Added M prefixes to docs (#167)

tutorials/pick_and_place/2_ros_tcp.md

 
    ![](img/2_robottraj.png)
 
-	- One new C# script should populate the `Assets/RosMessages/Moveit/msg` directory: RobotTrajectory.
+	- One new C# script should populate the `Assets/RosMessages/Moveit/msg` directory: MRobotTrajectory. This name is the same as the message you built, with an "M" prefix (for message).
   
 1. Next, the custom message scripts for this tutorial will need to be generated. 
 
    
-	- Two new C# scripts should populate the `Assets/RosMessages/NiryoMoveit/msg` directory: NiryoMoveitJoints and NiryoTrajectory. NiryoMoveitJoints describes a value for each joint in the Niryo arm as well as poses for the target object and target goal. NiryoTrajectory describes a list of RobotTrajectory values, which will hold the calculated trajectories for the pick-and-place task.
+	- Two new C# scripts should populate the `Assets/RosMessages/NiryoMoveit/msg` directory: MNiryoMoveitJoints and MNiryoTrajectory. MNiryoMoveitJoints describes a value for each joint in the Niryo arm as well as poses for the target object and target goal. MNiryoTrajectory describes a list of RobotTrajectory values, which will hold the calculated trajectories for the pick-and-place task.
   
    > MessageGeneration generates a C# class from a ROS msg file with protections for use of C# reserved keywords and conversion to C# datatypes. Learn more about [ROS Messages](https://wiki.ros.org/Messages).
 
 
    ![](img/2_srv.png)
 
-   - Two new C# scripts should populate the `Assets/RosMessages/NiryoMoveit/srv` directory: MoverServiceRequest and MoverServiceResponse. These files describe the expected input and output formats for the service requests and responses when calculating trajectories. 
+   - Two new C# scripts should populate the `Assets/RosMessages/NiryoMoveit/srv` directory: MMoverServiceRequest and MMoverServiceResponse. These files describe the expected input and output formats for the service requests and responses when calculating trajectories. 
    
    > MessageGeneration generates two C# classes, a request and response, from a ROS srv file with protections for use of C# reserved keywords and conversion to C# datatypes. Learn more about [ROS Services](https://wiki.ros.org/Services).
 
    ```csharp
    public void Publish()
    {
-      NiryoMoveitJoints sourceDestinationMessage = new NiryoMoveitJoints();
+      MNiryoMoveitJoints sourceDestinationMessage = new MNiryoMoveitJoints();
 
       sourceDestinationMessage.joint_00 = jointArticulationBodies[0].xDrive.target;
       sourceDestinationMessage.joint_01 = jointArticulationBodies[1].xDrive.target;
       sourceDestinationMessage.joint_05 = jointArticulationBodies[5].xDrive.target;
 
       // Pick Pose
-      sourceDestinationMessage.pick_pose = new RosMessageTypes.Geometry.Pose
+      sourceDestinationMessage.pick_pose = new MPose
       {
          position = target.transform.position.To<FLU>(),
          // The hardcoded x/z angles assure that the gripper is always positioned above the target cube before grasping.
       // Place Pose
-      sourceDestinationMessage.place_pose = new RosMessageTypes.Geometry.Pose
+      sourceDestinationMessage.place_pose = new MPose
       {
          position = targetPlacement.transform.position.To<FLU>(),
          orientation = pickOrientation.To<FLU>()

tutorials/pick_and_place/3_pick_and_place.md

     ```csharp
     public void PublishJoints()
     {
-        MoverServiceRequest request = new MoverServiceRequest();
+        MMoverServiceRequest request = new MMoverServiceRequest();
-        request.pick_pose = new RosMessageTypes.Geometry.Pose
+        request.pick_pose = new MPose
         {
             position = (target.transform.position + pickPoseOffset).To<FLU>(),
             // The hardcoded x/z angles assure that the gripper is always positioned above the target cube before grasping.
         // Place Pose
-        request.place_pose = new RosMessageTypes.Geometry.Pose
+        request.place_pose = new MPose
-        ros.SendServiceMessage<MoverServiceResponse>(rosServiceName, request, TrajectoryResponse);
+        ros.SendServiceMessage<MMoverServiceResponse>(rosServiceName, request, TrajectoryResponse);
-    void TrajectoryResponse(MoverServiceResponse response)
+    void TrajectoryResponse(MMoverServiceResponse response)
     {
         if (response.trajectories != null)
         {
     > The `response.trajectories` are received in the `TrajectoryResponse()` callback, as defined in the `ros.SendServiceMessage` parameters. These trajectories are passed to `ExecuteTrajectories()` and executed as a [coroutine](https://docs.unity3d.com/Manual/Coroutines.html):
 
