Release 0.7.0

AIRO-1696

.github/workflows/jira-link.yaml

@@ -0,0 +1,22 @@
+name: jira-link
+
+on:
+  pull_request:
+    types: [opened, edited, reopened, synchronize]
+
+jobs:
+  jira-link:
+    runs-on: ubuntu-20.04
+    steps:
+      - name: check pull request title and source branch name
+        run: |
+          echo "Checking pull request with title ${{ github.event.pull_request.title }} from source branch ${{ github.event.pull_request.head.ref }}"
+          if ! [[ "${{ github.event.pull_request.title }}" =~ ^AIRO-[0-9]+[[:space:]].*$ ]] && ! [[ "${{ github.event.pull_request.head.ref }}" =~ ^AIRO-[0-9]+.*$ ]]
+          then
+            echo -e "Please make sure one of the following is true:\n \
+            1. the pull request title starts with 'AIRO-xxxx ', e.g. 'AIRO-1024 My Pull Request'\n \
+            2. the source branch starts with 'AIRO-xxx', e.g. 'AIRO-1024-my-branch'"
+            exit 1
+          else
+            echo "Completed checking"
+          fi

.github/workflows/snyk.yaml

@@ -0,0 +1,17 @@
+name: Snyk Monitor
+
+on: 
+  pull_request:
+
+jobs:
+  security:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      - name: Run Snyk to check for vulnerabilities
+        uses: snyk/actions/python-3.8@master
+        env:
+          SNYK_TOKEN: ${{ secrets.SNYK_TOKEN }}
+        with:
+          command: monitor
+          args: --file=tutorials/ros_unity_integration/ros2_packages/unity_robotics_demo/setup.py

