Updating Ros-Unity integration tutorial

tutorials/ros_unity_integration/unity_scripts/RosPublisherExample.cs

 using RosMessageTypes.RoboticsDemo;
 using UnityEngine;
-using Random = UnityEngine.Random;
+using Unity.Robotics.ROSTCPConnector;
 
 /// <summary>
 /// 

tutorials/ros_unity_integration/unity_scripts/RosServiceExample.cs

-using System;
-using Debug = UnityEngine.Debug;
+using Unity.Robotics.ROSTCPConnector;
 
 public class RosServiceExample : MonoBehaviour
 {

tutorials/ros_unity_integration/unity_scripts/RosSubscriberExample.cs

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

tutorials/pick_and_place/PickAndPlaceProject/Assets/RosMessages/RoboticsDemo.meta

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tutorials/pick_and_place/PickAndPlaceProject/Assets/RosMessages/RoboticsDemo/msg.meta

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tutorials/pick_and_place/PickAndPlaceProject/Assets/RosMessages/RoboticsDemo/msg/PosRot.cs

+//Do not edit! This file was generated by Unity-ROS MessageGeneration.
+using System;
+using System.Linq;
+using System.Collections.Generic;
+using System.Text;
+using Unity.Robotics.ROSTCPConnector.MessageGeneration;
+
+namespace RosMessageTypes.RoboticsDemo
+{
+    public class PosRot : Message
+    {
+        public const string RosMessageName = "robotics_demo/PosRot";
+
+        public float pos_x;
+        public float pos_y;
+        public float pos_z;
+        public float rot_x;
+        public float rot_y;
+        public float rot_z;
+        public float rot_w;
+
+        public PosRot()
+        {
+            this.pos_x = 0.0f;
+            this.pos_y = 0.0f;
+            this.pos_z = 0.0f;
+            this.rot_x = 0.0f;
+            this.rot_y = 0.0f;
+            this.rot_z = 0.0f;
+            this.rot_w = 0.0f;
+        }
+
+        public PosRot(float pos_x, float pos_y, float pos_z, float rot_x, float rot_y, float rot_z, float rot_w)
+        {
+            this.pos_x = pos_x;
+            this.pos_y = pos_y;
+            this.pos_z = pos_z;
+            this.rot_x = rot_x;
+            this.rot_y = rot_y;
+            this.rot_z = rot_z;
+            this.rot_w = rot_w;
+        }
+        public override List<byte[]> SerializationStatements()
+        {
+            var listOfSerializations = new List<byte[]>();
+            listOfSerializations.Add(BitConverter.GetBytes(this.pos_x));
+            listOfSerializations.Add(BitConverter.GetBytes(this.pos_y));
+            listOfSerializations.Add(BitConverter.GetBytes(this.pos_z));
+            listOfSerializations.Add(BitConverter.GetBytes(this.rot_x));
+            listOfSerializations.Add(BitConverter.GetBytes(this.rot_y));
+            listOfSerializations.Add(BitConverter.GetBytes(this.rot_z));
+            listOfSerializations.Add(BitConverter.GetBytes(this.rot_w));
+
+            return listOfSerializations;
+        }
+
+        public override int Deserialize(byte[] data, int offset)
+        {
+            this.pos_x = BitConverter.ToSingle(data, offset);
+            offset += 4;
+            this.pos_y = BitConverter.ToSingle(data, offset);
+            offset += 4;
+            this.pos_z = BitConverter.ToSingle(data, offset);
+            offset += 4;
+            this.rot_x = BitConverter.ToSingle(data, offset);
+            offset += 4;
+            this.rot_y = BitConverter.ToSingle(data, offset);
+            offset += 4;
+            this.rot_z = BitConverter.ToSingle(data, offset);
+            offset += 4;
+            this.rot_w = BitConverter.ToSingle(data, offset);
+            offset += 4;
+
+            return offset;
+        }
+
+        public override string ToString()
+        {
+            return "PosRot: " +
+            "\npos_x: " + pos_x.ToString() +
+            "\npos_y: " + pos_y.ToString() +
+            "\npos_z: " + pos_z.ToString() +
+            "\nrot_x: " + rot_x.ToString() +
+            "\nrot_y: " + rot_y.ToString() +
+            "\nrot_z: " + rot_z.ToString() +
+            "\nrot_w: " + rot_w.ToString();
+        }
+    }
+}

tutorials/pick_and_place/PickAndPlaceProject/Assets/RosMessages/RoboticsDemo/msg/PosRot.cs.meta

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tutorials/pick_and_place/PickAndPlaceProject/Assets/RosMessages/RoboticsDemo/msg/UnityColor.cs

