diff --git a/.codespell_words b/.codespell_words new file mode 100644 index 0000000000..efe29faac7 --- /dev/null +++ b/.codespell_words @@ -0,0 +1 @@ +SINIC diff --git a/.docker/Dockerfile b/.docker/Dockerfile index fbf1234f6f..bfe2769e9b 100644 --- a/.docker/Dockerfile +++ b/.docker/Dockerfile @@ -1,6 +1,7 @@ # syntax = docker/dockerfile:1.3 ARG ROS_DISTRO=rolling +ARG GZ_VERSION=harmonic ######################### Tutorial Image ################################################# @@ -8,6 +9,8 @@ FROM moveit/moveit2:${ROS_DISTRO}-source as tutorial_image LABEL org.opencontainers.image.description "This container has working versions of the tutorials discussed here: https://moveit.picknik.ai/main/doc/tutorials/tutorials.html" +ARG GZ_VERSION + # Copy sources from docker context COPY . src/moveit2_tutorials @@ -45,6 +48,12 @@ COPY ./doc/tutorials/pick_and_place_with_moveit_task_constructor/src/mtc_node.cp # Add the launch folder to the tutorial package and CMakeLists.txt COPY ./doc/tutorials/pick_and_place_with_moveit_task_constructor/launch src/mtc_tutorial/launch +# Install Gazebo, which is needed by some dependencies. +RUN sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list' && \ + wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add - && \ + sudo apt update && \ + sudo apt-get install -y "gz-${GZ_VERSION}" + # Add install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}) to CMakeLists.txt RUN sed -i "s|ament_package()|install(DIRECTORY launch DESTINATION share/\${PROJECT_NAME})\nament_package()|g" src/mtc_tutorial/CMakeLists.txt # Build the tutorials and set up the entrypoint/bashrc diff --git a/.github/upstream.repos b/.github/upstream.repos index 9ceb4b40d4..5383a4e4ee 100644 --- a/.github/upstream.repos +++ b/.github/upstream.repos @@ -36,4 +36,4 @@ repositories: gz_ros2_control: type: git url: https://github.com/ros-controls/gz_ros2_control.git - version: master + version: rolling diff --git a/.github/workflows/deploy.yml b/.github/workflows/deploy.yml index ac180e8207..96777f2236 100644 --- a/.github/workflows/deploy.yml +++ b/.github/workflows/deploy.yml @@ -85,7 +85,7 @@ jobs: run: tar cvzf artifact.tar.gz --directory=build/html . - name: Upload HTML Artifact - uses: actions/upload-artifact@v3 + uses: actions/upload-artifact@v4 with: name: '${{ matrix.branch }}_html_artifacts' path: artifact.tar.gz @@ -117,7 +117,7 @@ jobs: # TODO (peterdavidfagan): don't hardcode branches for downloads - name: Download Rolling Artifacts - uses: actions/download-artifact@v3 + uses: actions/download-artifact@v4 with: name: main_html_artifacts path: . @@ -129,7 +129,7 @@ jobs: rm artifact.tar.gz - name: Download Humble Artifacts - uses: actions/download-artifact@v3 + uses: actions/download-artifact@v4 with: name: humble_html_artifacts path: . diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 79e8cbb9f8..1b2f47c553 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -15,7 +15,7 @@ repos: # Standard hooks - repo: https://github.com/pre-commit/pre-commit-hooks - rev: v3.4.0 + rev: v4.6.0 hooks: - id: check-added-large-files - id: check-case-conflict @@ -28,7 +28,7 @@ repos: - id: trailing-whitespace - repo: https://github.com/psf/black - rev: 22.3.0 + rev: 24.8.0 hooks: - id: black @@ -49,7 +49,7 @@ repos: args: ['-fallback-style=none', '-i'] - repo: https://github.com/codespell-project/codespell - rev: v2.0.0 + rev: v2.3.0 hooks: - id: codespell - args: ['--write-changes'] + args: ['--write-changes', '--ignore-words=.codespell_words'] diff --git a/CMakeLists.txt b/CMakeLists.txt index 5fae5150f0..14a8a6e28f 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -44,7 +44,6 @@ add_subdirectory(doc/examples/collision_environments) # add_subdirectory(doc/examples/interactivity) # add_subdirectory(doc/examples/kinematics) # add_subdirectory(doc/examples/move_group_python_interface) -# add_subdirectory(doc/examples/perception_pipeline) # add_subdirectory(doc/examples/pick_place) # add_subdirectory(doc/examples/planning) # add_subdirectory(doc/examples/state_display) @@ -52,6 +51,7 @@ add_subdirectory(doc/examples/collision_environments) # add_subdirectory(doc/examples/tests) # add_subdirectory(doc/examples/trajopt_planner) # add_subdirectory(doc/examples/visualizing_collisions) +add_subdirectory(doc/examples/perception_pipeline) add_subdirectory(doc/examples/jupyter_notebook_prototyping) add_subdirectory(doc/examples/motion_planning_api) add_subdirectory(doc/examples/motion_planning_pipeline) diff --git a/_static/videos/perception_pipeline_demo.webm b/_static/videos/perception_pipeline_demo.webm new file mode 100644 index 0000000000..d6a96f30a5 Binary files /dev/null and b/_static/videos/perception_pipeline_demo.webm differ diff --git a/doc/examples/creating_moveit_plugins/lerp_motion_planner/src/lerp_interface.cpp b/doc/examples/creating_moveit_plugins/lerp_motion_planner/src/lerp_interface.cpp index d2b0739193..1401a4dfdb 100644 --- a/doc/examples/creating_moveit_plugins/lerp_motion_planner/src/lerp_interface.cpp +++ b/doc/examples/creating_moveit_plugins/lerp_motion_planner/src/lerp_interface.cpp @@ -72,7 +72,7 @@ bool LERPInterface::solve(const planning_scene::PlanningSceneConstPtr& planning_ std::vector start_joint_values; start_state->copyJointGroupPositions(joint_model_group, start_joint_values); - // This planner only supports one goal constriant in the request + // This planner only supports one goal constraint in the request std::vector goal_constraints = req.goal_constraints; std::vector goal_joint_constraint = goal_constraints[0].joint_constraints; diff --git a/doc/examples/hybrid_planning/hybrid_planning_tutorial.rst b/doc/examples/hybrid_planning/hybrid_planning_tutorial.rst index 54ffc75aa6..a8475355d4 100644 --- a/doc/examples/hybrid_planning/hybrid_planning_tutorial.rst +++ b/doc/examples/hybrid_planning/hybrid_planning_tutorial.rst @@ -90,7 +90,7 @@ To include the Hybrid Planning Architecture into you project you need to add a * Customizing the Hybrid Planning Architecture -------------------------------------------- -As the rest of MoveIt 2, the *Hybrid Planning Architecture* is designed to be highly customizable while also offering the possibility to easily re-use existing solutions. Each of the architecture's components is a ROS 2 node and can be completely replaced by your own custom ROS 2 node as long as it offers the API required by the other nodes. Each component's runtime behavior is defined by plugins. This section focuses on the customization of the *Hybrid Planning Architecture* by implementing your own plugins. +As the rest of MoveIt 2, the *Hybrid Planning Architecture* is designed to be highly customizable while also offering the possibility to easily reuse existing solutions. Each of the architecture's components is a ROS 2 node and can be completely replaced by your own custom ROS 2 node as long as it offers the API required by the other nodes. Each component's runtime behavior is defined by plugins. This section focuses on the customization of the *Hybrid Planning Architecture* by implementing your own plugins. Global and Local Motion Planning ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ diff --git a/doc/examples/jupyter_notebook_prototyping/launch/jupyter_notebook_prototyping.launch.py b/doc/examples/jupyter_notebook_prototyping/launch/jupyter_notebook_prototyping.launch.py index 9ab7c386c3..8539f11e42 100644 --- a/doc/examples/jupyter_notebook_prototyping/launch/jupyter_notebook_prototyping.launch.py +++ b/doc/examples/jupyter_notebook_prototyping/launch/jupyter_notebook_prototyping.launch.py @@ -1,6 +1,7 @@ """ A launch file that starts a Jupyter notebook server and nodes that support motion planning with the MoveIt Python library. """ + import os import yaml from launch import LaunchDescription @@ -18,7 +19,8 @@ def load_yaml(package_name, file_path): try: with open(absolute_file_path, "r") as file: return yaml.safe_load(file) - except EnvironmentError: # parent of IOError, OSError *and* WindowsError where available + # parent of IOError, OSError *and* WindowsError where available + except EnvironmentError: return None diff --git a/doc/examples/motion_planning_pipeline/launch/motion_planning_pipeline_tutorial.launch.py b/doc/examples/motion_planning_pipeline/launch/motion_planning_pipeline_tutorial.launch.py index fb0555c384..1ae172ebf1 100644 --- a/doc/examples/motion_planning_pipeline/launch/motion_planning_pipeline_tutorial.launch.py +++ b/doc/examples/motion_planning_pipeline/launch/motion_planning_pipeline_tutorial.launch.py @@ -13,7 +13,8 @@ def load_file(package_name, file_path): try: with open(absolute_file_path, "r") as file: return file.read() - except EnvironmentError: # parent of IOError, OSError *and* WindowsError where available + # parent of IOError, OSError *and* WindowsError where available + except EnvironmentError: return None @@ -24,7 +25,8 @@ def load_yaml(package_name, file_path): try: with open(absolute_file_path, "r") as file: return yaml.safe_load(file) - except EnvironmentError: # parent of IOError, OSError *and* WindowsError where available + # parent of IOError, OSError *and* WindowsError where available + except EnvironmentError: return None diff --git a/doc/examples/motion_planning_python_api/launch/motion_planning_python_api_tutorial.launch.py b/doc/examples/motion_planning_python_api/launch/motion_planning_python_api_tutorial.launch.py index 531c8c091b..c7b1be0dd7 100644 --- a/doc/examples/motion_planning_python_api/launch/motion_planning_python_api_tutorial.launch.py +++ b/doc/examples/motion_planning_python_api/launch/motion_planning_python_api_tutorial.launch.py @@ -1,6 +1,7 @@ """ A launch file for running the motion planning python api tutorial """ + import os from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription diff --git a/doc/examples/moveit_grasps/moveit_grasps_tutorial.rst b/doc/examples/moveit_grasps/moveit_grasps_tutorial.rst index 64b68faef5..3ebf67975b 100644 --- a/doc/examples/moveit_grasps/moveit_grasps_tutorial.rst +++ b/doc/examples/moveit_grasps/moveit_grasps_tutorial.rst @@ -219,7 +219,7 @@ The ``setIdealGraspPoseRPY()`` and ``setIdealGraspPose()`` methods in GraspGener These methods is used to score grasp candidates favoring grasps that are closer to the desired orientation. -This is useful in applications such as bin and shelf picking where you would want to pick the objects from a bin with a grasp that is vertically aligned and you would want to pick obejects from a shelf with a grasp that is horozontally aligned. +This is useful in applications such as bin and shelf picking where you would want to pick the objects from a bin with a grasp that is vertically aligned and you would want to pick objects from a shelf with a grasp that is horizontally aligned. Tested Robots ------------- diff --git a/doc/examples/perception_pipeline/CMakeLists.txt b/doc/examples/perception_pipeline/CMakeLists.txt index fad25d2a80..8a9fc3782c 100644 --- a/doc/examples/perception_pipeline/CMakeLists.txt +++ b/doc/examples/perception_pipeline/CMakeLists.txt @@ -1,13 +1,2 @@ -add_executable(cylinder_segment src/cylinder_segment.cpp) -target_link_libraries(cylinder_segment ${catkin_LIBRARIES}) - -add_executable(bag_publisher_maintain_time src/bag_publisher_maintain_time.cpp) -target_link_libraries(bag_publisher_maintain_time ${catkin_LIBRARIES} ${Boost_LIBRARIES}) - -install( -TARGETS - bag_publisher_maintain_time - cylinder_segment -DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) - -install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) +install(DIRECTORY urdf launch meshes config worlds rviz2 + DESTINATION share/moveit2_tutorials) diff --git a/doc/examples/perception_pipeline/bags/perception_tutorial.bag b/doc/examples/perception_pipeline/bags/perception_tutorial.bag deleted file mode 100644 index d52936a1cc..0000000000 Binary files a/doc/examples/perception_pipeline/bags/perception_tutorial.bag and /dev/null differ diff --git a/doc/examples/perception_pipeline/config/sensors_3d.yaml b/doc/examples/perception_pipeline/config/sensors_3d.yaml new file mode 100644 index 0000000000..fde370161e --- /dev/null +++ b/doc/examples/perception_pipeline/config/sensors_3d.yaml @@ -0,0 +1,22 @@ +sensors: + - camera_1_pointcloud + - camera_2_depth_image +camera_1_pointcloud: + sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater + point_cloud_topic: /camera_1/points + max_range: 5.0 + point_subsample: 1 + padding_offset: 0.1 + padding_scale: 1.0 + max_update_rate: 1.0 + filtered_cloud_topic: /camera_1/filtered_points +camera_2_depth_image: + sensor_plugin: occupancy_map_monitor/DepthImageOctomapUpdater + image_topic: /camera_2/depth/image_raw + queue_size: 5 + near_clipping_plane_distance: 0.3 + far_clipping_plane_distance: 5.0 + shadow_threshold: 0.2 + padding_scale: 1.0 + max_update_rate: 1.0 + filtered_cloud_topic: /camera_2/filtered_points diff --git a/doc/examples/perception_pipeline/cylinder_collision_object.png b/doc/examples/perception_pipeline/cylinder_collision_object.png deleted file mode 100644 index bd68457421..0000000000 Binary files a/doc/examples/perception_pipeline/cylinder_collision_object.png and /dev/null differ diff --git a/doc/examples/perception_pipeline/images/perception_pipeline_demo_gazebo_screen.png b/doc/examples/perception_pipeline/images/perception_pipeline_demo_gazebo_screen.png new file mode 100644 index 0000000000..52ce4e252d Binary files /dev/null and b/doc/examples/perception_pipeline/images/perception_pipeline_demo_gazebo_screen.png differ diff --git a/doc/examples/perception_pipeline/images/perception_pipeline_depth_camera_environment.png b/doc/examples/perception_pipeline/images/perception_pipeline_depth_camera_environment.png new file mode 100644 index 0000000000..a12f565080 Binary files /dev/null and b/doc/examples/perception_pipeline/images/perception_pipeline_depth_camera_environment.png differ diff --git a/doc/examples/perception_pipeline/launch/depth_camera_environment.launch.py b/doc/examples/perception_pipeline/launch/depth_camera_environment.launch.py new file mode 100644 index 0000000000..ffbeac432d --- /dev/null +++ b/doc/examples/perception_pipeline/launch/depth_camera_environment.launch.py @@ -0,0 +1,153 @@ +import os +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.substitutions import Command +from launch_ros.substitutions import FindPackageShare +from launch_ros.actions import Node +from launch.actions import IncludeLaunchDescription +from launch.substitutions import PathJoinSubstitution +import math + + +def generate_launch_description(): + urdf_file = os.path.join( + get_package_share_directory("moveit2_tutorials"), + "urdf/realsense_d435/camera.urdf.xacro", + ) + + # The list presents the pose in euler coordinates ordered x, y, z, yaw, pitch, roll respectively. + camera_1_pose = ["-1", "-1", "0", f"{math.pi/2}", "0.0", "0.0"] + camera_2_pose = ["-1", "1", "0", f"-{math.pi/2}", "0.0", "0.0"] + + # It is necessary for gazebo spawner to use the description of camera_1 in gazebo environment + camera_1_robot_state_publisher_node = Node( + package="robot_state_publisher", + executable="robot_state_publisher", + name="robot_state_publisher", + output="screen", + parameters=[ + { + "use_sim_time": True, + "robot_description": Command( + [f"xacro {urdf_file}", " camera_name:='camera_1'"] + ), + } + ], + remappings=[ + ("robot_description", "/camera_1/robot_description"), + ], + ) + + # It is necessary for spawning camera_1 in gazebo environment + camera_1_gazebo_spawner_node = Node( + package="gazebo_ros", + executable="spawn_entity.py", + arguments=[ + "-entity", + "mr_camera", + "-topic", + "/camera_1/robot_description", + "-x", + camera_1_pose[0], + "-y", + camera_1_pose[1], + "-z", + camera_1_pose[2], + "-Y", + camera_1_pose[3], + "-P", + camera_1_pose[4], + "-R", + camera_1_pose[5], + ], + output="screen", + ) + + # It is necessary to make transformation between world frame and camera frames enable later. + camera_1_tf_from_world_publisher_node = Node( + package="tf2_ros", + executable="static_transform_publisher", + name="static_transform_publisher", + output="log", + arguments=[*camera_1_pose, "world", "camera_1_base_link"], + ) + + # It is necessary for gazebo spawner to use the description of camera_2 in gazebo environment + camera_2_gazebo_spawner_node = Node( + package="robot_state_publisher", + executable="robot_state_publisher", + name="robot_state_publisher2", + output="screen", + parameters=[ + { + "use_sim_time": True, + "robot_description": Command( + [f"xacro {urdf_file}", " camera_name:='camera_2'"] + ), + } + ], + remappings=[ + ("robot_description", "/camera_2/robot_description"), + ], + ) + + # It is necessary for spawning camera_2 in gazebo environment + camera_2_robot_state_publisher_node = Node( + package="gazebo_ros", + executable="spawn_entity.py", + name="spawn2", + arguments=[ + "-entity", + "mr_camera2", + "-topic", + "/camera_2/robot_description", + "-x", + camera_2_pose[0], + "-y", + camera_2_pose[1], + "-z", + camera_2_pose[2], + "-Y", + camera_2_pose[3], + "-P", + camera_2_pose[4], + "-R", + camera_2_pose[5], + ], + output="screen", + ) + + # It is necessary to make transformation between world frame and camera frames enable later. + camera_2_tf_from_world_publisher_node = Node( + package="tf2_ros", + executable="static_transform_publisher", + name="static_transform_publisher", + output="log", + arguments=[*camera_2_pose, "world", "camera_2_base_link"], + ) + + # It is necessary to open previously created gazebo world for perception pipeline demo. + gazebo_launch = IncludeLaunchDescription( + PathJoinSubstitution( + [FindPackageShare("gazebo_ros"), "launch", "gazebo.launch.py"] + ), + launch_arguments={ + "world": os.path.join( + get_package_share_directory("moveit2_tutorials"), + "worlds", + "perception_pipeline_demo.world", + ), + }.items(), + ) + + return LaunchDescription( + [ + camera_1_robot_state_publisher_node, + camera_1_gazebo_spawner_node, + camera_1_tf_from_world_publisher_node, + camera_2_robot_state_publisher_node, + camera_2_gazebo_spawner_node, + camera_2_tf_from_world_publisher_node, + gazebo_launch, + ] + ) diff --git a/doc/examples/perception_pipeline/launch/detect_and_add_cylinder_collision_object_demo.launch b/doc/examples/perception_pipeline/launch/detect_and_add_cylinder_collision_object_demo.launch deleted file mode 100644 index f04fd647fc..0000000000 --- a/doc/examples/perception_pipeline/launch/detect_and_add_cylinder_collision_object_demo.launch +++ /dev/null @@ -1,7 +0,0 @@ - - - - - - - diff --git a/doc/examples/perception_pipeline/launch/obstacle_avoidance_demo.launch b/doc/examples/perception_pipeline/launch/obstacle_avoidance_demo.launch deleted file mode 100644 index 567038136c..0000000000 --- a/doc/examples/perception_pipeline/launch/obstacle_avoidance_demo.launch +++ /dev/null @@ -1,11 +0,0 @@ - - - - - - - - - - - diff --git a/doc/examples/perception_pipeline/launch/perception_pipeline_demo.launch.py b/doc/examples/perception_pipeline/launch/perception_pipeline_demo.launch.py new file mode 100644 index 0000000000..d0241ba1d2 --- /dev/null +++ b/doc/examples/perception_pipeline/launch/perception_pipeline_demo.launch.py @@ -0,0 +1,154 @@ +import os +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration, PathJoinSubstitution +from launch.conditions import IfCondition +from launch_ros.actions import Node +from launch_ros.substitutions import FindPackageShare +from ament_index_python.packages import get_package_share_directory +from moveit_configs_utils import MoveItConfigsBuilder +from launch_param_builder import ParameterBuilder + + +def generate_launch_description(): + + # Command-line arguments + rviz_config_arg = DeclareLaunchArgument( + "rviz_config", + default_value="moveit.rviz", + description="RViz configuration file", + ) + + ros2_control_hardware_type = DeclareLaunchArgument( + "ros2_control_hardware_type", + default_value="mock_components", + description="ROS 2 control hardware interface type to use for the launch file -- possible values: [mock_components, isaac]", + ) + + moveit_config = ( + MoveItConfigsBuilder("moveit_resources_panda") + .robot_description( + file_path="config/panda.urdf.xacro", + mappings={ + "ros2_control_hardware_type": LaunchConfiguration( + "ros2_control_hardware_type" + ) + }, + ) + .robot_description_semantic(file_path="config/panda.srdf") + .robot_description_kinematics(file_path="config/kinematics.yaml") + .planning_scene_monitor( + publish_robot_description=True, publish_robot_description_semantic=True + ) + .trajectory_execution(file_path="config/gripper_moveit_controllers.yaml") + .planning_pipelines( + pipelines=["ompl", "chomp", "pilz_industrial_motion_planner", "stomp"] + ) + .sensors_3d( + file_path=os.path.join( + get_package_share_directory("moveit2_tutorials"), + "config/sensors_3d.yaml", + ) + ) + .to_moveit_configs() + ) + + # Start the actual move_group node/action server + move_group_node = Node( + package="moveit_ros_move_group", + executable="move_group", + output="screen", + parameters=[moveit_config.to_dict()], + arguments=["--ros-args", "--log-level", "info"], + ) + + # RViz + rviz_base = LaunchConfiguration("rviz_config") + rviz_config = PathJoinSubstitution( + [FindPackageShare("moveit_resources_panda_moveit_config"), "launch", rviz_base] + ) + rviz_node = Node( + package="rviz2", + executable="rviz2", + name="rviz2", + output="log", + arguments=["-d", rviz_config], + parameters=[ + moveit_config.robot_description, + moveit_config.robot_description_semantic, + moveit_config.planning_pipelines, + moveit_config.robot_description_kinematics, + moveit_config.joint_limits, + ], + ) + + # Static TF + static_tf_node = Node( + package="tf2_ros", + executable="static_transform_publisher", + name="static_transform_publisher", + output="log", + arguments=["0.0", "0.0", "0.0", "0.0", "0.0", "0.0", "world", "panda_link0"], + ) + + # Publish TF + robot_state_publisher = Node( + package="robot_state_publisher", + executable="robot_state_publisher", + name="robot_state_publisher", + output="both", + parameters=[moveit_config.robot_description], + ) + + # ros2_control using FakeSystem as hardware + ros2_controllers_path = os.path.join( + get_package_share_directory("moveit_resources_panda_moveit_config"), + "config", + "ros2_controllers.yaml", + ) + ros2_control_node = Node( + package="controller_manager", + executable="ros2_control_node", + parameters=[ros2_controllers_path], + remappings=[ + ("/controller_manager/robot_description", "/robot_description"), + ], + output="screen", + ) + + joint_state_broadcaster_spawner = Node( + package="controller_manager", + executable="spawner", + arguments=[ + "joint_state_broadcaster", + "--controller-manager", + "/controller_manager", + ], + ) + + panda_arm_controller_spawner = Node( + package="controller_manager", + executable="spawner", + arguments=["panda_arm_controller", "-c", "/controller_manager"], + ) + + panda_hand_controller_spawner = Node( + package="controller_manager", + executable="spawner", + arguments=["panda_hand_controller", "-c", "/controller_manager"], + ) + + return LaunchDescription( + [ + rviz_config_arg, + ros2_control_hardware_type, + rviz_node, + static_tf_node, + robot_state_publisher, + move_group_node, + ros2_control_node, + joint_state_broadcaster_spawner, + panda_arm_controller_spawner, + panda_hand_controller_spawner, + ] + ) diff --git a/doc/examples/perception_pipeline/meshes/d435.dae 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115060 114851 114850 114840 114854 114873 115061 114858 115035 114874 115062 114875 115022 114854 114859 114859 114858 114874 114879 115062 114874 115000 114990 114985 114994 114990 114998 114993 115063 114981 114982 114981 115063 115039 115064 114980 115001 114980 115064 115040 115065 115002 114969 115002 115065 114970 115066 114957 114962 114957 115066 114949 114957 114962 114950 114949 115041 115042 115067 114951 114944 114951 115067 114933 114951 114944 114937 114933 115043 114924 114933 114937 115025 114924 115044 115045 115068 114926 114919 114926 115068 114920 115069 114918 114912 114918 115069 114910 115070 114911 115011 114911 115070 115046 115071 115010 115071 115048 115012 115012 115010 115071 115027 115012 115047 115026 115072 115015 115072 115050 114798 114798 115015 115072 115029 114798 115049 114796 114798 115029 115031 114796 115051 114794 114796 115031 114788 114794 115052 114787 114794 114788 115033 114787 115053 114802 114787 115033 115034 114802 115054 115055 115073 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+ + + + + + + + + + + + + + + + + + 0.74902 0.74902 0.74902 1 + + + + + + + + + + + + + + diff --git a/doc/examples/perception_pipeline/obstacle_avoidance.gif b/doc/examples/perception_pipeline/obstacle_avoidance.gif deleted file mode 100644 index 69d1c9579d..0000000000 Binary files a/doc/examples/perception_pipeline/obstacle_avoidance.gif and /dev/null differ diff --git a/doc/examples/perception_pipeline/perception_configuration_demo.png b/doc/examples/perception_pipeline/perception_configuration_demo.png deleted file mode 100644 index fd50873313..0000000000 Binary files a/doc/examples/perception_pipeline/perception_configuration_demo.png and /dev/null differ diff --git a/doc/examples/perception_pipeline/perception_pipeline_tutorial.rst b/doc/examples/perception_pipeline/perception_pipeline_tutorial.rst index 3c8d683079..5f798e2ceb 100644 --- a/doc/examples/perception_pipeline/perception_pipeline_tutorial.rst +++ b/doc/examples/perception_pipeline/perception_pipeline_tutorial.rst @@ -1,61 +1,114 @@ -:moveit1: - -.. - Once updated for MoveIt 2, remove all lines above title (including this comment and :moveit1: tag) - Perception Pipeline Tutorial ============================ +Introduction +------------ MoveIt allows for seamless integration of 3D sensors using `Octomap `_. + + + Once properly configured, you should see something like this in rviz: -.. image:: perception_configuration_demo.png - :width: 700px +.. raw:: html + + Getting Started --------------- -If you haven't already done so, make sure you've completed the steps in :doc:`Getting Started `. +Even though you haven't completed :doc:`Getting Started ` ever, you can still run this tutorial's demo. But, it is suggested to start with steps in :doc:`Getting Started ` for better understanding what's going on in this tutorial. In this section, we will walk through configuring the 3D sensors on your robot with MoveIt. The primary component in MoveIt that deals with 3D perception is the Occupancy Map Updater. The updater uses a plugin architecture to process different types of input. The currently available plugins in MoveIt are: -Configuration -------------- +* The PointCloud Occupancy Map Updater: which can take as input point clouds (``sensor_msgs/msg/PointCloud2``) +* The Depth Image Occupancy Map Updater: which can take as input Depth Images (``sensor_msgs/msg/Image``) -In this section, we will walk through configuring the 3D sensors on your robot with MoveIt. The primary component in MoveIt that deals with 3D perception is the Occupancy Map Updater. The updater uses a plugin architecture to process different types of input. The currently available plugins in MoveIt are: +Connecting to the storage backend +--------------------------------- -* The PointCloud Occupancy Map Updater: which can take as input point clouds (``sensor_msgs/PointCloud2``) +To run the demo you need to install git lfs by running ``git lfs install`` and clone `moveit_benchmark_resources `_ into your workspace. -* The Depth Image Occupancy Map Updater: which can take as input Depth Images (``sensor_msgs/Image``) +How to create 3D Pointcloud Data for Octomap Creation +----------------------------------------------------- +In this tutorial, you can use `previously recorded 3D pointcloud data inside moveit_benchmark_resources `_ or you can record your own bag file. For recording bag, firstly, we can run ``depth_camera_envrionment.launch.py`` file and then record the bag using following commands. -To use the Occupancy Map Updater, it is only necessary to set the appropriate parameters on the ROS parameter server and to call ``startWorldGeometryMonitor`` from your ``PlanningSceneMonitor``. This latter step is performed automatically when using Move Group functionality like in this tutorial's example, so in that case it is only necessary to set the parameters for the octomap and octomap updater. +In shell 1, run