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Merge dev to main for release 0.4.0 (#113)
* Add ROS# link (#55) * Add ROS# link * Fixing message name that should not take a capital first letter automatically (#47) * Fixing message name that should not take a capital first letter automatically * Adding warning when a message file name starts with a lowercase character * AIRO-331 Code Cleanup and Testing Framework (#57) * Moving package files into package subdirectory * Adding tests and fixing Yamato config. * Adding missing using statement to MessageParser * RosMessageGeneration namespace change (#61) * Amanda/read chunks (#62) * Read message in chunks min * Removing unpredictable DataAvailable check * Configurable byte chun k size * Prevent infinite hang on reading message contents * Wait for frame on data read retry * PR Feedback * Adding prebuilt ObjectRecognition and Octomap messages (#64) * M prefix for all messages (#66) * Topic list service (#72) * Adding install instructions to README Partially addressing issue #71 wherein a user couldn't find up-to-date instructions for installing the connector into a new project. * Updating Contribution Content (#77) * Contributing content commit * Link fix * PR feedback * Adding PR template (#81) * One persistent connection for all messages sent to Unity * Read multiple messages from each connection * Compiles * First thing sent on each new connection is the timeout * Comments! * Stop the connection on leaving play mode * Add a "timeout on idle" config setting so Endpoint doesn't have to send it * IP address check for Unity IP address and ROS IP address (#80) * Add Ip address check * Adding condition for alphaumeric IP address https://man7.org/linux/man-pages/man5/hosts.5.html * Resolve conflicts Resolve the conflicts to merge dev to main * Update package.json (#87) * Update version number in readme, and clean up some weird instructions (#89) * MDuration namespace change (#91) * Minor link fix (#98) * RosConnection 2.0 (#94) * add changelog (#100) add changelog * Forum links to README, config.yml (#101) * Laurie/connection status hud (#99) * add test coverage (#102) * Reducing character count for path to generated messages The path from the package root to the root of the PregeneratedMessages folder was 47 characters. From within the PickAndPlace project, the fully qualified path including drive letter, path to workspace, and path to its location in the package cache can easily exceed 200 characters, especially for users with long names or deep workspace organization. The maximum allowed path length for a fully qualified path in Windows is 260 characters, after which an IDE can not compile the assemblies for source with too-long paths. Moved Runtime/MessageGeneration/PregeneratedMessages to Runtime/Messages, which saves 30 characters off the full path name. This is a mitigation that can not fully solve the problem, but wil at least reduce the number of cases for which the ROS-TCP-Endpoint assemblies fail to compile due to path length. Tested on my machine by manually renaming the directory in my PackageCache. * Add Linter (#103) * Add editorconfig for formatting * Use linter to format the package code * Add pre-commit hook * Fix line endings for markdown Fix trailing-whitespace * Remove ruby setup; Change to run pre-commit only on pull-requests * Resolve conflicts (#106) * Shuo/resolve conflict (#107) * Merge 0.3.0 to main (#90) * Add ROS# link (#55) * Add ROS# link * Fixing message name that should not take a capital first letter automatically (#47) * Fixing message name that should not take a capital first letter automatically * Adding warning when a message file name starts with a lowercase character * AIRO-331 Code Cleanup and Testing Framework (#57) * Moving package files into package subdirectory * Adding tests and fixing Yamato config. * Adding missing using statement to MessageParser * RosMessageGeneration namespace change (#61) * Amanda/read chunks (#62) * Read message in chunks min * Removing unpredictable DataAvailable check * Configurable byte chun k size * Prevent infinite hang on reading message contents * Wait for frame on data read retry * PR Feedback * Adding prebuilt ObjectRecognition and Octomap messages (#64) * M prefix for all messages (#66) * Topic list service (#72) * Adding install instructions to README Partially addressing issue #71 wherein a user couldn't find up-to-date instructions for installing the connector into a new project. * Updating Contribution Content (#77) * Contributing content commit * Link fix * PR feedback * Adding PR template (#81) * One persistent connection for all messages sent to Unity * Read multiple messages from each connection * Compiles * First thing sent on each new connection is the timeout * Comments! * Stop the connection on leaving play mode * Add a "timeout on idle" config setting so Endpoint doesn't have to send it * IP address check for Unity IP address and ROS IP address (#80) * Add Ip address check * Adding condition for alphaumeric IP address https://man7.org/linux/man-pages/man5/hosts.5.html * Resolve conflicts Resolve the conflicts to merge dev to main * Update package.json (#87) * Update version number in readme, and clean up some weird instructions (#89) Co-authored-by: Devin Miller (Unity) <mrpropellers@users.noreply.github.com> Co-authored-by: Amanda <31416491+at669@users.noreply.github.com> Co-authored-by: vidurvij-Unity <60901103+vidurvij-Unity@users.noreply.github.com> Co-authored-by: peifeng-unity <56408141+peifeng-unity@users.noreply.github.com> * Remove deprecated files Co-authored-by: LaurieCheers-unity <73140792+LaurieCheers-unity@users.noreply.github.com> Co-authored-by: Devin Miller (Unity) <mrpropellers@users.noreply.github.com> Co-authored-by: Amanda <31416491+at669@users.noreply.github.com> Co-authored-by: vidurvij-Unity <60901103+vidurvij-Unity@users.noreply.github.com> Co-authored-by: peifeng-unity <56408141+peifeng-unity@users.noreply.github.com> * add changelog meta file (#109) * update version to 0.4.0 (#110) * rremove stale merge Co-authored-by: Devin Miller (Unity) <mrpropellers@users.noreply.github.com> Co-authored-by: LaurieCheers-unity <73140792+LaurieCheers-unity@users.noreply.github.com> Co-authored-by: Amanda <31416491+at669@users.noreply.github.com> Co-authored-by: vidurvij-Unity <60901103+vidurvij-Unity@users.noreply.github.com> Co-authored-by: peifeng-unity <56408141+peifeng-unity@users.noreply.github.com> Co-authored-by: Devin Miller (Unity) <devin.miller@unity3d.com> Co-authored-by: peifeng-unity <peifeng.jing@unity3d.com>
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‎.editorconfig