+//Do not edit! This file was generated by Unity-ROS MessageGeneration.
+using System;
+using System.Linq;
+using System.Collections.Generic;
+using System.Text;
+using Unity.Robotics.ROSTCPConnector.MessageGeneration;
+
+namespace RosMessageTypes.RoboticsDemo
+{
+    public class UnityColor : Message
+    {
+        public const string RosMessageName = "robotics_demo/UnityColor";
+
+        public int r;
+        public int g;
+        public int b;
+        public int a;
+
+        public UnityColor()
+        {
+            this.r = 0;
+            this.g = 0;
+            this.b = 0;
+            this.a = 0;
+        }
+
+        public UnityColor(int r, int g, int b, int a)
+        {
+            this.r = r;
+            this.g = g;
+            this.b = b;
+            this.a = a;
+        }
+        public override List<byte[]> SerializationStatements()
+        {
+            var listOfSerializations = new List<byte[]>();
+            listOfSerializations.Add(BitConverter.GetBytes(this.r));
+            listOfSerializations.Add(BitConverter.GetBytes(this.g));
+            listOfSerializations.Add(BitConverter.GetBytes(this.b));
+            listOfSerializations.Add(BitConverter.GetBytes(this.a));
+
+            return listOfSerializations;
+        }
+
+        public override int Deserialize(byte[] data, int offset)
+        {
+            this.r = BitConverter.ToInt32(data, offset);
+            offset += 4;
+            this.g = BitConverter.ToInt32(data, offset);
+            offset += 4;
+            this.b = BitConverter.ToInt32(data, offset);
+            offset += 4;
+            this.a = BitConverter.ToInt32(data, offset);
+            offset += 4;
+
+            return offset;
+        }
+
+        public override string ToString()
+        {
+            return "UnityColor: " +
+            "\nr: " + r.ToString() +
+            "\ng: " + g.ToString() +
+            "\nb: " + b.ToString() +
+            "\na: " + a.ToString();
+        }
+    }
+}

tutorials/pick_and_place/PickAndPlaceProject/Assets/RosMessages/RoboticsDemo/msg/UnityColor.cs.meta

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tutorials/pick_and_place/PickAndPlaceProject/Assets/RosMessages/RoboticsDemo/srv.meta

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tutorials/pick_and_place/PickAndPlaceProject/Assets/RosMessages/RoboticsDemo/srv/PositionServiceRequest.cs

+//Do not edit! This file was generated by Unity-ROS MessageGeneration.
+using System;
+using System.Linq;
+using System.Collections.Generic;
+using System.Text;
+using Unity.Robotics.ROSTCPConnector.MessageGeneration;
+
+namespace RosMessageTypes.RoboticsDemo
+{
+    public class PositionServiceRequest : Message
+    {
+        public const string RosMessageName = "robotics_demo/PositionService";
+
+        public PosRot input;
+
+        public PositionServiceRequest()
+        {
+            this.input = new PosRot();
+        }
+
+        public PositionServiceRequest(PosRot input)
+        {
+            this.input = input;
+        }
+        public override List<byte[]> SerializationStatements()
+        {
+            var listOfSerializations = new List<byte[]>();
+            listOfSerializations.AddRange(input.SerializationStatements());
+
+            return listOfSerializations;
+        }
+
+        public override int Deserialize(byte[] data, int offset)
+        {
+            offset = this.input.Deserialize(data, offset);
+
+            return offset;
+        }
+
+        public override string ToString()
+        {
+            return "PositionServiceRequest: " +
+            "\ninput: " + input.ToString();
+        }
+    }
+}

tutorials/pick_and_place/PickAndPlaceProject/Assets/RosMessages/RoboticsDemo/srv/PositionServiceRequest.cs.meta

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tutorials/pick_and_place/PickAndPlaceProject/Assets/RosMessages/RoboticsDemo/srv/PositionServiceResponse.cs

+//Do not edit! This file was generated by Unity-ROS MessageGeneration.
+using System;
+using System.Linq;
+using System.Collections.Generic;
+using System.Text;
+using Unity.Robotics.ROSTCPConnector.MessageGeneration;
+
+namespace RosMessageTypes.RoboticsDemo
+{
+    public class PositionServiceResponse : Message
+    {
+        public const string RosMessageName = "robotics_demo/PositionService";
+
+        public PosRot output;
+
+        public PositionServiceResponse()
+        {
+            this.output = new PosRot();
+        }
+
+        public PositionServiceResponse(PosRot output)
+        {
+            this.output = output;
+        }
+        public override List<byte[]> SerializationStatements()
+        {
+            var listOfSerializations = new List<byte[]>();
+            listOfSerializations.AddRange(output.SerializationStatements());
+
+            return listOfSerializations;
+        }
+
+        public override int Deserialize(byte[] data, int offset)
+        {
+            offset = this.output.Deserialize(data, offset);
+
+            return offset;
+        }
+
+        public override string ToString()
+        {
+            return "PositionServiceResponse: " +
+            "\noutput: " + output.ToString();
+        }
+    }
+}

tutorials/pick_and_place/PickAndPlaceProject/Assets/RosMessages/RoboticsDemo/srv/PositionServiceResponse.cs.meta