this command: :: -YAML Configuration file (Point Cloud) -+++++++++++++++++++++++++++++++++++++ + ros2 launch moveit2_tutorials depth_camera_environment.launch.py -We will have to generate a YAML configuration file for configuring the 3D sensors. Please see :panda_codedir:`this example file` for processing point clouds. +In shell 2, run this command: :: -Save this file in the config folder in the robot's moveit_config package with name "sensors_kinect_pointcloud.yaml": :: + ros2 bag record /camera_1/points /camera_1/depth/image_raw /camera_1/depth/camera_info /camera_2/points /camera_2/depth/image_raw /camera_2/depth/camera_info /tf /tf_static - sensors: - - sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater - point_cloud_topic: /camera/depth_registered/points - max_range: 5.0 - point_subsample: 1 - padding_offset: 0.1 - padding_scale: 1.0 - max_update_rate: 1.0 - filtered_cloud_topic: filtered_cloud +When the command in shell 1 is executed, it is opened a gazebo environment which contains two depth camera and a table in the middle of those cameras. This gazebo environment is used for getting 3d sensor data. Gazebo environment should be looked like following image. -**The general parameters are:** +.. image:: images/perception_pipeline_demo_gazebo_screen.png + +.. image:: images/perception_pipeline_depth_camera_environment.png + +For more explanation of ``depth_camera_environment.launch.py``, you can look at comments in :codedir:`depth_camera_environment.launch.py ` on GitHub. + +.. tutorial-formatter:: ./launch/depth_camera_environment.launch.py + +For the commands in Shell 2, we must save both camera topics and tf topics due to the fact that MoveIt perception pipeline needs to listen TF's in order to convert the coordinates of pointcloud points according to ``world`` frame. Moreover, the reason of publishing static tf from world to camera frames in ``depth_camera_environment.launch.py`` is that it's necessary to determine transformation between robot and poincloud and that MoveIt's sensor plugins uses this transformation later. + +By the way, you can also use :codedir:`this rviz file ` on Github to visualize poincloud topics in rviz. + +In next step, we will use the recorded bag file to create an octomap. + + +Configuration For 3D Sensors +---------------------------- +MoveIt uses an octree-based framework to represent the world around it. The *Octomap* parameters above are configuration parameters for this representation: + * *octomap_frame*: specifies the coordinate frame in which this representation will be stored. If you are working with a mobile robot, this frame should be a fixed frame in the world. We can set this frame for plugin by frame_id field of ros messages like pointcloud and image topic. + * *octomap_resolution*: specifies the resolution at which this representation is maintained (in meters). + * *max_range*: specifies the maximum range value to be applied for any sensor input to this node. + +Now we will see ``/camera_1/points``, ``/camera_1/depth/image_raw``, ``/camera_1/depth/camera_info``, ``/camera_2/points``, ``/camera_1/depth/image_raw``, ``/camera_1/depth/camera_info``, ``/tf`` and ``/tf_static`` when playing bag file. We should create the following config file for MoveIt to process these pointcloud topics in planning pipeline. You can also go to :codedir:`here ` to see all ``sensors_3d.yaml`` config file on Github. + +.. tutorial-formatter:: config/sensors_3d.yaml + +sensors_3d.yaml: :: + + sensors: + - camera_1_pointcloud + - camera_2_depth_image + camera_1_pointcloud: + sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater + point_cloud_topic: /camera_1/points + max_range: 5.0 + point_subsample: 1 + padding_offset: 0.1 + padding_scale: 1.0 + max_update_rate: 1.0 + filtered_cloud_topic: /camera_1/filtered_points + camera_2_depth_image: + sensor_plugin: occupancy_map_monitor/DepthImageOctomapUpdater + image_topic: /camera_2/depth/image_raw + queue_size: 5 + near_clipping_plane_distance: 0.3 + far_clipping_plane_distance: 5.0 + shadow_threshold: 0.2 + padding_scale: 1.0 + max_update_rate: 1.0 + filtered_cloud_topic: /camera_2/filtered_points + +Configurations for Point Cloud +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +The general parameters are: * *sensor_plugin*: The name of the plugin that we are using. + * *max_update_rate*: The octomap representation will be updated at rate less than or equal to this value. -**Parameters specific to the Point cloud updater are:** +Parameters specific to the Point cloud updater are: * *point_cloud_topic*: This specifies the topic to listen on for a point cloud. * *max_range*: (in m) Points further than this will not be used. -* *point_subsample*: Choose one of every *point_subsample* points. +* *point_subsample*: Choose one of every point_subsample points. * *padding_offset*: The size of the padding (in cm). @@ -63,24 +116,8 @@ Save this file in the config folder in the robot's moveit_config package with na * *filtered_cloud_topic*: The topic on which the filtered cloud will be published (mainly for debugging). The filtering cloud is the resultant cloud after self-filtering has been performed. - -YAML Configuration file (Depth Map) -+++++++++++++++++++++++++++++++++++ - -We will have to generate a YAML configuration file for configuring the 3D sensors. An :panda_codedir:`example file for processing depth images ` can be found in the panda_moveit_config repository as well. -Save this file in the config folder in the robot's moveit_config package with name "sensors_kinect_depthmap.yaml": :: - - sensors: - - sensor_plugin: occupancy_map_monitor/DepthImageOctomapUpdater - image_topic: /camera/depth_registered/image_raw - queue_size: 5 - near_clipping_plane_distance: 0.3 - far_clipping_plane_distance: 5.0 - shadow_threshold: 0.2 - padding_scale: 4.0 - padding_offset: 0.03 - max_update_rate: 1.0 - filtered_cloud_topic: filtered_cloud +Configurations for Depth Image +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ **The general parameters are:** @@ -105,94 +142,25 @@ Save this file in the config folder in the robot's moveit_config package with na * *filtered_cloud_topic*: The topic on which the filtered cloud will be published (mainly for debugging). The filtering cloud is the resultant cloud after self-filtering has been performed. +Running Demo +------------ +The last step is to run ``perception_pipeline_demo.launch.py`` and play the bag file we recorded previously. You can apply these substeps using following commands. -Update the launch file -++++++++++++++++++++++ - -Add the YAML file to the launch script -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -You will now need to update the *sensor_manager.launch* file in the "launch" directory of your panda_moveit_config directory with this sensor information (this file is auto-generated by the Setup Assistant but is empty). You will need to add the following line into that file to configure the set of sensor sources for MoveIt to use: :: - - - -If you are using depthmap change the name of the yaml file to ``sensors_kinect_depthmap.yaml``. -Note