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hyounesyhyounesy
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Release 0.7.0
AIRO-1696
2 parents d324209 + e1bf935 commit a72ef3a

37 files changed

+677
-154
lines changed

‎.github/workflows/jira-link.yaml

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name: jira-link
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on:
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pull_request:
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types: [opened, edited, reopened, synchronize]
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jobs:
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jira-link:
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runs-on: ubuntu-20.04
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steps:
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- name: check pull request title and source branch name
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run: |
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echo "Checking pull request with title ${{ github.event.pull_request.title }} from source branch ${{ github.event.pull_request.head.ref }}"
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if ! [[ "${{ github.event.pull_request.title }}" =~ ^AIRO-[0-9]+[[:space:]].*$ ]] && ! [[ "${{ github.event.pull_request.head.ref }}" =~ ^AIRO-[0-9]+.*$ ]]
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then
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echo -e "Please make sure one of the following is true:\n \
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1. the pull request title starts with 'AIRO-xxxx ', e.g. 'AIRO-1024 My Pull Request'\n \
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2. the source branch starts with 'AIRO-xxx', e.g. 'AIRO-1024-my-branch'"
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exit 1
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else
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echo "Completed checking"
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fi

‎.github/workflows/snyk.yaml

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name: Snyk Monitor
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on:
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pull_request:
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jobs:
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security:
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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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- name: Run Snyk to check for vulnerabilities
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uses: snyk/actions/python-3.8@master
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env:
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SNYK_TOKEN: ${{ secrets.SNYK_TOKEN }}
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with:
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command: monitor
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args: --file=tutorials/ros_unity_integration/ros2_packages/unity_robotics_demo/setup.py

‎.yamato/PickAndPlaceTests/ros.bash

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#!/bin/bash
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# Assuming this script is invoked from the root of the repository...
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help() {
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echo "usage: $0 [COMMAND] [ROS]"
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echo "COMMAND:"
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echo " - stop"
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echo " - build_pick_and_place"
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echo " - start_pick_and_place"
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echo " - build_ros"
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echo " - start_ros"
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echo " - run_ros_color_publisher"
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echo " - run_ros_pose_service_client"
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echo " - run_ros_position_service"
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echo "ROS"
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echo " - ros1"
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echo " - ros2"
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}
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COMMAND=$1
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ROS=$2
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if [ "$COMMAND" == "stop" ]; then
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echo "Terminating process $3"
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pkill -15 -P $3
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sleep 10
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elif [ "$COMMAND" == "build_pick_and_place" ]; then
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source /opt/ros/noetic/setup.bash
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pushd $PWD
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cd tutorials/pick_and_place/ROS
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catkin_make
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source devel/setup.bash
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popd
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elif [ "$COMMAND" == "start_pick_and_place" ]; then
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echo "Starting ROS for Pick and Place"
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source tutorials/pick_and_place/ROS/devel/setup.bash
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roslaunch niryo_moveit part_3.launch
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elif [ "$COMMAND" == "build_ros" ]; then
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if [ "$ROS" == "ros1" ]; then
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export ROS_WORKSPACE=$(pwd)/ros1_ws
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mkdir -p $ROS_WORKSPACE/src
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cp -r tutorials/ros_unity_integration/ros_packages/ $ROS_WORKSPACE/src/
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git clone https://github.com/Unity-Technologies/ROS-TCP-Endpoint $ROS_WORKSPACE/src/ros_tcp_endpoint -b main
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/bin/bash tutorials/ros_unity_integration/ros_docker/set-up-workspace
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chmod +x $ROS_WORKSPACE/src/ros_tcp_endpoint/src/ros_tcp_endpoint/*.py
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elif [ "$ROS" == "ros2" ]; then
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export ROS_WORKSPACE=$(pwd)/ros2_ws
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mkdir -p $ROS_WORKSPACE/src
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cp -r tutorials/ros_unity_integration/ros2_packages/ $ROS_WORKSPACE/src/
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git clone https://github.com/Unity-Technologies/ROS-TCP-Endpoint $ROS_WORKSPACE/src/ros_tcp_endpoint -b main-ros2
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source /opt/ros/$ROS_DISTRO/setup.sh
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pushd $(pwd)
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cd $ROS_WORKSPACE
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colcon build
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popd
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else
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help
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fi
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elif [ "$COMMAND" == "start_ros" ]; then
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if [ "$ROS" == "ros1" ]; then
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source ros1_ws/devel/setup.bash
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echo "Starting ROS1 master"
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roscore &
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sleep 5 # Wait ROS master to stand up
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rosparam set ROS_IP 127.0.0.1
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echo "Starting ROS1 default server endpoint"
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rosrun ros_tcp_endpoint default_server_endpoint.py
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elif [ "$ROS" == "ros2" ]; then
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source ros2_ws/install/setup.bash
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echo "Starting ROS2 default server endpoint"
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ros2 run ros_tcp_endpoint default_server_endpoint --ros-args -p ROS_IP:=127.0.0.1
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else
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help
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fi
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elif [ "$COMMAND" == "run_ros_color_publisher" ]; then
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if [ "$ROS" == "ros1" ]; then
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source ros1_ws/devel/setup.bash
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elif [ "$ROS" == "ros2" ]; then
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source ros2_ws/install/setup.bash
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else
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help
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fi
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echo "Starting to run $ROS color publisher every 30 seconds"
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count=0
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while [[ $count -le 6 ]]
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do
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sleep 5
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if [ "$ROS" == "ros1" ]; then
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rosrun unity_robotics_demo color_publisher.py
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elif [ "$ROS" == "ros2" ]; then
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ros2 run unity_robotics_demo color_publisher
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else
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help
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fi
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count=$(( $count + 1 ))
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done
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echo "Completed run: $ROS color publisher"
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elif [ "$COMMAND" == "run_ros_pose_service_client" ]; then
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if [ "$ROS" == "ros1" ]; then
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source ros1_ws/devel/setup.bash
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elif [ "$ROS" == "ros2" ]; then
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source ros2_ws/install/setup.bash
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else
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help
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fi
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echo "Starting to run $ROS pose service client and send requests every 30 seconds"
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count=0
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while [[ $count -le 6 ]]
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do
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sleep 5
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if [ "$ROS" == "ros1" ]; then
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rosservice call /obj_pose_srv Cube
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elif [ "$ROS" == "ros2" ]; then
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ros2 service call obj_pose_srv unity_robotics_demo_msgs/ObjectPoseService "{object_name: Cube}"
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else
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help
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fi
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count=$(( $count + 1 ))
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done
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echo "Completed run: $ROS pose service client"
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elif [ "$COMMAND" == "run_ros_position_service" ]; then
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if [ "$ROS" == "ros1" ]; then
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source ros1_ws/devel/setup.bash
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elif [ "$ROS" == "ros2" ]; then
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source ros2_ws/install/setup.bash
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else
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help
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fi
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echo "Starting $ROS position service"
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if [ "$ROS" == "ros1" ]; then
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rosrun unity_robotics_demo position_service.py
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elif [ "$ROS" == "ros2" ]; then
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ros2 run unity_robotics_demo position_service
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else
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help
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fi
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else
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help
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fi

