Pose questimator

zebROS_ws/src/ROS-TCP-Endpoint/.pre-commit-config.yaml

@@ -0,0 +1,12 @@
+repos:
+-   repo: https://github.com/python/black
+    rev: 19.3b0
+    hooks:
+    -   id: black
+        args: [--line-length=100]
+-   repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v3.4.0
+    hooks:
+    -   id: trailing-whitespace
+        name: trailing-whitespace-markdown
+        types: [markdown]

zebROS_ws/src/ROS-TCP-Endpoint/.yamato/sonar.yml

@@ -0,0 +1,17 @@
+name: Sonarqube Standard Scan
+agent:
+    type: Unity::metal::macmini
+    image: package-ci/mac
+    flavor: m1.mac
+variables:
+    SONARQUBE_PROJECT_KEY: ai-robotics-endpoint-ros
+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-ros")
+        AND NOT pull_request.push.changes.all match "**/*.md") OR
+        (push.branch eq "main" OR push.branch eq "dev-ros")

zebROS_ws/src/ROS-TCP-Endpoint/.yamato/yamato-config.yml

@@ -0,0 +1,32 @@
+name: Endpoint Unit Tests
+agent:
+    type: Unity::VM
+    image: robotics/ci-ubuntu20:v0.1.0-795910
+    flavor: i1.large
+variables:
+  # Coverage measured as a percentage (out of 100) 
+  COVERAGE_EXPECTED: 30
+commands:
+    # run unit tests and save test results in /home/bokken/build/output/Unity-Technologies/ROS-TCP-Endpoint
+    - command: |
+        source /opt/ros/noetic/setup.bash && echo "ROS_DISTRO == $ROS_DISTRO"
+        cd .. && mkdir -p catkin_ws/src && cp -r ./ROS-TCP-Endpoint catkin_ws/src
+        cd catkin_ws && catkin_make && source devel/setup.bash
+        cd src/ROS-TCP-Endpoint
+        python3 -m pytest --cov=. --cov-report xml:../../../ROS-TCP-Endpoint/test-results/coverage.xml --cov-report html:../../../ROS-TCP-Endpoint/test-results/coverage.html test/
+    # check the test coverage
+    - command: |
+        linecoverage=$(head -2 test-results/coverage.xml | grep -Eo 'line-rate="[0-9]+([.][0-9]+)?"' | grep -Eo "[0-9]+([.][0-9]+)?")
+        echo "Line coverage: $linecoverage"
+        if (( $(echo "$linecoverage * 100.0 < $COVERAGE_EXPECTED" | bc -l) ));
+        then echo "ERROR: Code Coverage is under threshold of $COVERAGE_EXPECTED%" && exit 1
+        fi
+triggers:
+    cancel_old_ci: true
+    expression: |
+        (pull_request.target eq "main" OR push.branch eq "main" OR pull_request.target eq "dev-ros" OR push.branch eq "dev-ros")
+        AND NOT pull_request.push.changes.all match "**/*.md"
+artifacts:
+    logs:
+        paths:
+            - "test-results/**/*"

zebROS_ws/src/ROS-TCP-Endpoint/CHANGELOG.md

@@ -0,0 +1,100 @@
+# Changelog
+
+All notable changes to this repository will be documented in this file.
+
+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).
+
+## Unreleased
+
+### Upgrade Notes
+
+### Known Issues
+
+### Added
+
+### Changed
+
+### Deprecated
+
+### Removed
+
+### Fixed
+
+## [0.7.0] - 2022-02-01
+
+### Added
+
+Added Sonarqube Scanner
+
+Private ros params
+
+Send information during hand shaking for ros and package version checks
+
+Send service response as one queue item
+
+
+## [0.6.0] - 2021-09-30
+
+Add the [Close Stale Issues](https://github.com/marketplace/actions/close-stale-issues) action
+
+### Upgrade Notes
+
+### Known Issues
+
+### Added
+
+Support for queue_size and latch for publishers. (https://github.com/Unity-Technologies/ROS-TCP-Endpoint/issues/82)
+
+### Changed
+
+### Deprecated
+
+### Removed
+
+### Fixed
+
+## [0.5.0] - 2021-07-15
+
+### Upgrade Notes
+
+Upgrade the ROS communication to support ROS2 with Unity
+
+### Known Issues
+
+### Added
+
+### Changed
+
+### Deprecated
+
+### Removed
+
+### Fixed
+
+## [0.4.0] - 2021-05-27
+
+Note: the logs only reflects the changes from version 0.3.0
+
+### Upgrade Notes
+
+RosConnection 2.0: maintain a single constant connection from Unity to the Endpoint. This is more efficient than opening one connection per message, and it eliminates a whole bunch of user issues caused by ROS being unable to connect to Unity due to firewalls, proxies, etc.
+
+### Known Issues
+
+### Added
+
+Add a link to the Robotics forum, and add a config.yml to add a link in the Github Issues page
+
+Add linter, unit tests, and test coverage reporting
+
+### Changed
+
+Improving the performance of the read_message in client.py, This is done by receiving the entire message all at once instead of reading 1024 byte chunks and stitching them together as you go.
+
+### Deprecated
+
+### Removed
+
+Remove outdated handshake references
+
+### Fixed

zebROS_ws/src/ROS-TCP-Endpoint/CMakeLists.txt

@@ -0,0 +1,11 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(ros_tcp_endpoint)
+
+find_package(catkin REQUIRED COMPONENTS
+  rospy
+  std_msgs
+)
+
+catkin_python_setup()
+
+catkin_package(CATKIN_DEPENDS message_runtime )