that you will need to input the path to the right file you have created above. - -Octomap Configuration -^^^^^^^^^^^^^^^^^^^^^ -You will also need to configure the `Octomap `_ by adding the following lines into the *sensor_manager.launch*: :: - - - - - -MoveIt uses an octree-based framework to represent the world around it. The *Octomap* parameters above are configuration parameters for this representation: - * *octomap_frame*: specifies the coordinate frame in which this representation will be stored. If you are working with a mobile robot, this frame should be a fixed frame in the world. - * *octomap_resolution*: specifies the resolution at which this representation is maintained (in meters). - * *max_range*: specifies the maximum range value to be applied for any sensor input to this node. - -Obstacle Avoidance ------------------- - -If you set the initial and the final location of the robot in a way that there is no straight path between them, then the planner will automatically avoid the octomap and plan around it. - -.. image:: obstacle_avoidance.gif - :width: 700px - -Running the Interface -+++++++++++++++++++++ -Roslaunch the launch file to run the code directly from moveit_tutorials: :: - - roslaunch moveit_tutorials obstacle_avoidance_demo.launch - -You should see something like the image shown at the beginning of this tutorial. -If not, you may have run into a `known OpenGL rendering issue `_. To work around the issue, you can force CPU-based rendering with this command: - - export LIBGL_ALWAYS_SOFTWARE=1 - -You can test obstacle avoidance for yourself by setting the goal state manually and then planning and executing. To learn how to do that look at :doc:`MoveIt Quickstart in RViz ` - -Detecting and Adding Object as Collision Object ------------------------------------------------ - -In this section, we will demonstrate an example of extracting a cylinder from a pointcloud, computing relevant values and adding it as a collision object to the planning scene. -We will be working with point clouds but it can be implemented similarly with depth maps. - -After running the code, you should be able to see something like this in rviz: - -.. image:: cylinder_collision_object.png - :width: 700px - -Running the Code -++++++++++++++++ -Roslaunch the launch file to run the code directly from moveit_tutorials: :: - - roslaunch moveit_tutorials detect_and_add_cylinder_collision_object_demo.launch - -KNOWN ISSUE - You may see the following error when running the demo :: - - ros.moveit_ros_planning.planning_scene_monitor: Transform error: Lookup would require extrapolation into the future. Requested time 1527473962.793050157 but the latest data is at time 1527473962.776993978, when looking up transform from frame [panda_link2] to frame [camera_rgb_optical_frame] - ros.moveit_ros_perception: Transform cache was not updated. Self-filtering may fail. - -We are working on fixing it, it should not break the working of the demo. -You can follow its status in the `issue tracker `_ - -Relevant Code -+++++++++++++ -The entire code can be seen :codedir:`here` in the moveit_tutorials GitHub project. +In Shell 3: :: -The details regarding the implementation of each of the perception pipeline function have been omitted in this tutorial as they are well documented `here `_. + ros2 launch moveit2_tutorials perception_pipeline_demo.launch.py -.. |br| raw:: html +In Shell 4: :: -
+ ros2 bag play -r 5 --loop -.. |code_start| raw:: html +:codedir:`perception_pipeline_demo.launch.py ` is similar to :codedir:`demo.launch.py ` inside :doc:`MoveIt Quickstart in RViz ` except a couple of details. For ``perception_pipeline_demo.launch.py``, following lines is added to ``moveit_config``. - +You can find these additional lines in line 51, 52 and 53 inside ``perception_pipeline_demo.launch.py``: :: -.. |code_end| raw:: html + .sensors_3d(file_path = os.path.join( + get_package_share_directory("moveit2_tutorials"), + "config/sensors_3d.yaml")) - -.. tutorial-formatter:: ./src/cylinder_segment.cpp +Finally, all demo codes can be found in :codedir:`perception_pipeline's directory ` on Github. diff --git a/doc/examples/perception_pipeline/rviz2/depth_camera_environment.rviz b/doc/examples/perception_pipeline/rviz2/depth_camera_environment.rviz new file mode 100644 index 0000000000..1721a9f253 --- /dev/null +++ b/doc/examples/perception_pipeline/rviz2/depth_camera_environment.rviz @@ -0,0 +1,201 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + Splitter Ratio: 0.5 + Tree Height: 549 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz_common/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: PointCloud2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: PointCloud2 + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /camera_1/points + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: PointCloud2 + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /camera_2/points + Use Fixed Frame: true + Use rainbow: true + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: world + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 10 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: -0.11660552024841309 + Y: -1.0815895795822144 + Z: 0.5037922859191895 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 1.0153981447219849 + Target Frame: + Value: Orbit (rviz) + Yaw: 6.163585186004639 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 846 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd000000040000000000000156000002b0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002b0000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000002fb00fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1200 + X: 70 + Y: 60 diff --git a/doc/examples/perception_pipeline/src/bag_publisher_maintain_time.cpp b/doc/examples/perception_pipeline/src/bag_publisher_maintain_time.cpp deleted file mode 100644 index c813478dd3..0000000000 --- a/doc/examples/perception_pipeline/src/bag_publisher_maintain_time.cpp +++ /dev/null @@ -1,82 +0,0 @@ -/********************************************************************* - * Software License Agreement (BSD License) - * - * Copyright (c) 2018, Ridhwan Luthra. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of Ridhwan Luthra nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - *********************************************************************/ - -/* Author: Ridhwan Luthra */ - -#include "ros/ros.h" -#include -#include -#include -#include - -int main(int argc, char** argv) -{ - ros::init(argc, argv, "bag_publisher_maintain_time"); - ros::NodeHandle nh; - - ros::Publisher point_cloud_publisher = nh.advertise("/camera/depth_registered/points", 1); - ros::Rate loop_rate(0.1); - - // Variable holding the rosbag containing point cloud data. - rosbag::Bag bagfile; - std::string path = ros::package::getPath("moveit_tutorials"); - path += "/doc/perception_pipeline/bags/perception_tutorial.bag"; - bagfile.open(path, rosbag::bagmode::Read); - - std::vector topics; - topics.push_back("/camera/depth_registered/points"); - - // Iterator for topics in bag. - rosbag::View bagtopics_iter(bagfile, rosbag::TopicQuery(topics)); - - for (auto const msg : bagtopics_iter) - { - sensor_msgs::PointCloud2::Ptr point_cloud_ptr = msg.instantiate(); - if (point_cloud_ptr == nullptr) - { - std::cout << "error" << std::endl; - break; - } - - while (ros::ok()) - { - point_cloud_ptr->header.stamp = ros::Time::now(); - point_cloud_publisher.publish(*point_cloud_ptr); - ros::spinOnce(); - loop_rate.sleep(); - } - } - bagfile.close(); - return 0; -} diff --git a/doc/examples/perception_pipeline/src/cylinder_segment.cpp b/doc/examples/perception_pipeline/src/cylinder_segment.cpp deleted file mode 100644 index 99a9576d3a..0000000000 --- a/doc/examples/perception_pipeline/src/cylinder_segment.cpp +++ /dev/null @@ -1,370 +0,0 @@ -/********************************************************************* - * Software License Agreement (BSD License) - * - * Copyright (c) 2018, Ridhwan Luthra. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of Ridhwan Luthra nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - *********************************************************************/ - -/* Author: Ridhwan Luthra */ - -#include -#include -#include -#include -#include -#include -#include - -#include -#include - -class CylinderSegment -{ -public: - CylinderSegment() - { - ros::NodeHandle nh; - // Initialize subscriber to the raw point cloud - ros::Subscriber sub = nh.subscribe("/camera/depth_registered/points", 1, &CylinderSegment::cloudCB, this); - // Spin - ros::spin(); - } - - /** \brief Given the parameters of the cylinder add the cylinder to the planning scene. - @param cylinder_params - Pointer to the struct AddCylinderParams. */ - void addCylinder() - { - moveit::planning_interface::PlanningSceneInterface planning_scene_interface; - // BEGIN_SUB_TUTORIAL add_cylinder - // - // Adding Cylinder to Planning Scene - // ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - // Define a collision object ROS message. - moveit_msgs::CollisionObject collision_object; - collision_object.header.frame_id = "camera_rgb_optical_frame"; - collision_object.id = "cylinder"; - - // Define a cylinder which will be added to the world. - shape_msgs::SolidPrimitive primitive; - primitive.type = primitive.CYLINDER; - primitive.dimensions.resize(2); - /* Setting height of cylinder. */ - primitive.dimensions[0] = cylinder_params->height; - /* Setting radius of cylinder. */ - primitive.dimensions[1] = cylinder_params->radius; - - // Define a pose for the cylinder (specified relative to frame_id). - geometry_msgs::Pose cylinder_pose; - /* Computing and setting quaternion from axis angle representation. */ - Eigen::Vector3d cylinder_z_direction(cylinder_params->direction_vec[0], cylinder_params->direction_vec[1], - cylinder_params->direction_vec[2]); - Eigen::Vector3d origin_z_direction(0., 0., 1.); - Eigen::Vector3d axis; - axis = origin_z_direction.cross(cylinder_z_direction); - axis.normalize(); - double angle = acos(cylinder_z_direction.dot(origin_z_direction)); - cylinder_pose.orientation.x = axis.x() * sin(angle / 2); - cylinder_pose.orientation.y = axis.y() * sin(angle / 2); - cylinder_pose.orientation.z = axis.z() * sin(angle / 2); - cylinder_pose.orientation.w = cos(angle / 2); - - // Setting the position of cylinder. - cylinder_pose.position.x = cylinder_params->center_pt[0]; - cylinder_pose.position.y = cylinder_params->center_pt[1]; - cylinder_pose.position.z = cylinder_params->center_pt[2]; - - // Add cylinder as collision object - collision_object.primitives.push_back(primitive); - collision_object.primitive_poses.push_back(cylinder_pose); - collision_object.operation = collision_object.ADD; - planning_scene_interface.applyCollisionObject(collision_object); - // END_SUB_TUTORIAL - } - - /** \brief Given the pointcloud containing just the cylinder, compute its center point and its height and store in - cylinder_params. - @param cloud - Pointcloud containing just the cylinder. - @param cylinder_params - Pointer to the struct AddCylinderParams. */ - void extractLocationHeight(const pcl::PointCloud::Ptr& cloud) - { - double max_angle_y = -std::numeric_limits::infinity(); - double min_angle_y = std::numeric_limits::infinity(); - - double lowest_point[3] = { 0.0, 0.0, 0.0 }; - double highest_point[3] = { 0.0, 0.0, 0.0 }; - // BEGIN_SUB_TUTORIAL extract_location_height - // Consider a point inside the point cloud and imagine that point is formed on a XY plane where the perpendicular - // distance from the plane to the camera is Z. |br| - // The perpendicular drawn from the camera to the plane hits at center of the XY plane. |br| - // We have the x and y coordinate of the point which is formed on the XY plane. |br| - // X is the horizontal axis and Y is the vertical axis. |br| - // C is the center of the plane which is Z meter away from the center of camera and A is any point on the plane. - // |br| - // Now we know Z is the perpendicular distance from the point to the camera. |br| - // If you need to find the actual distance d from the point to the camera, you should calculate the hypotenuse- - // |code_start| hypot(point.z, point.x);\ |code_end| |br| - // angle the point made horizontally- |code_start| atan2(point.z,point.x);\ |code_end| |br| - // angle the point made Vertically- |code_start| atan2(point.z, point.y);\ |code_end| |br| - // Loop over the entire pointcloud. - for (auto const point : cloud->points) - { - const double angle = atan2(point.z, point.y); - /* Find the coordinates of the highest point */ - if (angle < min_angle_y) - { - min_angle_y = angle; - lowest_point[0] = point.x; - lowest_point[1] = point.y; - lowest_point[2] = point.z; - } - /* Find the coordinates of the lowest point */ - else if (angle > max_angle_y) - { - max_angle_y = angle; - highest_point[0] = point.x; - highest_point[1] = point.y; - highest_point[2] = point.z; - } - } - /* Store the center point of cylinder */ - cylinder_params->center_pt[0] = (highest_point[0] + lowest_point[0]) / 2; - cylinder_params->center_pt[1] = (highest_point[1] + lowest_point[1]) / 2; - cylinder_params->center_pt[2] = (highest_point[2] + lowest_point[2]) / 2; - /* Store the height of cylinder */ - cylinder_params->height = - sqrt(pow((lowest_point[0] - highest_point[0]), 2) + pow((lowest_point[1] - highest_point[1]), 2) + - pow((lowest_point[2] - highest_point[2]), 2)); - // END_SUB_TUTORIAL - } - - /** \brief Given a pointcloud extract the ROI defined by the user. - @param cloud - Pointcloud whose ROI needs to be extracted. */ - void passThroughFilter(const pcl::PointCloud::Ptr& cloud) - { - pcl::PassThrough pass; - pass.setInputCloud(cloud); - pass.setFilterFieldName("z"); - // min and max values in z axis to keep - pass.setFilterLimits(0.3, 1.1); - pass.filter(*cloud); - } - - /** \brief Given the pointcloud and pointer cloud_normals compute the point normals and store in cloud_normals. - @param cloud - Pointcloud. - @param cloud_normals - The point normals once computer will be stored in this. */ - void computeNormals(const pcl::PointCloud::Ptr& cloud, - const pcl::PointCloud::Ptr& cloud_normals) - { - pcl::search::KdTree::Ptr tree(new