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‎.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

‎.yamato/sonar.yml

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name: Sonarqube 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: TestRosTcpConnector
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SONARQUBE_PROJECT_KEY: ai-robotics-ros-tcp-connector
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SONARQUBE_PROJECT_BASE_DIR: /Users/bokken/build/output/Unity-Technologies/ROS-TCP-Connector/com.unity.robotics.ros-tcp-connector
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MSBUILD_SLN_PATH: ./TestRosTcpConnector/TestRosTcpConnector.sln
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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 ~
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- chmod a+x ~/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 $file.backup; done
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cd ../
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- mono ~/SonarScanner.MSBuild.exe begin /k:$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 $MSBUILD_SLN_PATH
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- mono ~/SonarScanner.MSBuild.exe end /d:sonar.login=$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")
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AND NOT pull_request.push.changes.all match "**/*.md") OR
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(push.branch eq "main" OR push.branch eq "dev")

‎.yamato/yamato-config.yml

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@@ -4,24 +4,27 @@ agent:
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image: robotics/ci-ubuntu20:v0.1.0-795910
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flavor: i1.large
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variables:
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# Coverage is defined in a percentage (out of 100)
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COVERAGE_EXPECTED: 2.5
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PATH: /root/.local/bin:/home/bokken/bin:/home/bokken/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/sbin:/home/bokken/.npm-global/bin
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commands:
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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 [email protected]: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 --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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- 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,+Unity.Robotics.ROSTCPConnector.MessageGeneration;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
19+
if (( $(echo "$linecoverage < $COVERAGE_EXPECTED" | bc -l) ))
20+
then echo "ERROR: Code coverage is under threshold of $COVERAGE_EXPECTED%" && exit 1
21+
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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(pull_request.target eq "dev" AND
24-
NOT pull_request.push.changes.all match "**/*.md")
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((pull_request.target eq "main" OR pull_request.target eq "dev")
26+
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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artifacts:
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logs:
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paths:

‎README.md

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@@ -2,11 +2,16 @@
22

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[![Version](https://img.shields.io/github/v/tag/Unity-Technologies/ROS-TCP-Connector)](https://github.com/Unity-Technologies/ROS-TCP-Connector/releases)
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[![License](https://img.shields.io/badge/license-Apache--2.0-green.svg)](LICENSE.md)
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![ROS](https://img.shields.io/badge/ros-melodic-brightgreen)
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![ROS](https://img.shields.io/badge/ros-noetic-brightgreen)
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![ROS](https://img.shields.io/badge/ros2-foxy-brightgreen)
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![ROS](https://img.shields.io/badge/ros-melodic,noetic-brightgreen)
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![ROS](https://img.shields.io/badge/ros2-foxy,galactic-brightgreen)
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![Unity](https://img.shields.io/badge/unity-2020.2+-brightgreen)
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---
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We're currently working on lots of things! Please take a short moment fill out our [survey](https://unitysoftware.co1.qualtrics.com/jfe/form/SV_0ojVkDVW0nNrHkW) to help us identify what products and packages to build next.
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---
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## Introduction
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This repository contains two Unity packages: the ROS TCP Connector, for sending/receiving messages from ROS, and the Visualizations Package, for adding visualizations of incoming and outgoing messages in the Unity scene.