.yamato/PickAndPlaceTests/ros.bash

@@ -0,0 +1,146 @@
+#!/bin/bash
+# Assuming this script is invoked from the root of the repository...
+help() {
+  echo "usage: $0 [COMMAND] [ROS]"
+  echo "COMMAND:"
+  echo "  - stop"
+  echo "  - build_pick_and_place"
+  echo "  - start_pick_and_place"
+  echo "  - build_ros"
+  echo "  - start_ros"
+  echo "  - run_ros_color_publisher"
+  echo "  - run_ros_pose_service_client"
+  echo "  - run_ros_position_service"
+  echo "ROS"
+  echo "  - ros1"
+  echo "  - ros2"
+}
+
+COMMAND=$1
+ROS=$2
+
+if [ "$COMMAND" == "stop" ]; then
+	echo "Terminating process $3"
+	pkill -15 -P $3
+  sleep 10
+
+elif [ "$COMMAND" == "build_pick_and_place" ]; then
+  source /opt/ros/noetic/setup.bash
+  pushd $PWD
+  cd tutorials/pick_and_place/ROS
+  catkin_make
+  source devel/setup.bash
+  popd
+
+elif [ "$COMMAND" == "start_pick_and_place" ]; then
+	echo "Starting ROS for Pick and Place"
+  source tutorials/pick_and_place/ROS/devel/setup.bash
+  roslaunch niryo_moveit part_3.launch
+
+elif [ "$COMMAND" == "build_ros" ]; then
+  if [ "$ROS" == "ros1" ]; then
+    export ROS_WORKSPACE=$(pwd)/ros1_ws
+    mkdir -p $ROS_WORKSPACE/src
+    cp -r tutorials/ros_unity_integration/ros_packages/ $ROS_WORKSPACE/src/
+    git clone https://github.com/Unity-Technologies/ROS-TCP-Endpoint $ROS_WORKSPACE/src/ros_tcp_endpoint -b main
+    /bin/bash tutorials/ros_unity_integration/ros_docker/set-up-workspace
+    chmod +x $ROS_WORKSPACE/src/ros_tcp_endpoint/src/ros_tcp_endpoint/*.py
+  elif [ "$ROS" == "ros2" ]; then
+    export ROS_WORKSPACE=$(pwd)/ros2_ws
+    mkdir -p $ROS_WORKSPACE/src
+    cp -r tutorials/ros_unity_integration/ros2_packages/ $ROS_WORKSPACE/src/
+    git clone https://github.com/Unity-Technologies/ROS-TCP-Endpoint $ROS_WORKSPACE/src/ros_tcp_endpoint -b main-ros2
+    source /opt/ros/$ROS_DISTRO/setup.sh
+    pushd $(pwd)
+    cd $ROS_WORKSPACE
+    colcon build
+    popd
+  else
+    help
+  fi
+
+elif [ "$COMMAND" == "start_ros" ]; then
+  if [ "$ROS" == "ros1" ]; then
+    source ros1_ws/devel/setup.bash
+    echo "Starting ROS1 master"
+    roscore &
+    sleep 5  # Wait ROS master to stand up
+    rosparam set ROS_IP 127.0.0.1
+    echo "Starting ROS1 default server endpoint"
+    rosrun ros_tcp_endpoint default_server_endpoint.py
+  elif [ "$ROS" == "ros2" ]; then
+    source ros2_ws/install/setup.bash
+    echo "Starting ROS2 default server endpoint"
+    ros2 run ros_tcp_endpoint default_server_endpoint --ros-args -p ROS_IP:=127.0.0.1
+  else
+    help
+  fi
+
+elif [ "$COMMAND" == "run_ros_color_publisher" ]; then
+  if [ "$ROS" == "ros1" ]; then
+    source ros1_ws/devel/setup.bash
+  elif [ "$ROS" == "ros2" ]; then
+    source ros2_ws/install/setup.bash
+  else
+    help
+  fi
+  echo "Starting to run $ROS color publisher every 30 seconds"
+  count=0
+  while [[ $count -le 6 ]]
+  do
+    sleep 5
+    if [ "$ROS" == "ros1" ]; then
+      rosrun unity_robotics_demo color_publisher.py
+    elif [ "$ROS" == "ros2" ]; then
+      ros2 run unity_robotics_demo color_publisher
+    else
+      help
+    fi
+    count=$(( $count + 1 ))
+  done
+  echo "Completed run: $ROS color publisher"
+
+elif [ "$COMMAND" == "run_ros_pose_service_client" ]; then
+  if [ "$ROS" == "ros1" ]; then
+    source ros1_ws/devel/setup.bash
+  elif [ "$ROS" == "ros2" ]; then
+    source ros2_ws/install/setup.bash
+  else
+    help
+  fi
+  echo "Starting to run $ROS pose service client and send requests every 30 seconds"
+  count=0
+  while [[ $count -le 6 ]]
+  do
+    sleep 5
+    if [ "$ROS" == "ros1" ]; then
+      rosservice call /obj_pose_srv Cube
+    elif [ "$ROS" == "ros2" ]; then
+      ros2 service call obj_pose_srv unity_robotics_demo_msgs/ObjectPoseService "{object_name: Cube}"
+    else
+      help
+    fi
+    count=$(( $count + 1 ))
+  done
+  echo "Completed run: $ROS pose service client"
+
+elif [ "$COMMAND" == "run_ros_position_service" ]; then
+  if [ "$ROS" == "ros1" ]; then
+    source ros1_ws/devel/setup.bash
+  elif [ "$ROS" == "ros2" ]; then
+    source ros2_ws/install/setup.bash
+  else
+    help
+  fi
+  echo "Starting $ROS position service"
+  if [ "$ROS" == "ros1" ]; then
+    rosrun unity_robotics_demo position_service.py
+  elif [ "$ROS" == "ros2" ]; then
+    ros2 run unity_robotics_demo position_service
+  else
+    help
+  fi
+
+else
+  help
+fi

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

@@ -17,6 +17,7 @@
 external_scripts_dir = os.path.join(root_dir, "Scripts")
 project_dir = os.path.join(root_dir, "PickAndPlaceProject")
 project_scripts_dir = os.path.join(project_dir, "Assets", "Scripts")
+external_ros_scripts_dir = os.path.join(script_dir, "..", "..", "tutorials", "ros_unity_integration", "unity_scripts")
 # project_settings_file = os.path.join(project_dir, "ProjectSettings", "ProjectSettings.asset")
 
 scripts_to_move = glob.glob(os.path.join(external_scripts_dir, "*.cs"))
@@ -26,6 +27,13 @@
     print(f">>> Copying {external_script} to {script_destination}")
     shutil.copyfile(external_script, script_destination)
 
+scripts_to_move = glob.glob(os.path.join(external_ros_scripts_dir, "*.cs"))
+for external_script in scripts_to_move:
+    script_name = os.path.basename(external_script)
+    script_destination = os.path.join(project_scripts_dir, script_name)
+    print(f">>> Copying {external_script} to {script_destination}")
+    shutil.copyfile(external_script, script_destination)
+
 files_to_cat = []
 message_dir = os.path.join(project_dir, "Assets", "RosMessages")
 print(f">>> Files in {message_dir}:")

