be instantiated in the scene hierarchy (this breaks the demo). Removing the asmdef puts things back to normal. Tested by running the demo. * Use latest main * Fixing issue with Demo.cs not working with new URDF Importer co-routine * remove unused import (#163) * update package import urls for tcp connector and urdf importer (#166) * Update urdf_tutorial.md (#168) * Added M prefixes to docs (#167) * Adding Editor version to Ros Integration Readme * Updating package dependencies to proper versions Pick and place tutorial was failing to compile its scripts because the package manifest was pointing to an older version of ROS-TCP-Connector. Updated the manifest and also pulled latest changes for ros_tcp_endpoint. Tested by running DemoScene * Updating Contribution Content (#186) * Contributing content * PR feedback * Adding PR template (#191) * Unity service example (#199) * added example of implementing a UnityService * adding tutorial for unity service * added a couple comments to the example code * typos and code standard fixes * consistency: changing the service name for position_service to pos_srv * updating the tutorial to match the corresponding script * Update the list of new physics features (#204) * add new sections for the released new physics features Co-authored-by: Amanda <31416491+at669@users.noreply.github.com> * Update to 0.3.0 (#207) * Removing old version tags from git URLs in quick_setup Addressing user issue #209. Our quick_setup guide was still recommending users check out v.0.2.0 of our packages. Removed the reference to a specific package version and instead included a note that users can explicitly declare a package version if desired. Tested by making the change locally in the package manifest. * Updating tutorials to the glorious new world (#211) * add changelog (#218) add changelog * Forum links to README, config.yml (#219) * Add linter (#227) * Add linter and pre-commit hooks * Formatting * Remove setting up ruby * Fixing issue with Demo.cs not working with new URDF Importer co-routine (#162) Co-authored-by: Devin Miller <devin.miller@unity3d.com> * Readme: New Link (#172) * Fixing issue with Demo.cs not working with new URDF Importer co-routine * remove unused import (#163) * README update * PR feedback * Blog post link update Co-authored-by: Devin Miller <devin.miller@unity3d.com> Co-authored-by: peifeng-unity <peifeng.jing@unity3d.com> * Added newsletter link (#175) * remove stale merge * Minor formmating * Fix README and git sub module * Revert unintentional change in urdf_appendix.md * Add back tutorials/pick_and_place/ROS/src/ros_tcp_endpoint Co-authored-by: LaurieCheers-unity <73140792+LaurieCheers-unity@users.noreply.github.com> Co-authored-by: Devin Miller <devin.miller@unity3d.com> Co-authored-by: Peifeng Jing <peifeng.jing@unity3d.com> Co-authored-by: vidurvij-Unity <60901103+vidurvij-Unity@users.noreply.github.com> Co-authored-by: sarah-gibson <72100462+sarah-gibson@users.noreply.github.com> Co-authored-by: Devin Miller (Unity) <mrpropellers@users.noreply.github.com> Co-authored-by: peifeng-unity <56408141+peifeng-unity@users.noreply.github.com> Co-authored-by: Amanda <31416491+at669@users.noreply.github.com> Co-authored-by: Hamid Younesy <hyounesy@users.noreply.github.com> * Update Demo (#235) * Update Demo * Minor fix * Update tutorial manifest to use v0.4.0 * Update ros_tcp_endpoint module * Update quick_setup version * Update tutorial manifest * added chmod to make