‎ROSGeometry.md

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@@ -98,3 +98,13 @@ Or, if you need to work with it in the FLU coordinate space for now, you can wri
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(Note, the As function does NOT do any coordinate conversion. It simply assumes the point is in the FLU coordinate frame already, and transfers it into an appropriate container.)
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And again, the same goes for converting a Quaternion message into a Unity Quaternion or `Quaternion<C>`.
101+
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# Geographical Coordinates
103+
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The geographical coordinate systems NED and ENU are more complicated than the rest: besides the obvious "north" direction, they also provide a convention for which direction is "forward", which is not even consistent between them - In NED, forward (i.e. yaw 0) is north, whereas in ENU forward is east. Because of this inconsistency, there's no universal convention that we could establish for which direction is north in Unity. Instead, we're forced to make a distinction between local and world rotations.
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To correctly convert a *world* position or rotation to or from NED or ENU coordinates, you should use the standard NED or ENU coordinate space - for example, `To<NED>()`. This conversion will respect what direction you have set as North. By default, the Unity Z axis points north, but this is a configuration option that you can change in the Robotics/ROS Settings menu.
107+
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If you have a *local* rotation represented in NED or ENU coordinates, you should convert it using the coordinate space NEDLocal or ENULocal: for example, `To<NEDLocal>()`. These conversions are not appropriate for handling world rotations, because they don't respect the north direction, only what direction is forward (i.e. the Unity Z axis). In other words, with NEDLocal and ENULocal, an identity quaternion is still identity. This is not necessarily true for NED or ENU. NEDLocal is a synonym for the FRD coordinate space (north = forward, east = right, down = down) and ENULocal is a synonym for the FLU coordinate space (east = forward, north = left, up = up).
109+
110+
If you only care about NED coordinates, you can avoid having to deal with this distinction by setting the Z axis direction to North (the default) - this will make the NED coordinate space equal to NEDLocal. Similarly, if you only care about ENU coordinates, setting the Z axis direction to East will make ENU equal to ENULocal.

‎TestRosTcpConnector/.gitignore

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/[Bb]uild.app/
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/[Ll]ogs/
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/[Uu]ser[Ss]ettings/
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/[Cc]ode[Cc]overage/
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# MemoryCaptures can get excessive in size.
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# They also could contain extremely sensitive data

‎com.unity.robotics.ros-tcp-connector/Runtime/Messages/HandwrittenMessages/srv.meta renamed to ‎TestRosTcpConnector/Assets/Resources.meta

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‎TestRosTcpConnector/Assets/Resources/GeometryCompassSettings.asset

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%YAML 1.1
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%TAG !u! tag:unity3d.com,2011:
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--- !u!114 &11400000
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MonoBehaviour:
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m_ObjectHideFlags: 0
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m_CorrespondingSourceObject: {fileID: 0}
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m_PrefabInstance: {fileID: 0}
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m_PrefabAsset: {fileID: 0}
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m_GameObject: {fileID: 0}
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m_Enabled: 1
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m_EditorHideFlags: 0
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m_Script: {fileID: 11500000, guid: 6ad8cf01110e54df290b36a418e91285, type: 3}
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m_Name: GeometryCompassSettings
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m_EditorClassIdentifier:
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m_ZAxisDirection: 3

‎TestRosTcpConnector/Assets/Resources/GeometryCompassSettings.asset.meta

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Some generated files are not rendered by default. Learn more about customizing how changed files appear on GitHub.

‎TestRosTcpConnector/Assets/Settings/ForwardRenderer.asset

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@@ -21,7 +21,11 @@ MonoBehaviour:
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copyDepthPS: {fileID: 4800000, guid: d6dae50ee9e1bfa4db75f19f99355220, type: 3}
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screenSpaceShadowPS: {fileID: 4800000, guid: 0f854b35a0cf61a429bd5dcfea30eddd, type: 3}
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samplingPS: {fileID: 4800000, guid: 04c410c9937594faa893a11dceb85f7e, type: 3}
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tileDepthInfoPS: {fileID: 0}
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tileDeferredPS: {fileID: 0}
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stencilDeferredPS: {fileID: 4800000, guid: e9155b26e1bc55942a41e518703fe304, type: 3}
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fallbackErrorPS: {fileID: 4800000, guid: e6e9a19c3678ded42a3bc431ebef7dbd, type: 3}
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materialErrorPS: {fileID: 4800000, guid: 5fd9a8feb75a4b5894c241777f519d4e, type: 3}
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m_OpaqueLayerMask:
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serializedVersion: 2
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m_Bits: 4294967295
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failOperation: 0
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zFailOperation: 0
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m_ShadowTransparentReceive: 1
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m_RenderingMode: 0
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m_AccurateGbufferNormals: 0