‎.yamato/PickAndPlaceTests/set-up-integration-tests.py

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external_scripts_dir = os.path.join(root_dir, "Scripts")
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project_dir = os.path.join(root_dir, "PickAndPlaceProject")
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project_scripts_dir = os.path.join(project_dir, "Assets", "Scripts")
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external_ros_scripts_dir = os.path.join(script_dir, "..", "..", "tutorials", "ros_unity_integration", "unity_scripts")
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# project_settings_file = os.path.join(project_dir, "ProjectSettings", "ProjectSettings.asset")
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scripts_to_move = glob.glob(os.path.join(external_scripts_dir, "*.cs"))
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print(f">>> Copying {external_script} to {script_destination}")
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shutil.copyfile(external_script, script_destination)
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scripts_to_move = glob.glob(os.path.join(external_ros_scripts_dir, "*.cs"))
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for external_script in scripts_to_move:
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script_name = os.path.basename(external_script)
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script_destination = os.path.join(project_scripts_dir, script_name)
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print(f">>> Copying {external_script} to {script_destination}")
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shutil.copyfile(external_script, script_destination)
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files_to_cat = []
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message_dir = os.path.join(project_dir, "Assets", "RosMessages")
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print(f">>> Files in {message_dir}:")

‎.yamato/PickAndPlaceTests/set-up-ros-define.py

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from unityparser import UnityDocument
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import argparse
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import os
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parser = argparse.ArgumentParser(description='Add ROS define symbols')
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parser.add_argument('ros', type=str, help='ROS version: ros1 or ros2')
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project_settings_filepath = os.path.join(".", "tutorials", "pick_and_place", "PickAndPlaceProject", "ProjectSettings", "ProjectSettings.asset")
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if not os.path.exists(project_settings_filepath):
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raise FileNotFoundError("Not found %s".format(project_settings_filepath))
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settings = UnityDocument.load_yaml(project_settings_filepath)
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symbols = settings.entries[0].scriptingDefineSymbols
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args = parser.parse_args()
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if args.ros == "ros1":
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if symbols[1] is None:
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symbols[1] = "ROS1"
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else:
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symbols[1] += ";ROS1"
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elif args.ros == "ros2":
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if symbols[1] is None:
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symbols[1] = "ROS2"
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else:
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symbols[1] += ";ROS2"
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else:
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raise ValueError("Invalid input ROS version. Must be either ros1 or ros2")
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settings.dump_yaml(project_settings_filepath)
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‎.yamato/PickAndPlaceTests/start-ros.bash

-11
This file was deleted.