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tutorials/pick_and_place/PickAndPlaceProject/Assets/Scripts/RosPublisherExample.cs

+using RosMessageTypes.RoboticsDemo;
+using UnityEngine;
+using Unity.Robotics.ROSTCPConnector;
+
+/// <summary>
+/// 
+/// </summary>
+public class RosPublisherExample : MonoBehaviour
+{
+    ROSConnection ros;
+    public string topicName = "pos_rot";
+
+    // The game object 
+    public GameObject cube;
+    // Publish the cube's position and rotation every N seconds
+    public float publishMessageFrequency = 0.5f;
+
+    // Used to determine how much time has elapsed since the last message was published
+    private float timeElapsed;
+    
+    void Start()
+    {
+        // start the ROS connection
+        ros = ROSConnection.instance;
+    }
+
+    private void Update()
+    {
+        timeElapsed += Time.deltaTime;
+
+        if (timeElapsed > publishMessageFrequency)
+        {
+            cube.transform.rotation = Random.rotation;
+
+            PosRot cubePos = new PosRot(
+                cube.transform.position.x,
+                cube.transform.position.y,
+                cube.transform.position.z,
+                cube.transform.rotation.x,
+                cube.transform.rotation.y,
+                cube.transform.rotation.z,
+                cube.transform.rotation.w
+            );
+
+            // Finally send the message to server_endpoint.py running in ROS
+            ros.Send(topicName, cubePos);
+
+            timeElapsed = 0;
+        }
+    }
+}

tutorials/pick_and_place/PickAndPlaceProject/Assets/Scripts/RosPublisherExample.cs.meta

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tutorials/pick_and_place/PickAndPlaceProject/Assets/Scripts/RosServiceExample.cs

+using RosMessageTypes.RoboticsDemo;
+using UnityEngine;
+using Unity.Robotics.ROSTCPConnector;
+
+public class RosServiceExample : MonoBehaviour
+{
+    ROSConnection ros;
+
+    public string serviceName = "pos_srv";
+
+    public GameObject cube;
+
+    // Cube movement conditions
+    public float delta = 1.0f;
+    public float speed = 2.0f;
+    private Vector3 destination;
+
+    float awaitingResponseUntilTimestamp = -1;
+
+    void Start()
+    {
+        ros = ROSConnection.instance;
+        destination = cube.transform.position;
+    }
+
+    private void Update()
+    {
+        // Move our position a step closer to the target.
+        float step = speed * Time.deltaTime; // calculate distance to move
+        cube.transform.position = Vector3.MoveTowards(cube.transform.position, destination, step);
+
+        if (Vector3.Distance(cube.transform.position, destination) < delta && Time.time > awaitingResponseUntilTimestamp)
+        {
+            Debug.Log("Destination reached.");
+
+            PosRot cubePos = new PosRot(
+                cube.transform.position.x,
+                cube.transform.position.y,
+                cube.transform.position.z,
+                cube.transform.rotation.x,
+                cube.transform.rotation.y,
+                cube.transform.rotation.z,
+                cube.transform.rotation.w
+            );
+
+            PositionServiceRequest positionServiceRequest = new PositionServiceRequest(cubePos);
+
+            // Send message to ROS and return the response
+            ros.SendServiceMessage<PositionServiceResponse>(serviceName, positionServiceRequest, Callback_Destination);
+            awaitingResponseUntilTimestamp = Time.time+1.0f; // don't send again for 1 second, or until we receive a response
+        }
+    }
+
+    void Callback_Destination(PositionServiceResponse response)
+    {
+        awaitingResponseUntilTimestamp = -1;
+        destination = new Vector3(response.output.pos_x, response.output.pos_y, response.output.pos_z);
+        Debug.Log("New Destination: " + destination);
+    }
+}

tutorials/pick_and_place/PickAndPlaceProject/Assets/Scripts/RosServiceExample.cs.meta

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tutorials/pick_and_place/PickAndPlaceProject/Assets/Scripts/RosSubscriberExample.cs

+using UnityEngine;
+using Unity.Robotics.ROSTCPConnector;
+using RosColor = RosMessageTypes.RoboticsDemo.UnityColor;
+
+public class RosSubscriberExample : MonoBehaviour
+{
+    public GameObject cube;
+
+    void Start()
+    {
+        ROSConnection.instance.Subscribe<RosColor>("color", ColorChange);
+    }
+
+    void ColorChange(RosColor colorMessage)
+    {
+        cube.GetComponent<Renderer>().material.color = new Color32((byte)colorMessage.r, (byte)colorMessage.g, (byte)colorMessage.b, (byte)colorMessage.a);
+    }
+}

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