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

@@ -0,0 +1,29 @@
+from unityparser import UnityDocument
+
+import argparse
+import os
+
+parser = argparse.ArgumentParser(description='Add ROS define symbols')
+parser.add_argument('ros', type=str, help='ROS version: ros1 or ros2')
+
+project_settings_filepath = os.path.join(".", "tutorials", "pick_and_place", "PickAndPlaceProject", "ProjectSettings", "ProjectSettings.asset")
+if not os.path.exists(project_settings_filepath):
+    raise FileNotFoundError("Not found %s".format(project_settings_filepath))
+settings = UnityDocument.load_yaml(project_settings_filepath)
+symbols = settings.entries[0].scriptingDefineSymbols
+
+args = parser.parse_args()
+if args.ros == "ros1":
+		if symbols[1] is None:
+				symbols[1] = "ROS1"
+		else:
+				symbols[1] += ";ROS1"
+elif args.ros == "ros2":
+		if symbols[1] is None:
+				symbols[1] = "ROS2"
+		else:
+				symbols[1] += ";ROS2"
+else:
+    raise ValueError("Invalid input ROS version. Must be either ros1 or ros2")
+settings.dump_yaml(project_settings_filepath)
+

.yamato/sonar.yml

@@ -0,0 +1,52 @@
+csharp:
+    name: Sonarqube C# Scan
+    agent:
+        type: Unity::metal::macmini
+        image: package-ci/mac
+        flavor: m1.mac
+    variables:
+        PROJECT_PATH: tutorials/pick_and_place/PickAndPlaceProject
+        SONARQUBE_PROJECT_KEY: ai-robotics-hub-csharp
+        SONARQUBE_PROJECT_BASE_DIR: /Users/bokken/build/output/Unity-Technologies/Unity-Robotics-Hub/tutorials/pick_and_place/PickAndPlaceProject
+        MSBUILD_SLN_PATH: ./tutorials/pick_and_place/PickAndPlaceProject/PickAndPlaceProject.sln
+        PROJECT_ROOT: /Users/bokken/build/output/Unity-Technologies/Unity-Robotics-Hub/
+        UNITY_VERSION: 2020.3.11f1
+    commands:
+        - npm install upm-ci-utils@stable -g --registry https://artifactory.prd.it.unity3d.com/artifactory/api/npm/upm-npm
+        - unity-downloader-cli -u $UNITY_VERSION -c Editor
+        - brew install mono corretto
+        - 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
+        - unzip sonar-scanner-msbuild-net46.zip -d ~/sonar-scanner-msbuild
+        - chmod a+x ~/sonar-scanner-msbuild/sonar-scanner-4.6.1.2450/bin/sonar-scanner
+        - .Editor/Unity.app/Contents/MacOS/Unity -projectPath $PROJECT_PATH -batchmode -quit -nographics -logFile - -executeMethod "UnityEditor.SyncVS.SyncSolution"
+        - command: |
+            cd $PROJECT_PATH
+            for file in *.csproj; do sed -i.backup "s/^[[:blank:]]*<ReferenceOutputAssembly>false<\/ReferenceOutputAssembly>/<ReferenceOutputAssembly>true<\/ReferenceOutputAssembly>/g" $file; rm $file.backup; done
+            cd $PROJECT_ROOT
+        - mono ~/sonar-scanner-msbuild/SonarScanner.MSBuild.exe begin /k:$SONARQUBE_PROJECT_KEY /d:sonar.host.url=$SONARQUBE_ENDPOINT_URL_PRD /d:sonar.login=$SONARQUBE_TOKEN_PRD /d:sonar.projectBaseDir=$SONARQUBE_PROJECT_BASE_DIR
+        - msbuild $MSBUILD_SLN_PATH
+        - mono ~/sonar-scanner-msbuild/SonarScanner.MSBuild.exe end /d:sonar.login=$SONARQUBE_TOKEN_PRD
+    triggers:
+        cancel_old_ci: true
+        expression: |
+            ((pull_request.target eq "main" OR pull_request.target eq "dev")
+            AND NOT pull_request.push.changes.all match "**/*.md") OR
+            (push.branch eq "main" OR push.branch eq "dev")
+standard:
+    name: Sonarqube Standard Scan
+    agent:
+        type: Unity::metal::macmini
+        image: package-ci/mac
+        flavor: m1.mac
+    variables:
+        SONARQUBE_PROJECT_KEY: ai-robotics-hub-standard
+    commands:
+        - curl https://binaries.sonarsource.com/Distribution/sonar-scanner-cli/sonar-scanner-cli-4.6.2.2472-macosx.zip -o sonar-scanner-macosx.zip -L
+        - unzip sonar-scanner-macosx.zip -d ~/sonar-scanner
+        - ~/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
+    triggers:
+        cancel_old_ci: true
+        expression: |
+            ((pull_request.target eq "main" OR pull_request.target eq "dev")
+            AND NOT pull_request.push.changes.all match "**/*.md") OR
+            (push.branch eq "main" OR push.branch eq "dev")