diff --git a/CHANGELOG.md b/CHANGELOG.md index cb5215fa..9209ed74 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -6,6 +6,8 @@ The format is based on [Keep a Changelog](http://keepachangelog.com/en/1.0.0/) a ## Unreleased +Fixed the ROS-Unity Integration tutorial `robo_demo.launch` to be up-to-date with file paths, and updated Pick-and-Place Part 2 ROS Settings screenshot. + ### Upgrade Notes ### Known Issues diff --git a/tutorials/pick_and_place/2_ros_tcp.md b/tutorials/pick_and_place/2_ros_tcp.md index acaa7ae1..8ed5bf0c 100644 --- a/tutorials/pick_and_place/2_ros_tcp.md +++ b/tutorials/pick_and_place/2_ros_tcp.md @@ -142,11 +142,11 @@ To enable communication between Unity and ROS, a TCP endpoint running as a ROS n - If you are **not** running ROS services in a Docker container, replace the `ROS IP Address` value with the IP address of your ROS machine. Ensure that the `Host Port` is set to `10000`. - - If you **are** running ROS services in a Docker container, fill `ROS IP Address` with the loopback IP address `127.0.0.1` and the `Override Unity IP Address` as your local machine's IP address. Otherwise, leave the `Override Unity IP Address` field empty. + - If you **are** running ROS services in a Docker container, fill `ROS IP Address` with the loopback IP address `127.0.0.1`. ![](img/2_settings.png) - Opening the ROS Settings has created a ROSConnectionPrefab in `Assets/Resources` with the user-input settings. When the static `ROSConnection.instance` is referenced in a script, if a `ROSConnection` instance is not already present, the prefab will be instantiated in the Unity scene, and the connection will begin. + The other settings can be left as their defaults. Opening the ROS Settings has created a ROSConnectionPrefab in `Assets/Resources` with the user-input settings. When the static `ROSConnection.instance` is referenced in a script, if a `ROSConnection` instance is not already present, the prefab will be instantiated in the Unity scene, and the connection will begin. > Note: While using the ROS Settings menu is the suggested workflow as of this version, you may still manually create a GameObject with an attached ROSConnection component. diff --git a/tutorials/pick_and_place/img/2_settings.png b/tutorials/pick_and_place/img/2_settings.png index aaa1613e..e0323dd7 100644 Binary files a/tutorials/pick_and_place/img/2_settings.png and b/tutorials/pick_and_place/img/2_settings.png differ diff --git a/tutorials/ros_unity_integration/network.md b/tutorials/ros_unity_integration/network.md index a89f5544..f5d28f08 100644 --- a/tutorials/ros_unity_integration/network.md +++ b/tutorials/ros_unity_integration/network.md @@ -16,9 +16,9 @@ > It is possible to set both of these variables on the machines running Unity and ROS. The specifics of where and why each of these settings will be described below. -On the ROS machine these settings are set as a rosparam and will typically be set in a launch file like [this](https://github.com/Unity-Technologies/Unity-Robotics-Hub/blob/main/tutorials/ros_packages/robotics_demo/launch/robo_demo.launch) or in a [param file](https://github.com/Unity-Technologies/Unity-Robotics-Hub/blob/main/tutorials/pick_and_place/ROS/src/niryo_moveit/config/params.yaml) loaded by a launch file like [this](https://github.com/Unity-Technologies/Unity-Robotics-Hub/blob/main/tutorials/pick_and_place/ROS/src/niryo_moveit/launch/part_3.launch#L2). The param file can also be loaded manually by running the `rosparam load params.yaml` command. +On the ROS machine, these settings are set as a rosparam and will typically be set in a launch file like [this](ros_packages/unity_robotics_demo/launch/robo_demo.launch) or in a [param file](https://github.com/Unity-Technologies/Unity-Robotics-Hub/blob/main/tutorials/pick_and_place/ROS/src/niryo_moveit/config/params.yaml) loaded by a launch file like [this](https://github.com/Unity-Technologies/Unity-Robotics-Hub/blob/main/tutorials/pick_and_place/ROS/src/niryo_moveit/launch/part_3.launch#L2). The param file can also be loaded manually by running the `rosparam load params.yaml` command. -On the Unity machine these settings are set from the menu by going to `Robotics` -> `ROS Settings` +On the Unity machine, these settings are set from the menu by going to `Robotics` -> `ROS Settings` # Communication Minimum Requirements diff --git a/tutorials/ros_unity_integration/ros_packages/unity_robotics_demo/launch/robo_demo.launch b/tutorials/ros_unity_integration/ros_packages/unity_robotics_demo/launch/robo_demo.launch index b2399cbc..366a7c5c 100644 --- a/tutorials/ros_unity_integration/ros_packages/unity_robotics_demo/launch/robo_demo.launch +++ b/tutorials/ros_unity_integration/ros_packages/unity_robotics_demo/launch/robo_demo.launch @@ -1,19 +1,5 @@ - - - - - - - - - - - - - - - - - + + + diff --git a/tutorials/ros_unity_integration/setup.md b/tutorials/ros_unity_integration/setup.md index 50b9f009..39ca3e50 100644 --- a/tutorials/ros_unity_integration/setup.md +++ b/tutorials/ros_unity_integration/setup.md @@ -1,6 +1,6 @@ # ROS–Unity Demo Setup -This document is in two parts - part 1 covers the minimum requirements for a ROS–Unity integration. Part 2 sets up the Unity Robotics Demo package, which you will need if you're following the ROS–Unity Integration tutorials. +This document is in two parts - [Part 1](#-ros-environment) covers the minimum requirements for a ROS–Unity integration. [Part 2](#install-unity-robotics-demo) sets up the Unity Robotics Demo package, which you will need if you're following the ROS–Unity Integration tutorials. These instructions cover both ROS1 and ROS2. The symbols ros1 and ros2 indicate instructions for ROS1 and ROS2 users, respectively. If using ROS2, start with [ROS2 Environment](setup.md#-ros2-environment).