sure the python scripts are executable (#239) * Minor update in README.md * minor fix Co-authored-by: Devin Miller <devin.miller@unity3d.com> Co-authored-by: peifeng-unity <56408141+peifeng-unity@users.noreply.github.com> Co-authored-by: vidurvij-Unity <60901103+vidurvij-Unity@users.noreply.github.com> Co-authored-by: LaurieCheers-unity <73140792+LaurieCheers-unity@users.noreply.github.com> Co-authored-by: Devin Miller (Unity) <mrpropellers@users.noreply.github.com> Co-authored-by: Amanda <31416491+at669@users.noreply.github.com> Co-authored-by: Hamid Younesy <hyounesy@users.noreply.github.com> Co-authored-by: Peifeng Jing <peifeng.jing@unity3d.com> Co-authored-by: sarah-gibson <72100462+sarah-gibson@users.noreply.github.com>
Unity-Technologies · Jun 1, 2021 · 0b08f4f · 0b08f4f
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diff --git a/.editorconfig b/.editorconfig
@@ -0,0 +1,75 @@
+; see http://editorconfig.org/ for docs on this file
+; See https://github.com/dotnet/format for dotnet format
+
+root = true
+
+[*]
+ignore_if_in_header = This code was generated by a tool|<auto-generated>
+indent_style = space
+indent_size = 4
+; uncomment to help with sharing files across os's (i.e. network share or through local vm)
+#end_of_line = lf
+; avoid a bom, which causes endless problems with naive text tooling
+charset = utf-8
+trim_trailing_whitespace = true
+insert_final_newline = true
+; keeping auto-format enabled helps avoid merge hell for projects without CI-based format validation
+#disable_auto_format = true
+
+[*.cs]
+; uncomment to enable full formatting of c# files
+formatters = generic, uncrustify
+
+[*.asmdef]
+scrape_api = true
+
+[**/Tests/**.asmdef]
+scrape_api = false
+
+[*.Tests.asmdef]
+scrape_api = false
+
+[*.md]
+indent_size = 2
+; trailing whitespace is unfortunately significant in markdown
+trim_trailing_whitespace = false
+; uncomment to enable basic formatting of markdown files
+#formatters = generic
+
+[{Makefile,makefile}]
+; tab characters are part of the Makefile format
+indent_style = tab
+
+[*.asmdef]
+indent_size = 4
+
+[*.json]
+indent_size = 2
+
+[*.{vcproj,bat,cmd,xaml,tt,t4,ttinclude}]
+end_of_line = crlf
+
+; this VS-specific stuff is based on experiments to see how VS will modify a file after it has been manually edited.
+; the settings are meant to closely match what VS does to minimize unnecessary diffs.
+[*.{vcxproj,vcxproj.filters}]
+indent_style = space
+indent_size = 2
+end_of_line = crlf
+charset = utf-8-bom
+trim_trailing_whitespace = true
+insert_final_newline = false
+; must be broken out because of 51-char bug (https://github.com/editorconfig/editorconfig-visualstudio/issues/21)
+[*.{csproj,pyproj,props,targets}]
+indent_style = space
+indent_size = 2
+end_of_line = crlf
+charset = utf-8-bom
+trim_trailing_whitespace = true
+insert_final_newline = false
+[*.{sln,sln.template}]
+indent_style = tab
+indent_size = 4
+end_of_line = crlf
+charset = utf-8
+trim_trailing_whitespace = true
+insert_final_newline = false
diff --git a/.github/ISSUE_TEMPLATE/config.yml b/.github/ISSUE_TEMPLATE/config.yml
@@ -0,0 +1,5 @@
+blank_issues_enabled: false
+contact_links:
+  - name: Unity Robotics Forum
+    url: https://forum.unity.com/forums/robotics.623/
+    about: Discussions and questions about Unity Robotics tools, demos, or integrations.
diff --git a/.github/PULL_REQUEST_TEMPLATE.md b/.github/PULL_REQUEST_TEMPLATE.md
@@ -16,7 +16,7 @@ Provide any relevant links here.
 