‎TestRosTcpConnector/ProjectSettings/Packages/com.unity.testtools.codecoverage/Settings.json

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{
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"m_Name": "Settings",
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"m_Path": "ProjectSettings/Packages/com.unity.testtools.codecoverage/Settings.json",
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"m_Dictionary": {
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"m_DictionaryValues": [
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{
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"type": "System.String, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089",
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"key": "Path",
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"value": "{\"m_Value\":\"{ProjectPath}\"}"
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},
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{
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"type": "System.String, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089",
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"key": "HistoryPath",
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"value": "{\"m_Value\":\"{ProjectPath}\"}"
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},
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{
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"type": "System.String, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089",
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"key": "IncludeAssemblies",
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"value": "{\"m_Value\":\"Unity.Robotics.ROSTCPConnector,Unity.Robotics.ROSTCPConnector.Editor,Unity.Robotics.ROSTCPConnector.MessageGeneration\"}"
20+
},
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{
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"type": "System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089",
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"key": "EnableCodeCoverage",
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"value": "{\"m_Value\":true}"
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}
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]
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}
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}

‎com.unity.robotics.ros-tcp-connector/CHANGELOG.md

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@@ -4,6 +4,7 @@ All notable changes to this repository will be documented in this file.
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55
The format is based on [Keep a Changelog](http://keepachangelog.com/en/1.0.0/) and this project adheres to [Semantic Versioning](http://semver.org/spec/v2.0.0.html).
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78
## Unreleased
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### Upgrade Notes
@@ -21,6 +22,35 @@ The format is based on [Keep a Changelog](http://keepachangelog.com/en/1.0.0/) a
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### Fixed
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## [0.7.0-preview] - 2022-02-01
26+
27+
### Added
28+
29+
Added "Listen for TF Messages" to Settings
30+
31+
Enabled Android and IOS builds
32+
33+
Added Sonarqube scanner
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35+
Added more tests
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37+
Add support for cloud rendering
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39+
Added MessagePool<T> to enable message reuse and reduce garbage collection
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41+
Can configure what direction is "north" for NED and ENU coordinates
42+
43+
### Changed
44+
45+
CameraInfo.msg field names are different in ROS2
46+
47+
Bug fix - cope with tab character in a .msg file
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49+
Bug fix - no padding when serializing an empty array
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51+
Can publish messages from threads other than main
52+
53+
2454
## [0.6.0-preview] - 2021-09-30
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2656
Add the [Close Stale Issues](https://github.com/marketplace/actions/close-stale-issues) action
@@ -49,6 +79,8 @@ Upgrade the TestRosTcpConnector project to use Unity LTS version 2020.3.11f1
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- Unity service implementations can be async
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82+
- Added geographical world coordinate transformation by a Compass component
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5284
### Changed
5385
- Publishing a message to an unregistered topic will show an error.
5486
- Registering a service now requires both the request and response message type.

‎com.unity.robotics.ros-tcp-connector/Editor/MessageGeneration/ActionAutoGen.cs

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@@ -354,6 +354,9 @@ public void WrapActionSections(string type)
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355355
writer.Write(GenerateSerializationStatements(type));
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// Omit the subtype because subtype is baked into the class name
358+
writer.Write(MsgAutoGenUtilities.InitializeOnLoad());
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357360
// Close class
358361
writer.Write(ONE_TAB + "}\n");
359362
// Close namespace

‎com.unity.robotics.ros-tcp-connector/Editor/MessageGeneration/MessageParser.cs

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// Write ToString override
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writer.Write(GenerateToString());
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157-
string subtopicParameter = subtopic == MessageSubtopic.Default ? "" : $", MessageSubtopic.{subtopic}";
157+
var subtopicParameter =
158+
subtopic == MessageSubtopic.Default ? "" : $", MessageSubtopic.{subtopic}";
158159

