Merge branch 'main' into dev

Author: LaurieCheers-unity

README.md

@@ -1,6 +1,4 @@
-![](images/unity-wide.png)
-
-<p align="center"><img src="images/warehouse.gif" width="800"/></p>
+<p align="center"><img src="images/warehouse.gif"/></p>
 
 # Unity Robotics Hub
 

images/Unity-1200X630.png

@@ -155,6 +155,8 @@ To enable communication between Unity and ROS, a TCP endpoint running as a ROS n
 
  - Replace the `Host Name` value with the IP address of your ROS machine. Ensure that the `Host Port` is set to `10000`.
 
+ - If you are going to run ROS services with docker container introduced [below](#the-ros-side), fill `Host Name` and `Override Unity IP` with the loopback IP address `127.0.0.1`.
+
 1. To call the `Publish()` function, a UI element will be added for user input. In the Hierarchy window, right click to add a new UI > Button. Note that this will create a new Canvas parent as well. 
 > Note: In the `Game` view, you will see the button appear in the bottom left corner as an overlay. In `Scene` view the button will be rendered on a canvas object that may not be visible.
 
@@ -174,7 +176,31 @@ To enable communication between Unity and ROS, a TCP endpoint running as a ROS n
 
 > Note: This project has been tested with Python 2 and ROS Melodic, as well as Python 3 and ROS Noetic.
 
-Most of the ROS setup has been provided via the `niryo_moveit` package. This section will describe the `.launch` files and start the necessary ROS nodes for communication.
+Most of the ROS setup has been provided via the `niryo_moveit` package. This section will describe the `.launch` files and start the necessary ROS nodes for communication. Two methods are provideds to launch ROS nodes and services: either using a ROS docker container or doing it manually in your own ROS environment.
+
+### Use Docker Container
+
+1. [Install Docker Engine](https://docs.docker.com/engine/install/)
+
+2. Build the ROS docker image
+
+ ```bash
+ cd /YOUR/UNITY-ROBOTICS-HUB/REPOSITORY/tutorials/pick_and_place &&
+ git submodule update --init --recursive &&
+ docker build -t unity-robotics:pick-and-place -f docker/Dockerfile .
+ ```
+
+3. Run ROS in a new docker container
+
+ ```bash
+ docker run -it --rm -p 10000:10000 -p 5005:5005 unity-robotics:pick-and-place part_2 /bin/bash
+ ```
+
+4. Terminate docker container
+
+ Press `Ctrl + C` or `Cmd + C` to terminate the docker container.
+
+### Manually Setup ROS
 
 1. The provided files require the following packages to be installed. ROS Melodic users should run the following commands if the packages are not already present:
 

tutorials/pick_and_place/2_ros_tcp.md

@@ -158,6 +158,12 @@ def plan_trajectory(move_group, destination_pose, start_joint_angles):
 
 > This creates a set of planned trajectories, iterating through a pre-grasp, grasp, pick up, and place set of poses. Finally, this set of trajectories is sent back to Unity.
 
+### Use Docker Container
+
+1. If you are using ROS docker container and have not already build the ROS docker image. Follow the steps in [Part 2](2_ros_tcp.md) to build the `unity-robotics:pick-and-place` docker image.
+
+### Manually Setup ROS
+
 1. If you have not already built and sourced the ROS workspace since importing the new ROS packages, navigate to your ROS workplace, e.g. `Unity-Robotics-Hub/tutorials/pick_and_place/ROS/`, run `catkin_make && source devel/setup.bash`. Ensure there are no errors.
 
 1. If you have not already set the ROS parameter values in the `params.yaml`, navigate to `src/niryo_moveit/config/params.yaml` and open the file for editing. Follow the steps in [Part 2](2_ros_tcp.md) to configure the values.
@@ -168,6 +174,22 @@ def plan_trajectory(move_group, destination_pose, start_joint_angles):
 
 ## ROS–Unity Communication
 
+### Use Docker Container
+
+1. If you have not already, [build the ROS docker image](2_ros_tcp.md#use-docker-container) before executing the following command lines.
+
+2. Run ROS in a new docker container
+
+ ```bash
+ docker run -it --rm -p 10000:10000 -p 5005:5005 unity-robotics:pick-and-place part_3 /bin/bash
+ ```
+
+3. Terminate docker container
+
+ Press `Ctrl + C` or `Cmd + C` to terminate the docker container.
+
+### Manually Setup ROS
+
 1. Open a new terminal window in the ROS workspace. Once again, source the workspace. 
 
  Then, run the following `roslaunch` in order to start roscore, set the ROS parameters, start the server endpoint, start the Mover Service node, and launch MoveIt. 

tutorials/pick_and_place/3_pick_and_place.md

@@ -1,3 +1,2 @@
 build
 devel
-src/CMakeLists.txt

tutorials/pick_and_place/ROS/.gitignore

@@ -0,0 +1,21 @@
+FROM ros:melodic-ros-base
+
+RUN sudo apt-get update && sudo apt-get install -y vim iputils-ping net-tools python-pip ros-melodic-robot-state-publisher ros-melodic-moveit ros-melodic-rosbridge-suite ros-melodic-joy ros-melodic-ros-control ros-melodic-ros-controllers ros-melodic-tf2-web-republisher dos2unix
+
+RUN sudo -H pip install rospkg jsonpickle
+
+ENV ROS_WORKSPACE=/catkin_ws
+
+# Copy each directory explicitly to avoid workspace cruft
+COPY ./ROS/src/moveit_msgs $ROS_WORKSPACE/src/moveit_msgs
+COPY ./ROS/src/niryo_moveit $ROS_WORKSPACE/src/niryo_moveit
+COPY ./ROS/src/niryo_one_ros $ROS_WORKSPACE/src/niryo_one_ros
+COPY ./ROS/src/niryo_one_urdf $ROS_WORKSPACE/src/niryo_one_urdf
+COPY ./ROS/src/ros_tcp_endpoint $ROS_WORKSPACE/src/ros_tcp_endpoint
+
+COPY ./docker/set-up-workspace /setup.sh
+COPY docker/tutorial /
+
+RUN dos2unix /tutorial && dos2unix /setup.sh && chmod +x /setup.sh && /setup.sh && rm /setup.sh
+
+ENTRYPOINT ["/tutorial"]

tutorials/pick_and_place/docker/Dockerfile

@@ -0,0 +1,5 @@
+#!/bin/bash
+
+source /opt/ros/melodic/setup.bash
+cd $ROS_WORKSPACE
+catkin_make

tutorials/pick_and_place/docker/set-up-workspace

@@ -0,0 +1,18 @@
+#!/bin/bash
+
+help()
+{
+ echo "Syntax: $0 [part_2|part_3]"
+}
+
+source $ROS_WORKSPACE/devel/setup.bash
+
+echo "ROS_IP: $(hostname -i)" > $ROS_WORKSPACE/src/niryo_moveit/config/params.yaml
+
+if [ $1 == "part_2" ]; then
+roslaunch niryo_moveit part_2.launch
+elif [ $1 == "part_3" ]; then
+roslaunch niryo_moveit part_3.launch
+else
+help
+fi