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; see http://editorconfig.org/ for docs on this file
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; See https://github.com/dotnet/format for dotnet format
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root = true
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[*]
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ignore_if_in_header = This code was generated by a tool|<auto-generated>
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indent_style = space
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indent_size = 4
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; uncomment to help with sharing files across os's (i.e. network share or through local vm)
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#end_of_line = lf
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; avoid a bom, which causes endless problems with naive text tooling
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charset = utf-8
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trim_trailing_whitespace = true
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insert_final_newline = true
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; keeping auto-format enabled helps avoid merge hell for projects without CI-based format validation
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#disable_auto_format = true
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[*.cs]
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; uncomment to enable full formatting of c# files
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formatters = generic, uncrustify
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[*.asmdef]
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scrape_api = true
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[**/Tests/**.asmdef]
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scrape_api = false
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[*.Tests.asmdef]
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scrape_api = false
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[*.md]
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indent_size = 2
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; trailing whitespace is unfortunately significant in markdown
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trim_trailing_whitespace = false
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; uncomment to enable basic formatting of markdown files
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#formatters = generic
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[{Makefile,makefile}]
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; tab characters are part of the Makefile format
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indent_style = tab
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[*.asmdef]
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indent_size = 4
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[*.json]
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indent_size = 2
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[*.{vcproj,bat,cmd,xaml,tt,t4,ttinclude}]
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end_of_line = crlf
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; this VS-specific stuff is based on experiments to see how VS will modify a file after it has been manually edited.
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; the settings are meant to closely match what VS does to minimize unnecessary diffs.
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[*.{vcxproj,vcxproj.filters}]
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indent_style = space
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indent_size = 2
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end_of_line = crlf
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charset = utf-8-bom
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trim_trailing_whitespace = true
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insert_final_newline = false
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; must be broken out because of 51-char bug (https://github.com/editorconfig/editorconfig-visualstudio/issues/21)
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[*.{csproj,pyproj,props,targets}]
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indent_style = space
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indent_size = 2
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end_of_line = crlf
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charset = utf-8-bom
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trim_trailing_whitespace = true
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insert_final_newline = false
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[*.{sln,sln.template}]
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indent_style = tab
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indent_size = 4
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end_of_line = crlf
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charset = utf-8
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trim_trailing_whitespace = true
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insert_final_newline = false

‎.github/ISSUE_TEMPLATE/config.yml

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blank_issues_enabled: false
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contact_links:
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- name: Unity Robotics Forum
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url: https://forum.unity.com/forums/robotics.623/
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about: Discussions and questions about Unity Robotics tools, demos, or integrations.