159-
writer.Write(
160-
"\n" +
161-
"#if UNITY_EDITOR\n" +
162-
TWO_TABS + "[UnityEditor.InitializeOnLoadMethod]\n" +
163-
"#else\n" +
164-
TWO_TABS + "[UnityEngine.RuntimeInitializeOnLoadMethod]\n" +
165-
"#endif\n" +
166-
TWO_TABS + "public static void Register()\n" +
167-
TWO_TABS + "{\n" +
168-
THREE_TABS + $"MessageRegistry.Register(k_RosMessageName, Deserialize{subtopicParameter});\n" +
169-
TWO_TABS + "}\n"
170-
);
160+
writer.Write(InitializeOnLoad(subtopicParameter));
171161

172162
// Close class
173163
writer.Write(MsgAutoGenUtilities.ONE_TAB + "}\n");
@@ -319,7 +309,7 @@ private void Declaration()
319309
// Check if identifier is a ROS message built-in type
320310
if (builtInTypeMapping.ContainsKey(identifier))
321311
{
322-
throw new MessageParserException(
312+
Debug.LogWarning(
323313
"Invalid field identifier '" + identifier +
324314
"' at " + inFilePath + ":" + lineNum +
325315
". '" + identifier + "' is a ROS message built-in type.");

‎com.unity.robotics.ros-tcp-connector/Editor/MessageGeneration/MessageTokenizer.cs

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@@ -287,7 +287,7 @@ private MessageToken NextTypeIdentifierToken()
287287
}
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289289
// Otherwise, consume input until seperator, EOF or '['
290-
while (reader.Peek() != ' ' && reader.Peek() != '[' && !reader.EndOfStream)
290+
while (reader.Peek() != ' ' && reader.Peek() != '[' && reader.Peek() != '\t' && !reader.EndOfStream)
291291
{
292292
if (!Char.IsLetterOrDigit((char)reader.Peek()) && !allowedSpecialCharacterForTypeIdentifier.Contains((char)reader.Peek()))
293293
{

‎com.unity.robotics.ros-tcp-connector/Editor/MessageGeneration/MsgAutoGenUtilities.cs

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@@ -100,10 +100,17 @@ public class MsgAutoGenUtilities
100100

101101
public static bool HasHandwrittenMessage(string rosPackageName, string inFileName)
102102
{
103-
if (!rosPackageName.Equals("std_msgs"))
104-
return false;
105-
106-
return inFileName.Equals("Time") || inFileName.Equals("Duration") || inFileName.Equals("Header");
103+
switch (inFileName)
104+
{
105+
case "Header":
106+
case "Time":
107+
case "Duration":
108+
return rosPackageName == "std_msgs";
109+
case "CameraInfo":
110+
return rosPackageName == "sensor_msgs";
111+
default:
112+
return false;
113+
}
107114
}
108115

109116
public static string CapitalizeFirstLetter(string s)
@@ -129,6 +136,7 @@ public static string PascalCase(string s)
129136

130137
public static string ResolvePackageName(string s)
131138
{
139+
s = s.Replace('-', '_');
132140
if (s.Contains("_msgs") || s.Contains("_srvs") || s.Contains("_actions"))
133141
{
134142
return PascalCase(s.Substring(0, s.LastIndexOf('_')));
@@ -139,5 +147,19 @@ public static string ResolvePackageName(string s)
139147
}
140148
return CapitalizeFirstLetter(s);
141149
}
150+
151+
public static string InitializeOnLoad(string subtopicArgument = "")
152+
{
153+
return "\n" +
154+
"#if UNITY_EDITOR\n" +
155+
TWO_TABS + "[UnityEditor.InitializeOnLoadMethod]\n" +
156+
"#else\n" +
157+
TWO_TABS + "[UnityEngine.RuntimeInitializeOnLoadMethod]\n" +
158+
"#endif\n" +
159+
TWO_TABS + "public static void Register()\n" +
160+
TWO_TABS + "{\n" +
161+
THREE_TABS + $"MessageRegistry.Register(k_RosMessageName, Deserialize{subtopicArgument});\n" +
162+
TWO_TABS + "}\n";
163+
}
142164
}
143165
}

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