 ## Testing and Verification
 
-Please describe the tests that you ran to verify your changes. Please also provide instructions, ROS packages, and Unity project files as appropriate so we can reproduce the test environment. 
+Please describe the tests that you ran to verify your changes. Please also provide instructions, ROS packages, and Unity project files as appropriate so we can reproduce the test environment.
 
 ### Test Configuration:
 - Unity Version: [e.g. Unity 2020.2.0f1]
@@ -27,8 +27,9 @@ Please describe the tests that you ran to verify your changes. Please also provi
 ## Checklist
 - [ ] Ensured this PR is up-to-date with the `dev` branch
 - [ ] Created this PR to target the `dev` branch
-- [ ] Followed the style guidelines as described in the [Contribution Guidelines](../CONTRIBUTING.md)
+- [ ] Followed the style guidelines as described in the [Contribution Guidelines](https://github.com/Unity-Technologies/Unity-Robotics-Hub/blob/main/CONTRIBUTING.md)
 - [ ] Added tests that prove my fix is effective or that my feature works
+- [ ] Updated the [Changelog](https://github.com/Unity-Technologies/Unity-Robotics-Hub/blob/dev/CHANGELOG.md) and described changes in the [Unreleased section](https://github.com/Unity-Technologies/Unity-Robotics-Hub/blob/dev/CHANGELOG.md#unreleased)
 - [ ] Updated the documentation as appropriate
 
-## Other comments
+## Other comments
diff --git a/.github/workflows/pre-commit.yaml b/.github/workflows/pre-commit.yaml
@@ -0,0 +1,19 @@
+name: pre-commit
+
+on:
+    pull_request:
+    push:
+        branches: [dev]
+
+jobs:
+    pre-commit:
+        runs-on: ubuntu-latest
+        steps:
+            - uses: actions/checkout@v2
+            - uses: actions/setup-python@v2
+              with:
+                  python-version: 3.7.x
+            - uses: actions/setup-dotnet@v1
+              with:
+                  dotnet-version: '3.1.x'
+            - uses: pre-commit/action@v2.0.0
diff --git a/.gitignore b/.gitignore
@@ -2,4 +2,4 @@
 .swp
 .idea
 .vscode/
-tutorials/pick_and_place/PickAndPlaceProject/Packages/packages-lock.json
+tutorials/pick_and_place/PickAndPlaceProject/Packages/packages-lock.json
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -0,0 +1,32 @@
+repos:
+    -   repo: https://github.com/pre-commit/pre-commit-hooks
+        rev: v4.0.1
+        hooks:
+            -   id: mixed-line-ending
+                exclude: >
+                    (?x)^(
+                        .*cs.meta|
+                        .*.css|
+                        .*.meta|
+                        .*.mat|
+                        .*.preset|
+                        .*.lighting|
+                        .*.dae
+                    )$
+                args: [--fix=lf]
+
+            -   id: trailing-whitespace
+                name: trailing-whitespace-markdown
+                types: [markdown]
+            -   id: check-merge-conflict
+                args: [--assume-in-merge]
+            -   id: check-yaml
+                # Won't handle the templating in yamato
+                exclude: \.yamato/.*
+
+
+    - repo: https://github.com/dotnet/format
+      rev: "7e343070a0355c86f72bdee226b5e19ffcbac931"
+      hooks:
+          - id: dotnet-format
+            args: [--folder, --include]
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -0,0 +1,21 @@
+# Changelog
+
+All notable changes to this repository will be documented in this file.
+
+The format is based on [Keep a Changelog](http://keepachangelog.com/en/1.0.0/) and this project adheres to [Semantic Versioning](http://semver.org/spec/v2.0.0.html).
+
+## Unreleased
+
+### Upgrade Notes
+
+### Known Issues
+
+### Added
+
+### Changed
+
+### Deprecated
+
+### Removed
+
+### Fixed
diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md
@@ -1,7 +1,7 @@
 # Contribution Guidelines
 
-Thank you for your interest in contributing to Unity Robotics! To facilitate your 
-contributions, we've outlined a brief set of guidelines to ensure that your extensions 
+Thank you for your interest in contributing to Unity Robotics! To facilitate your
+contributions, we've outlined a brief set of guidelines to ensure that your extensions
 can be easily integrated.
 
 ## Communication
@@ -40,10 +40,10 @@ 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). 
-Additionally, the [Unity Coding package](https://docs.unity3d.com/Packages/com.unity.coding@0.1/manual/index.html) 
-can be used to format, encode, and lint your code according to the standard Unity 
-development conventions. Be aware that these Unity conventions will supersede the 
+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).
+Additionally, the [Unity Coding package](https://docs.unity3d.com/Packages/com.unity.coding@0.1/manual/index.html)
+can be used to format, encode, and lint your code according to the standard Unity
+development conventions. Be aware that these Unity conventions will supersede the
 Microsoft C# Coding Conventions where applicable.
 