‎.yamato/sonar.yml

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csharp:
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name: Sonarqube C# Scan
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agent:
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type: Unity::metal::macmini
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image: package-ci/mac
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flavor: m1.mac
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variables:
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PROJECT_PATH: tutorials/pick_and_place/PickAndPlaceProject
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SONARQUBE_PROJECT_KEY: ai-robotics-hub-csharp
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SONARQUBE_PROJECT_BASE_DIR: /Users/bokken/build/output/Unity-Technologies/Unity-Robotics-Hub/tutorials/pick_and_place/PickAndPlaceProject
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MSBUILD_SLN_PATH: ./tutorials/pick_and_place/PickAndPlaceProject/PickAndPlaceProject.sln
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PROJECT_ROOT: /Users/bokken/build/output/Unity-Technologies/Unity-Robotics-Hub/
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UNITY_VERSION: 2020.3.11f1
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commands:
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- npm install upm-ci-utils@stable -g --registry https://artifactory.prd.it.unity3d.com/artifactory/api/npm/upm-npm
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- unity-downloader-cli -u $UNITY_VERSION -c Editor
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- brew install mono corretto
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- curl https://github.com/SonarSource/sonar-scanner-msbuild/releases/download/5.2.1.31210/sonar-scanner-msbuild-5.2.1.31210-net46.zip -o sonar-scanner-msbuild-net46.zip -L
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- unzip sonar-scanner-msbuild-net46.zip -d ~/sonar-scanner-msbuild
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- chmod a+x ~/sonar-scanner-msbuild/sonar-scanner-4.6.1.2450/bin/sonar-scanner
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- .Editor/Unity.app/Contents/MacOS/Unity -projectPath $PROJECT_PATH -batchmode -quit -nographics -logFile - -executeMethod "UnityEditor.SyncVS.SyncSolution"
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- command: |
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cd $PROJECT_PATH
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for file in *.csproj; do sed -i.backup "s/^[[:blank:]]*<ReferenceOutputAssembly>false<\/ReferenceOutputAssembly>/<ReferenceOutputAssembly>true<\/ReferenceOutputAssembly>/g" $file; rm $file.backup; done
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cd $PROJECT_ROOT
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- mono ~/sonar-scanner-msbuild/SonarScanner.MSBuild.exe begin /k:$SONARQUBE_PROJECT_KEY /d:sonar.host.url=$SONARQUBE_ENDPOINT_URL_PRD /d:sonar.login=$SONARQUBE_TOKEN_PRD /d:sonar.projectBaseDir=$SONARQUBE_PROJECT_BASE_DIR
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- msbuild $MSBUILD_SLN_PATH
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- mono ~/sonar-scanner-msbuild/SonarScanner.MSBuild.exe end /d:sonar.login=$SONARQUBE_TOKEN_PRD
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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" OR pull_request.target eq "dev")
33+
AND NOT pull_request.push.changes.all match "**/*.md") OR
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(push.branch eq "main" OR push.branch eq "dev")
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standard:
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name: Sonarqube Standard Scan
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agent:
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type: Unity::metal::macmini
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image: package-ci/mac
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flavor: m1.mac
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variables:
42+
SONARQUBE_PROJECT_KEY: ai-robotics-hub-standard
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commands:
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- curl https://binaries.sonarsource.com/Distribution/sonar-scanner-cli/sonar-scanner-cli-4.6.2.2472-macosx.zip -o sonar-scanner-macosx.zip -L
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- unzip sonar-scanner-macosx.zip -d ~/sonar-scanner
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- ~/sonar-scanner/sonar-scanner-4.6.2.2472-macosx/bin/sonar-scanner -Dsonar.projectKey=$SONARQUBE_PROJECT_KEY -Dsonar.sources=. -Dsonar.host.url=$SONARQUBE_ENDPOINT_URL_PRD -Dsonar.login=$SONARQUBE_TOKEN_PRD
47+
triggers:
48+
cancel_old_ci: true
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expression: |
50+
((pull_request.target eq "main" OR pull_request.target eq "dev")
51+
AND NOT pull_request.push.changes.all match "**/*.md") OR
52+
(push.branch eq "main" OR push.branch eq "dev")

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