     ```csharp
-    private IEnumerator ExecuteTrajectories(MoverServiceResponse response)
+    private IEnumerator ExecuteTrajectories(MMoverServiceResponse response)
     {
         if (response.trajectories != null)
         {

tutorials/pick_and_place/Scripts/SourceDestinationPublisher.cs

 using UnityEngine;
 using Unity.Robotics.ROSTCPConnector;
 using Unity.Robotics.ROSTCPConnector.ROSGeometry;
+using RosMessageTypes.Geometry;
 
 public class SourceDestinationPublisher : MonoBehaviour
 {
 
     public void Publish()
     {
-        NiryoMoveitJoints sourceDestinationMessage = new NiryoMoveitJoints();
+        MNiryoMoveitJoints sourceDestinationMessage = new MNiryoMoveitJoints();
 
         sourceDestinationMessage.joint_00 = jointArticulationBodies[0].xDrive.target;
         sourceDestinationMessage.joint_01 = jointArticulationBodies[1].xDrive.target;
         sourceDestinationMessage.joint_05 = jointArticulationBodies[5].xDrive.target;
 
         // Pick Pose
-        sourceDestinationMessage.pick_pose = new RosMessageTypes.Geometry.Pose
+        sourceDestinationMessage.pick_pose = new MPose
         {
             position = target.transform.position.To<FLU>(),
             orientation = Quaternion.Euler(90, target.transform.eulerAngles.y, 0).To<FLU>()
-        sourceDestinationMessage.place_pose = new RosMessageTypes.Geometry.Pose
+        sourceDestinationMessage.place_pose = new MPose
         {
             position = targetPlacement.transform.position.To<FLU>(),
             orientation = pickOrientation.To<FLU>()

tutorials/pick_and_place/Scripts/TrajectoryPlanner.cs

 using UnityEngine;
 using Unity.Robotics.ROSTCPConnector;
 using Unity.Robotics.ROSTCPConnector.ROSGeometry;
-
+using RosMessageTypes.Geometry;
 
 public class TrajectoryPlanner : MonoBehaviour
 {
     ///     Get the current values of the robot's joint angles.
     /// </summary>
     /// <returns>NiryoMoveitJoints</returns>
-    NiryoMoveitJoints CurrentJointConfig()
+    MNiryoMoveitJoints CurrentJointConfig()
-        NiryoMoveitJoints joints = new NiryoMoveitJoints();
+        MNiryoMoveitJoints joints = new MNiryoMoveitJoints();
         
         joints.joint_00 = jointArticulationBodies[0].xDrive.target;
         joints.joint_01 = jointArticulationBodies[1].xDrive.target;
     /// </summary>
     public void PublishJoints()
     {
-        MoverServiceRequest request = new MoverServiceRequest();
+        MMoverServiceRequest request = new MMoverServiceRequest();
-        request.pick_pose = new RosMessageTypes.Geometry.Pose
+        request.pick_pose = new MPose
         {
             position = (target.transform.position + pickPoseOffset).To<FLU>(),
             // The hardcoded x/z angles assure that the gripper is always positioned above the target cube before grasping.
         // Place Pose
-        request.place_pose = new RosMessageTypes.Geometry.Pose
+        request.place_pose = new MPose
-        ros.SendServiceMessage<MoverServiceResponse>(rosServiceName, request, TrajectoryResponse);
+        ros.SendServiceMessage<MMoverServiceResponse>(rosServiceName, request, TrajectoryResponse);
-    void TrajectoryResponse(MoverServiceResponse response)
+    void TrajectoryResponse(MMoverServiceResponse response)
     {
         if (response.trajectories.Length > 0)
         {
     /// </summary>
     /// <param name="response"> MoverServiceResponse received from niryo_moveit mover service running in ROS</param>
     /// <returns></returns>
-    private IEnumerator ExecuteTrajectories(MoverServiceResponse response)
+    private IEnumerator ExecuteTrajectories(MMoverServiceResponse response)
     {
         if (response.trajectories != null)
         {

tutorials/pick_and_place/Scripts_Part4/RealSimPickAndPlace.cs

 using System.Collections;
 using System.Linq;
-using ROSGeometry;
+using RosMessageTypes.Geometry;
+using Unity.Robotics.ROSTCPConnector;
+using Unity.Robotics.ROSTCPConnector.ROSGeometry;
-using Pose = RosMessageTypes.Geometry.Pose;
-using RosQuaternion = RosMessageTypes.Geometry.Quaternion;
 
 public class RealSimPickAndPlace : MonoBehaviour
 {
     /// </summary>
     public void PublishJoints()
     {
-        MoverServiceRequest request = new MoverServiceRequest
+        MMoverServiceRequest request = new MMoverServiceRequest
         {
             joints_input =
             {
                 joint_04 = jointArticulationBodies[4].xDrive.target,
                 joint_05 = jointArticulationBodies[5].xDrive.target
             },
-            pick_pose = new Pose
+            pick_pose = new MPose
-            place_pose = new Pose
+            place_pose = new MPose
             {
                 position = (targetPlacement.transform.position + PICK_POSE_OFFSET).To<FLU>(),
                 orientation = pickOrientation.To<FLU>()
     
     void Start()
     {
-        ros.Subscribe<RobotMoveActionGoal>(rosRobotCommandsTopicName, ExecuteRobotCommands);
+        ros.Subscribe<MRobotMoveActionGoal>(rosRobotCommandsTopicName, ExecuteRobotCommands);
     }
 