zebROS_ws/src/ROS-TCP-Endpoint/CODE_OF_CONDUCT.md

@@ -0,0 +1,74 @@
+# Contributor Covenant Code of Conduct
+
+## Our Pledge
+
+In the interest of fostering an open and welcoming environment, we as
+contributors and maintainers pledge to making participation in our project and
+our community a harassment-free experience for everyone, regardless of age, body
+size, disability, ethnicity, gender identity and expression, level of experience,
+nationality, personal appearance, race, religion, or sexual identity and
+orientation.
+
+## Our Standards
+
+Examples of behavior that contributes to creating a positive environment
+include:
+
+* Using welcoming and inclusive language
+* Being respectful of differing viewpoints and experiences
+* Gracefully accepting constructive criticism
+* Focusing on what is best for the community
+* Showing empathy towards other community members
+
+Examples of unacceptable behavior by participants include:
+
+* The use of sexualized language or imagery and unwelcome sexual attention or
+  advances
+* Trolling, insulting/derogatory comments, and personal or political attacks
+* Public or private harassment
+* Publishing others' private information, such as a physical or electronic
+  address, without explicit permission
+* Other conduct which could reasonably be considered inappropriate in a
+  professional setting
+
+## Our Responsibilities
+
+Project maintainers are responsible for clarifying the standards of acceptable
+behavior and are expected to take appropriate and fair corrective action in
+response to any instances of unacceptable behavior.
+
+Project maintainers have the right and responsibility to remove, edit, or
+reject comments, commits, code, wiki edits, issues, and other contributions
+that are not aligned to this Code of Conduct, or to ban temporarily or
+permanently any contributor for other behaviors that they deem inappropriate,
+threatening, offensive, or harmful.
+
+## Scope
+
+This Code of Conduct applies both within project spaces and in public spaces
+when an individual is representing the project or its community. Examples of
+representing a project or community include using an official project e-mail
+address, posting via an official social media account, or acting as an appointed
+representative at an online or offline event. Representation of a project may be
+further defined and clarified by project maintainers.
+
+## Enforcement
+
+Instances of abusive, harassing, or otherwise unacceptable behavior may be
+reported by contacting the project team at [unity-robotics@unity3d.com](mailto:unity-robotics@unity3d.com). All
+complaints will be reviewed and investigated and will result in a response that
+is deemed necessary and appropriate to the circumstances. The project team is
+obligated to maintain confidentiality with regard to the reporter of an incident.
+Further details of specific enforcement policies may be posted separately.
+
+Project maintainers who do not follow or enforce the Code of Conduct in good
+faith may face temporary or permanent repercussions as determined by other
+members of the project's leadership.
+
+## Attribution
+
+This Code of Conduct is adapted from the [Contributor Covenant][homepage],
+version 1.4, available at
+https://www.contributor-covenant.org/version/1/4/code-of-conduct/
+
+[homepage]: https://www.contributor-covenant.org

zebROS_ws/src/ROS-TCP-Endpoint/CONTRIBUTING.md

@@ -0,0 +1,64 @@
+# Contribution Guidelines
+
+Thank you for your interest in contributing to Unity Robotics! To facilitate your
+contributions, we've outlined a brief set of guidelines to ensure that your extensions
+can be easily integrated.
+
+## Communication
+
+First, please read through our
+[code of conduct](CODE_OF_CONDUCT.md),
+as we expect all our contributors to follow it.
+
+Second, before starting on a project that you intend to contribute to any of our
+Unity Robotics packages or tutorials, we **strongly** recommend posting on the repository's
+[Issues page](https://github.com/Unity-Technologies/ROS-TCP-Endpoint/issues) and
+briefly outlining the changes you plan to make. This will enable us to provide
+some context that may be helpful for you. This could range from advice and
+feedback on how to optimally perform your changes or reasons for not doing it.
+
+## Git Branches
+
+The `main` branch corresponds to the most recent stable version of the project. The `dev` branch
+contains changes that are staged to be merged into `main` as the team sees fit.
+
+When contributing to the project, please make sure that your Pull Request (PR)
+does the following:
+
+- Is up-to-date with and targets the `dev` branch
+- Contains a detailed description of the changes performed
+- Has corresponding changes to documentation, unit tests and sample environments (if
+  applicable)
+- Contains a summary of the tests performed to validate your changes
+- Links to issue numbers that the PR resolves (if any)
+
+<!-- ## Continuous Integration (CI)
+
+We run continuous integration on all PRs; all tests must be passing before the PR is merged. -->
+
+## Code style
+
+All Python code should follow the [PEP 8 style guidelines](https://pep8.org/).
+
+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).
+Additionally, the [Unity Coding package](https://docs.unity3d.com/Packages/com.unity.coding@0.1/manual/index.html)
+can be used to format, encode, and lint your code according to the standard Unity
+development conventions. Be aware that these Unity conventions will supersede the
+Microsoft C# Coding Conventions where applicable.
+
+Please note that even if the code you are changing does not adhere to these guidelines,
+we expect your submissions to follow these conventions.
+
+## Contributor License Agreements
+
+When you open a pull request, you will be asked to acknowledge our Contributor
+License Agreement. We allow both individual contributions and contributions made
+on behalf of companies. We use an open source tool called CLA assistant. If you
+have any questions on our CLA, please
+[submit an issue](https://github.com/Unity-Technologies/ROS-TCP-Endpoint/issues) or
+email us at [unity-robotics@unity3d.com](mailto:unity-robotics@unity3d.com).
+
+## Contribution review
+
+Once you have a change ready following the above ground rules, simply make a
+pull request in GitHub.