AIRO-405 Adding Yamato boilerplate to Robotics Hub (#144)

* Adding testing boilerplate

* Adding tests to run after message generation

* Tweaks to ensure run works in Bokken image

* Enabling audio by default, but disabling it in yamato config

Author: mrpropellers

.gitignore

@@ -1,4 +1,5 @@
 .DS_Store
+.swp
 .idea
 .vscode/
 tutorials/pick_and_place/PickAndPlaceProject/Packages/packages-lock.json

.yamato/yamato-config.yml

@@ -0,0 +1,30 @@
+name: Robotics Hub Tests
+agent:
+    type: Unity::VM
+    image: robotics/ci-ubuntu20:latest
+    flavor: i1.large
+variables:
+    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
+commands:
+    - git submodule update --init --recursive
+      # TODO: Fix this hack - our bokken image is missing a .NET dependency (System.CodeDom) without which causes compilation to fail
+    - rm ./tutorials/pick_and_place/PickAndPlaceProject/Assets/DemoScripts/Demo.*
+      # This is another hack to ensure audio is disabled. Unity built-in audio fails to initialize in our Bokken image.
+    - "sed -i -e '/m_DisableAudio/ s/: .*/: 1/' ./tutorials/pick_and_place/PickAndPlaceProject/ProjectSettings/AudioManager.asset"
+    - python3 -m pip install unity-downloader-cli --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple --upgrade
+    - unity-downloader-cli -u 2020.2.0b9 -c editor -c StandaloneSupport-IL2CPP -c Linux --wait --published
+    - git clone git@github.cds.internal.unity3d.com:unity/utr.git utr
+    - utr/utr --testproject=./tutorials/pick_and_place/PickAndPlaceProject --editor-location=.Editor --reruncount=0 --artifacts_path=test-results --suite=playmode --suite=editor --platform=Editor --editorTestsCategories MessageGeneration
+    - mkdir -p ./tutorials/pick_and_place/PickAndPlaceProject/Assets/Scripts && cp ./tutorials/pick_and_place/Scripts/*.cs ./tutorials/pick_and_place/PickAndPlaceProject/Assets
+    - utr/utr --testproject=./tutorials/pick_and_place/PickAndPlaceProject --editor-location=.Editor --reruncount=0 --artifacts_path=test-results --suite=playmode --suite=editor --platform=Editor --editorTestsCategories BuildTests
+triggers:
+    cancel_old_ci: true
+    expression: |
+        (pull_request.target eq "main"  AND
+        NOT pull_request.push.changes.all match ["**/*.md","**/*.jpg","**/*.jpeg","**/*.gif","**/*.pdf"]) OR
+        (push.branch eq "dev" AND
+        NOT push.changes.all match ["**/*.md","**/*.jpg","**/*.jpeg","**/*.gif","**/*.pdf"])
+artifacts:
+    logs:
+        paths:
+            - "test-results/**/*"

tutorials/pick_and_place/PickAndPlaceProject/.gitignore

@@ -9,6 +9,8 @@
 /[Bb]uilds/
 /[Ll]ogs/
 /[Uu]ser[Ss]ettings/
+/[Aa]ssets/[Rr]os[Mm]essages/
+/[Aa]ssets/[Rr]os[Mm]essages.meta
 
 # MemoryCaptures can get excessive in size.
 # They also could contain extremely sensitive data

tutorials/pick_and_place/PickAndPlaceProject/Assets/DemoScripts/Demo.cs

@@ -1,14 +1,14 @@
 #if UNITY_EDITOR
 using Microsoft.CSharp;
-using RosSharp;
-using RosSharp.Control;
-using RosSharp.Urdf.Editor;
 using System;
 using System.CodeDom.Compiler;
 using System.Collections.Generic;
 using System.IO;
 using System.Reflection;
 using System.Text;
+using RosSharp;
+using RosSharp.Control;
+using RosSharp.Urdf.Editor;
 using UnityEditor;
 using UnityEngine;
 using Unity.Robotics.ROSTCPConnector;

tutorials/pick_and_place/PickAndPlaceProject/Assets/DemoScripts/DemoScripts.asmdef

@@ -0,0 +1,20 @@
+{
+    "name": "DemoScripts",
+    "rootNamespace": "",
+    "references": [
+        "GUID:625bfc588fb96c74696858f2c467e978",
+        "GUID:b1ef917f7a8a86a4eb639ec2352edbf8",
+        "GUID:465c1207fffb96245a352265e7622205"
+    ],
+    "includePlatforms": [
+        "Editor"
+    ],
+    "excludePlatforms": [],
+    "allowUnsafeCode": false,
+    "overrideReferences": false,
+    "precompiledReferences": [],
+    "autoReferenced": true,
+    "defineConstraints": [],
+    "versionDefines": [],
+    "noEngineReferences": false
+}

tutorials/pick_and_place/PickAndPlaceProject/Assets/DemoScripts/DemoScripts.asmdef.meta

@@ -0,0 +1,25 @@
+{
+    "name": "EditMode",
+    "rootNamespace": "",
+    "references": [
+        "UnityEngine.TestRunner",
+        "UnityEditor.TestRunner",
+        "Unity.Robotics.ROSTCPConnector.Editor",
+        "Unity.Robotics.ROSTCPConnector"
+    ],
+    "includePlatforms": [
+        "Editor"
+    ],
+    "excludePlatforms": [],
+    "allowUnsafeCode": false,
+    "overrideReferences": true,
+    "precompiledReferences": [
+        "nunit.framework.dll"
+    ],
+    "autoReferenced": false,
+    "defineConstraints": [
+        "UNITY_INCLUDE_TESTS"
+    ],
+    "versionDefines": [],
+    "noEngineReferences": false
+}