 Please note that even if the code you are changing does not adhere to these guidelines,
@@ -60,5 +60,5 @@ email us at [unity-robotics@unity3d.com](mailto:unity-robotics@unity3d.com).
 
 ## Contribution review
 
-Once you have a change ready following the above ground rules, simply make a 
+Once you have a change ready following the above ground rules, simply make a
 pull request in GitHub.
diff --git a/README.md b/README.md
@@ -33,8 +33,7 @@ A robot simulation demonstrating Unity's new physics solver (no ROS dependency).
 | Tutorial | Description |
 |---|---|
 | [ROS–Unity Integration](tutorials/ros_unity_integration/README.md) | A set of component-level tutorials showing how to set up communication between ROS and Unity |
-| [URDF Importer](tutorials/urdf_importer/urdf_tutorial.md) | Steps on using the Unity package for loading [URDF](http://wiki.ros.org/urdf) files | 
-
+| [URDF Importer](tutorials/urdf_importer/urdf_tutorial.md) | Steps on using the Unity package for loading [URDF](http://wiki.ros.org/urdf) files |
 
 ## Component Repos
 
@@ -57,7 +56,7 @@ Unite Now 2020: Simulating Robots with ROS and Unity [video](https://resources.u
 - (August 26, 2020)
 Announcing Unity Robotic Simulation [blog post](https://unity.com/solutions/automotive-transportation-manufacturing/robotics)
 - (May 20, 2020)
-Use articulation bodies to easily prototype industrial designs with realistic motion and behavior [blog post](https://blogs.unity3d.com/2020/05/20/use-articulation-bodies-to-easily-prototype-industrial-designs-with-realistic-motion-and-behavior/) 
+Use articulation bodies to easily prototype industrial designs with realistic motion and behavior [blog post](https://blogs.unity3d.com/2020/05/20/use-articulation-bodies-to-easily-prototype-industrial-designs-with-realistic-motion-and-behavior/)
 
 ### More from Unity
 
@@ -85,19 +84,20 @@ Interested in early access to ROS 2 integration? Email [unity-robotics@unity3d.c
 
 ## Community and Feedback
 
-The Unity Robotics projects are open-source and we encourage and welcome contributions. 
-If you wish to contribute, be sure to review our [contribution guidelines](CONTRIBUTING.md) 
+The Unity Robotics projects are open-source and we encourage and welcome contributions.
+If you wish to contribute, be sure to review our [contribution guidelines](CONTRIBUTING.md)
 and [code of conduct](CODE_OF_CONDUCT.md).
 
 ## Support
-For general questions, feedback, or feature requests, connect directly with the 
-Robotics team at [unity-robotics@unity3d.com](mailto:unity-robotics@unity3d.com).
 
-For bugs or other issues, please file a GitHub issue and the Robotics team will 
-investigate the issue as soon as possible.
+For questions or discussions about Unity Robotics package installations or how to best set up and integrate your robotics projects, please create a new thread on the [Unity Robotics forum](https://forum.unity.com/forums/robotics.623/) and make sure to include as much detail as possible.
 
-## Newsletter
+For feature requests, bugs, or other issues, please file a [GitHub issue](https://github.com/Unity-Technologies/Unity-Robotics-Hub/issues) using the provided templates and the Robotics team will investigate as soon as possible.
 
+For any other questions or feedback, connect directly with the
+Robotics team at [unity-robotics@unity3d.com](mailto:unity-robotics@unity3d.com).
+
+## Newsletter
 To get notified about new updates and features, [sign up for our newsletter](https://create.unity3d.com/robotics-simulation-newsletter-sign-up)!
 