     /// <summary>
     /// </summary>
     /// <param name="robotAction"> RobotMoveActionGoal of trajectory or gripper commands</param>
-    void ExecuteRobotCommands(RobotMoveActionGoal robotAction)
+    void ExecuteRobotCommands(MRobotMoveActionGoal robotAction)
     {
         if (robotAction.goal.cmd.cmd_type == TRAJECTORY_COMMAND_EXECUTION)
         {
     /// 
     /// </summary>
     /// <param name="trajectories"> The array of poses for the robot to execute</param>
-    private IEnumerator ExecuteTrajectories(RobotTrajectory trajectories)
+    private IEnumerator ExecuteTrajectories(MRobotTrajectory trajectories)
     {
         // For every robot pose in trajectory plan
         foreach (var point in trajectories.joint_trajectory.points)

tutorials/ros_unity_integration/publisher.md

         {
             cube.transform.rotation = Random.rotation;
 
-            PosRot cubePos = new PosRot(
+            MPosRot cubePos = new MPosRot(
                 cube.transform.position.x,
                 cube.transform.position.y,
                 cube.transform.position.z,

tutorials/ros_unity_integration/service.md

                 cube.transform.rotation.w
             );
 
-            PositionServiceRequest positionServiceRequest = new PositionServiceRequest(cubePos);
+            MPositionServiceRequest positionServiceRequest = new MPositionServiceRequest(cubePos);
-            ros.SendServiceMessage<PositionServiceResponse>(serviceName, positionServiceRequest, Callback_Destination);
+            ros.SendServiceMessage<MPositionServiceResponse>(serviceName, positionServiceRequest, Callback_Destination);
-    void Callback_Destination(PositionServiceResponse response)
+    void Callback_Destination(MPositionServiceResponse response)
     {
         awaitingResponseUntilTimestamp = -1;
         destination = new Vector3(response.output.pos_x, response.output.pos_y, response.output.pos_z);

tutorials/ros_unity_integration/subscriber.md

 ```csharp
 using UnityEngine;
 using Unity.Robotics.ROSTCPConnector;
-using RosColor = RosMessageTypes.RoboticsDemo.UnityColor;
+using RosColor = RosMessageTypes.RoboticsDemo.MUnityColor;
 
 public class RosSubscriberExample : MonoBehaviour
 {

tutorials/ros_unity_integration/unity_scripts/RosPublisherExample.cs

         {
             cube.transform.rotation = Random.rotation;
 
-            PosRot cubePos = new PosRot(
+            MPosRot cubePos = new MPosRot(
                 cube.transform.position.x,
                 cube.transform.position.y,
                 cube.transform.position.z,

tutorials/ros_unity_integration/unity_scripts/RosServiceExample.cs

         {
             Debug.Log("Destination reached.");
 
-            PosRot cubePos = new PosRot(
+            MPosRot cubePos = new MPosRot(
                 cube.transform.position.x,
                 cube.transform.position.y,
                 cube.transform.position.z,
                 cube.transform.rotation.w
             );
 
-            PositionServiceRequest positionServiceRequest = new PositionServiceRequest(cubePos);
+            MPositionServiceRequest positionServiceRequest = new MPositionServiceRequest(cubePos);
-            ros.SendServiceMessage<PositionServiceResponse>(serviceName, positionServiceRequest, Callback_Destination);
+            ros.SendServiceMessage<MPositionServiceResponse>(serviceName, positionServiceRequest, Callback_Destination);
-    void Callback_Destination(PositionServiceResponse response)
+    void Callback_Destination(MPositionServiceResponse response)
     {
         awaitingResponseUntilTimestamp = -1;
         destination = new Vector3(response.output.pos_x, response.output.pos_y, response.output.pos_z);

tutorials/ros_unity_integration/unity_scripts/RosSubscriberExample.cs

 using UnityEngine;
 using Unity.Robotics.ROSTCPConnector;
-using RosColor = RosMessageTypes.RoboticsDemo.UnityColor;
+using RosColor = RosMessageTypes.RoboticsDemo.MUnityColor;
 
 public class RosSubscriberExample : MonoBehaviour
 {