‎.github/PULL_REQUEST_TEMPLATE.md

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## Testing and Verification
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Please describe the tests that you ran to verify your changes. Please also provide instructions, ROS packages, and Unity project files as appropriate so we can reproduce the test environment.
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Please describe the tests that you ran to verify your changes. Please also provide instructions, ROS packages, and Unity project files as appropriate so we can reproduce the test environment.
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### Test Configuration:
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- Unity Version: [e.g. Unity 2020.2.0f1]
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## Checklist
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- [ ] Ensured this PR is up-to-date with the `dev` branch
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- [ ] Created this PR to target the `dev` branch
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- [ ] Followed the style guidelines as described in the [Contribution Guidelines](../CONTRIBUTING.md)
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- [ ] Followed the style guidelines as described in the [Contribution Guidelines](https://github.com/Unity-Technologies/ROS-TCP-Connector/blob/main/CONTRIBUTING.md)
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- [ ] Added tests that prove my fix is effective or that my feature works
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- [ ] Updated the [Changelog](https://github.com/Unity-Technologies/ROS-TCP-Connector/blob/dev/com.unity.robotics.ros-tcp-connector/CHANGELOG.md) and described changes in the [Unreleased section](https://github.com/Unity-Technologies/ROS-TCP-Connector/blob/dev/com.unity.robotics.ros-tcp-connector/CHANGELOG.md#unreleased)
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- [ ] Updated the documentation as appropriate
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## Other comments

‎.github/workflows/pre-commit.yml

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name: pre-commit
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on:
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pull_request:
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jobs:
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pre-commit:
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v2
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- uses: actions/setup-python@v2
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with:
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python-version: 3.7.x
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- uses: actions/setup-dotnet@v1
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with:
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dotnet-version: '3.1.x'
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- uses: pre-commit/action@v2.0.0

‎.gitignore

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.idea
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*.swp
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*.vscode/

‎.pre-commit-config.yaml

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repos:
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- repo: https://github.com/pre-commit/pre-commit-hooks
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rev: v4.0.1
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hooks:
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- id: mixed-line-ending
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exclude: >
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(?x)^(
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.*cs.meta|
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.*.css|
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.*.meta|
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.*.mat|
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.*.preset|
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.*.lighting
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)$
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args: [--fix=lf]
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- id: trailing-whitespace
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name: trailing-whitespace-markdown
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types: [markdown]
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- id: check-merge-conflict
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args: [--assume-in-merge]
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- id: check-yaml
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# Won't handle the templating in yamato
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exclude: \.yamato/.*
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- repo: https://github.com/dotnet/format
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rev: "7e343070a0355c86f72bdee226b5e19ffcbac931"
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hooks:
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- id: dotnet-format
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args: [--folder, --include]

‎.yamato/yamato-config.yml

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- python3 -m pip install unity-downloader-cli --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple --upgrade
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- unity-downloader-cli -u 2020.2.0b9 -c editor -c StandaloneSupport-IL2CPP -c Linux --wait --published
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- git clone git@github.cds.internal.unity3d.com:unity/utr.git utr
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- utr/utr --testproject=./TestRosTcpConnector --editor-location=.Editor --reruncount=0 --artifacts_path=test-results --suite=playmode --suite=editor --platform=Editor
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- utr/utr --testproject=./TestRosTcpConnector --editor-location=.Editor --reruncount=0 --artifacts_path=test-results --suite=playmode --suite=editor --platform=Editor --enable-code-coverage --coverage-results-path=../test-results --coverage-options="assemblyFilters:+Unity.Robotics.ROSTCPConnector,+Unity.Robotics.ROSTCPConnector.Editor;generateHtmlReport;generateBadgeReport;generateAdditionalMetrics"
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# check test coverage
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- command: |
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linecoverage=$(cat test-results/Report/Summary.xml | grep Linecoverage | grep -Eo '[+-]?[0-9]+([.][0-9]+)?')
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echo "Line coverage: $linecoverage%"
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if (( $(echo "$linecoverage < 0" | bc -l) )); then exit 1; fi
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triggers:
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cancel_old_ci: true
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expression: |
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(pull_request.target eq "main" AND
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NOT pull_request.push.changes.all match "**/*.md") OR
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(push.branch eq "dev" AND
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NOT push.changes.all match "**/*.md")
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(pull_request.target eq "dev" AND
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NOT pull_request.push.changes.all match "**/*.md")
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paths:

‎CONTRIBUTING.md

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# Contribution Guidelines
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Thank you for your interest in contributing to Unity Robotics! To facilitate your
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contributions, we've outlined a brief set of guidelines to ensure that your extensions
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Thank you for your interest in contributing to Unity Robotics! To facilitate your
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contributions, we've outlined a brief set of guidelines to ensure that your extensions
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can be easily integrated.
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## Communication
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All Python code should follow the [PEP 8 style guidelines](https://pep8.org/).
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All C# code should follow the [Microsoft C# Coding Conventions](https://docs.microsoft.com/en-us/dotnet/csharp/programming-guide/inside-a-program/coding-conventions).
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Additionally, the [Unity Coding package](https://docs.unity3d.com/Packages/com.unity.coding@0.1/manual/index.html)
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can be used to format, encode, and lint your code according to the standard Unity
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development conventions. Be aware that these Unity conventions will supersede the
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All C# code should follow the [Microsoft C# Coding Conventions](https://docs.microsoft.com/en-us/dotnet/csharp/programming-guide/inside-a-program/coding-conventions).
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Additionally, the [Unity Coding package](https://docs.unity3d.com/Packages/com.unity.coding@0.1/manual/index.html)
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can be used to format, encode, and lint your code according to the standard Unity
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development conventions. Be aware that these Unity conventions will supersede the
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Please note that even if the code you are changing does not adhere to these guidelines,
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Once you have a change ready following the above ground rules, simply make a
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‎MessageGeneration.md

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# Message Generation
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To work with a ROS message in Unity, you first need to generate the corresponding C# message class. Select the menu option "RosMessageGeneration->Browse..." to open the message browser.
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![](images~/MessageBrowser.png)
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# Message importers
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For a more automated workflow, you may find it useful to simply drag an entire ROS module folder into your Unity project. Unity will automatically find any .msg and .srv files in the folder structure, and convert them into C# message classes for you. And the classes will be updated if the .msg or .srv files change on disk.
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# Message Generation
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To work with a ROS message in Unity, you first need to generate the corresponding C# message class. Select the menu option "RosMessageGeneration->Browse..." to open the message browser.
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![](images~/MessageBrowser.png)
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# Message importers
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For a more automated workflow, you may find it useful to simply drag an entire ROS module folder into your Unity project. Unity will automatically find any .msg and .srv files in the folder structure, and convert them into C# message classes for you. And the classes will be updated if the .msg or .srv files change on disk.
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NB: The message generation system looks for a ROS package.xml to determine what code to generate, so if you're working this way it's recommended to import an entire ROS module, rather than individual .msg files, into your Unity project.

‎README.md

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[![License](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)
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## Installation
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1. Using Unity 2020.2 or later, open the package manager from `Window` -> `Package Manager` and select "Add package from git URL..."
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1. Using Unity 2020.2 or later, open the package manager from `Window` -> `Package Manager` and select "Add package from git URL..."
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![image](https://user-images.githubusercontent.com/29758400/110989310-8ea36180-8326-11eb-8318-f67ee200a23d.png)
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2. Enter the following URL. If you don't want to use the latest version, substitute your desired version tag where we've put `v0.3.0` in this example:
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2. Enter the following URL. If you don't want to use the latest version, substitute your desired version tag where we've put `v0.4.0` in this example:
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`https://github.com/Unity-Technologies/ROS-TCP-Connector.git?path=/com.unity.robotics.ros-tcp-connector#v0.4.0`
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## Tutorials
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## Tutorials
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Scripts used to send [ROS](https://www.ros.org/) messages to an [TCP endpoint](https://github.com/Unity-Technologies/ROS_TCP_Endpoint) running as a ROS node.
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- ROSConnection: See the [Unity Robotics Hub](https://github.com/Unity-Technologies/Unity-Robotics-Hub/blob/main/tutorials/ros_unity_integration/README.md) repository for information and tutorials on how to use this component.
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- [Message Generation](MessageGeneration.md)
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## Community and Feedback
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The Unity Robotics projects are open-source and we encourage and welcome contributions.
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The Unity Robotics projects are open-source and we encourage and welcome contributions.
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If you wish to contribute, be sure to review our [contribution guidelines](CONTRIBUTING.md)
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## Support
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For questions or discussions about Unity Robotics package installations or how to best set up and integrate your robotics projects, please create a new thread on the [Unity Robotics forum](https://forum.unity.com/forums/robotics.623/) and make sure to include as much detail as possible.
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For feature requests, bugs, or other issues, please file a [GitHub issue](https://github.com/Unity-Technologies/ROS-TCP-Connector/issues) using the provided templates and the Robotics team will investigate as soon as possible.
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investigate the issue as soon as possible.
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## License
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[Apache License 2.0](LICENSE)

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