 ## License

diff --git a/faq.md b/faq.md
@@ -7,9 +7,7 @@
 	- [How can I install the Unity Packages without starting from a template project?](#how-can-i-install-the-unity-packages-without-starting-from-a-template-project)
 - [ROS-TCP Endpoint/Connector](#ros-tcp-endpointconnector)
 	- [How does the TCP Endpoint compare to Rosbridge Server?](#how-does-the-tcp-endpoint-compare-to-rosbridge-server)
-	- [I receive a `Starting server on ...` message in my ROS terminal, but see a `SocketException: A connection attempt failed because the connected party did not respond after a period of time, or established connection failed because connected host has failed to respond.` in my Unity console.](#i-receive-a-starting-server-on--message-in-my-ros-terminal-but-see-a-socketexception-a-connection-attempt-failed-because-the-connected-party-did-not-respond-after-a-period-of-time-or-established-connection-failed-because-connected-host-has-failed-to-respond-in-my-unity-console)
 	- [I'm getting the error: `...failed because unknown error handler name 'rosmsg'`.](#im-getting-the-error-failed-because-unknown-error-handler-name-rosmsg)
-	- [Unity can't connect to ROS!](#unity-cant-connect-to-ros)
 - [URDF-Importer](#urdf-importer)
 	- [I don't see an option to Import Robot from URDF, or I have compile errors upon importing the URDF-Importer.](#i-dont-see-an-option-to-import-robot-from-urdf-or-i-have-compile-errors-upon-importing-the-urdf-importer)
 - [Can't find what you're looking for?](#cant-find-what-youre-looking-for)
@@ -23,7 +21,7 @@ How does your Unity integration compare to ROS#?
 ---
 Two of the Unity Robotics repos (URDF Importer and TCP Connector) have been forked from the [Siemens ROS# repo](https://github.com/siemens/ros-sharp).
 
-In the URDF Importer we have added the functionality to instantiate a robot from URDF into a Unity scene with [Articulation Body](https://docs.unity3d.com/2020.2/Documentation/Manual/class-ArticulationBody.html) components on their corresponding joints. 
+In the URDF Importer we have added the functionality to instantiate a robot from URDF into a Unity scene with [Articulation Body](https://docs.unity3d.com/2020.2/Documentation/Manual/class-ArticulationBody.html) components on their corresponding joints.
 
 Aside from facilitating communication with the TCP Endpoint, the TCP Connector contains the `MessageGeneration` code from ROS#. We added the extra functionality that when generating a C# class from a ROS message, functions are also generated that will serialize and deserialize the messages as ROS would internally.
 
@@ -58,23 +56,16 @@ The time was logged when the message was sent from Unity before being serialized
 - ROS# with ROS Bridge Suite took ~2 seconds
 - TCP Connector with TCP Endpoint took ~0.17 seconds
 
-I receive a `Starting server on ...` message in my ROS terminal, but see a `SocketException: A connection attempt failed because the connected party did not respond after a period of time, or established connection failed because connected host has failed to respond.` in my Unity console.
----
-This is likely an issue with how your network adapters are set up if you are using a virtual machine. You may need to do some troubleshooting to ensure that your guest OS can talk to your host OS and vice versa. One simple way to do this is to set up a "Host-Only" style network, but this varies based on what virtualization software you're using. Try to ensure that you can `ping` your host OS's IP from inside the guest, and can `ping` the guest from the host, then try this last step again. 
-
 I'm getting the error: `...failed because unknown error handler name 'rosmsg'`.
 ---
 This is due to a bug in an outdated package version. Try running `sudo apt-get update && sudo apt-get upgrade` to upgrade.
 
-Unity can't connect to ROS!
----
-Ensure that the ROS IP address is entered correctly as the `Host Name` in the RosConnect component in Unity, and if you are using a `params.yaml` file, that the appropriate IP addresses are filled in.
-
 # URDF-Importer
 
 I don't see an option to Import Robot from URDF, or I have compile errors upon importing the URDF-Importer.
 ---
 The [ArticulationBody](https://docs.unity3d.com/2020.2/Documentation/Manual/class-ArticulationBody.html) has dependencies on Unity Editor versions [2020.2.0](https://unity3d.com/unity/whats-new/2020.2.0)+. Try updating your project to the latest 2020.2 release.
 
+
 # Can't find what you're looking for?
 Connect directly with the Robotics team at [unity-robotics@unity3d.com](mailto:unity-robotics@unity3d.com)!