ROS-Unity tutorial fixes

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

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.
 

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

tutorials/ros_unity_integration/ros_packages/unity_robotics_demo/launch/robo_demo.launch

@@ -1,19 +1,5 @@
 <launch>
-
-    <env name="ROS_IP" value="192.168.1.116"/>
-    <env name="ROS_HOSTNAME" value="$(env ROS_IP)"/>
-
-    <param name="ROS_IP" type="str" value="$(env ROS_IP)" />
-    <param name="ROS_TCP_PORT" type="int" value="10000" />
-    <param name="TCP_NODE_NAME" type="str" value="TCPServer" />
-    <param name="TCP_BUFFER_SIZE" type="int" value="1024" />
-    <param name="TCP_CONNECTIONS" type="int" value="10" />
-
-    <param name="UNITY_IP" type="str" value="192.168.1.105" />
-    <param name="UNITY_SERVER_PORT" type="int" value="5005" />
-
-	<group ns="position_service_and_endpoint">
-	       <node pkg="robotics_demo" name="position_service" type="position_service.py"/>
-	       <node pkg="robotics_demo" name="server_endpoint" type="server_endpoint.py"/>
-	</group>
+    <param name="ROS_IP" value="127.0.0.1" />
+    <node name="position_service" pkg="unity_robotics_demo" type="position_service.py" args="--wait" output="screen" respawn="true" />
+    <node name="server_endpoint" pkg="ros_tcp_endpoint" type="default_server_endpoint.py" args="--wait" output="screen" respawn="true" />
 </launch>

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 <img src="images/ros1_icon.png" alt="ros1" width="14" height="14"/> and <img src="images/ros2_icon.png" alt="ros2" width="23" height="14"/> indicate instructions for ROS1 and ROS2 users, respectively. If using ROS2, start with [ROS2 Environment](setup.md#-ros2-environment).