Merge branch 'laurie/DemoCompileFix' into laurie/Visualizers

faq.md

 ---
 We definitely plan to support ROS 2 in the future. Let us know more about your use case in order to prioritize our work by reaching out to us at [unity-robotics@unity3d.com](mailto:unity-robotics@unity3d.com).
 
-How does your Unity integration compare to [ROS#](https://github.com/siemens/ros-sharp)?
+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.
+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).
+
+You can find more details about the differences between our implementation and ROS#, along with some of their future plans, in the [ROS# project](https://github.com/siemens/ros-sharp/wiki/Ext_RosSharp_RoboticsHub#differences-between-unity-robotics-hub-and-ros).
 
 How can I install the Unity Packages without starting from a template project?
 ---

tutorials/pick_and_place/PickAndPlaceProject/Assets/DemoScripts/Demo.cs

 #if UNITY_EDITOR
 using Microsoft.CSharp;
-using RosMessageGeneration;
 using RosSharp;
 using RosSharp.Control;
 using RosSharp.Urdf.Editor;
 using System.Text;
 using UnityEditor;
 using UnityEngine;
+using Unity.Robotics.ROSTCPConnector;
+using Unity.Robotics.ROSTCPConnector.MessageGeneration;
 
 public class Demo : MonoBehaviour
 {

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

     move_group.set_start_state(moveit_robot_state)
 
     move_group.set_pose_target(destination_pose)
-    plan = move_group.go(wait=True)
+    plan = move_group.plan()
 
     if not plan:
         exception_str = """
         raise Exception(exception_str)
 
-    return planCompat(move_group.plan())
+    return planCompat(plan)
 
 
 """

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

+#!/usr/bin/env python
+
+import rospy
+
+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)
+    rospy.init_node(ros_node_name, anonymous=True)
+
+    # Start the Server Endpoint with a ROS communication objects dictionary for routing messages
+    tcp_server.start({
+        'SourceDestination_input': RosPublisher('SourceDestination', NiryoMoveitJoints, queue_size=10),
+        'NiryoTrajectory': RosSubscriber('NiryoTrajectory', NiryoTrajectory, tcp_server),
+        'niryo_moveit': RosService('niryo_moveit', MoverService)
+    })
+    
+    rospy.spin()
+
+
+if __name__ == "__main__":
+    main()

tutorials/pick_and_place/Scripts/TrajectoryPlanner.cs

 
     void TrajectoryResponse(MoverServiceResponse response)
     {
-        if (response.trajectories != null)
+        if (response.trajectories.Length > 0)
         {
             Debug.Log("Trajectory returned.");
             StartCoroutine(ExecuteTrajectories(response));