pcl::search::KdTree()); - pcl::NormalEstimation ne; - ne.setSearchMethod(tree); - ne.setInputCloud(cloud); - // Set the number of k nearest neighbors to use for the feature estimation. - ne.setKSearch(50); - ne.compute(*cloud_normals); - } - - /** \brief Given the point normals and point indices, extract the normals for the indices. - @param cloud_normals - Point normals. - @param inliers_plane - Indices whose normals need to be extracted. */ - void extractNormals(const pcl::PointCloud::Ptr& cloud_normals, - const pcl::PointIndices::Ptr& inliers_plane) - { - pcl::ExtractIndices extract_normals; - extract_normals.setNegative(true); - extract_normals.setInputCloud(cloud_normals); - extract_normals.setIndices(inliers_plane); - extract_normals.filter(*cloud_normals); - } - - /** \brief Given the pointcloud and indices of the plane, remove the plannar region from the pointcloud. - @param cloud - Pointcloud. - @param inliers_plane - Indices representing the plane. */ - void removePlaneSurface(const pcl::PointCloud::Ptr& cloud, - const pcl::PointIndices::Ptr& inliers_plane) - { - // create a SAC segmenter without using normals - pcl::SACSegmentation segmentor; - segmentor.setOptimizeCoefficients(true); - segmentor.setModelType(pcl::SACMODEL_PLANE); - segmentor.setMethodType(pcl::SAC_RANSAC); - /* run at max 1000 iterations before giving up */ - segmentor.setMaxIterations(1000); - /* tolerance for variation from model */ - segmentor.setDistanceThreshold(0.01); - segmentor.setInputCloud(cloud); - /* Create the segmentation object for the planar model and set all the parameters */ - pcl::ModelCoefficients::Ptr coefficients_plane(new pcl::ModelCoefficients); - segmentor.segment(*inliers_plane, *coefficients_plane); - /* Extract the planar inliers from the input cloud */ - pcl::ExtractIndices extract_indices; - extract_indices.setInputCloud(cloud); - extract_indices.setIndices(inliers_plane); - /* Remove the planar inliers, extract the rest */ - extract_indices.setNegative(true); - extract_indices.filter(*cloud); - } - - /** \brief Given the pointcloud, pointer to pcl::ModelCoefficients and point normals extract the cylinder from the - pointcloud and store the cylinder parameters in coefficients_cylinder. - @param cloud - Pointcloud whose plane is removed. - @param coefficients_cylinder - Cylinder parameters used to define an infinite cylinder will be stored here. - @param cloud_normals - Point normals corresponding to the plane on which cylinder is kept */ - void extractCylinder(const pcl::PointCloud::Ptr& cloud, - const pcl::ModelCoefficients::Ptr& coefficients_cylinder, - const pcl::PointCloud::Ptr& cloud_normals) - { - // Create the segmentation object for cylinder segmentation and set all the parameters - pcl::SACSegmentationFromNormals segmentor; - pcl::PointIndices::Ptr inliers_cylinder(new pcl::PointIndices); - segmentor.setOptimizeCoefficients(true); - segmentor.setModelType(pcl::SACMODEL_CYLINDER); - segmentor.setMethodType(pcl::SAC_RANSAC); - // Set the normal angular distance weight - segmentor.setNormalDistanceWeight(0.1); - // run at max 1000 iterations before giving up - segmentor.setMaxIterations(10000); - // tolerance for variation from model - segmentor.setDistanceThreshold(0.05); - // min max values of radius in meters to consider - segmentor.setRadiusLimits(0, 1); - segmentor.setInputCloud(cloud); - segmentor.setInputNormals(cloud_normals); - - // Obtain the cylinder inliers and coefficients - segmentor.segment(*inliers_cylinder, *coefficients_cylinder); - - // Extract the cylinder inliers from the input cloud - pcl::ExtractIndices extract; - extract.setInputCloud(cloud); - extract.setIndices(inliers_cylinder); - extract.setNegative(false); - extract.filter(*cloud); - } - - void cloudCB(const sensor_msgs::PointCloud2ConstPtr& input) - { - // BEGIN_SUB_TUTORIAL callback - // - // Perception Related - // ^^^^^^^^^^^^^^^^^^ - // First, convert from sensor_msgs to pcl::PointXYZRGB which is needed for most of the processing. - pcl::PointCloud::Ptr cloud(new pcl::PointCloud); - pcl::fromROSMsg(*input, *cloud); - // Using passthough filter to get region of interest. A passthrough filter just eliminates the point cloud values - // which do not lie in the user specified range. - passThroughFilter(cloud); - // Declare normals and call function to compute point normals. - pcl::PointCloud::Ptr cloud_normals(new pcl::PointCloud); - computeNormals(cloud, cloud_normals); - // inliers_plane will hold the indices of the point cloud that correspond to a plane. - pcl::PointIndices::Ptr inliers_plane(new pcl::PointIndices); - // Detect and eliminate the plane on which the cylinder is kept to ease the process of finding the cylinder. - removePlaneSurface(cloud, inliers_plane); - // We had calculated the point normals in a previous call to computeNormals, - // now we will be extracting the normals that correspond to the plane on which cylinder lies. - // It will be used to extract the cylinder. - extractNormals(cloud_normals, inliers_plane); - // ModelCoefficients will hold the parameters using which we can define a cylinder of infinite length. - // It has a public attribute |code_start| values\ |code_end| of type |code_start| std::vector\ |code_end|\ . - // |br| - // |code_start| Values[0-2]\ |code_end| hold a point on the center line of the cylinder. |br| - // |code_start| Values[3-5]\ |code_end| hold direction vector of the z-axis. |br| - // |code_start| Values[6]\ |code_end| is the radius of the cylinder. - pcl::ModelCoefficients::Ptr coefficients_cylinder(new pcl::ModelCoefficients); - /* Extract the cylinder using SACSegmentation. */ - extractCylinder(cloud, coefficients_cylinder, cloud_normals); - // END_SUB_TUTORIAL - if (cloud->points.empty()) - { - ROS_ERROR_STREAM_NAMED("cylinder_segment", "Can't find the cylindrical component."); - return; - } - if (points_not_found) - { - // BEGIN_TUTORIAL - // CALL_SUB_TUTORIAL callback - // - // Storing Relevant Cylinder Values - // ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - // The information that we have in |code_start| coefficients_cylinder\ |code_end| is not enough to define our - // cylinder. - // It does not have the actual location of the cylinder nor the actual height. |br| - // We define a struct to hold the parameters that are actually needed for defining a collision object completely. - // |br| - // CALL_SUB_TUTORIAL param_struct - /* Store the radius of the cylinder. */ - cylinder_params->radius = coefficients_cylinder->values[6]; - /* Store direction vector of z-axis of cylinder. */ - cylinder_params->direction_vec[0] = coefficients_cylinder->values[3]; - cylinder_params->direction_vec[1] = coefficients_cylinder->values[4]; - cylinder_params->direction_vec[2] = coefficients_cylinder->values[5]; - // - // Extracting Location and Height - // ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - // Compute the center point of the cylinder using standard geometry - extractLocationHeight(cloud); - // CALL_SUB_TUTORIAL extract_location_height - // Use the parameters extracted to add the cylinder to the planning scene as a collision object. - addCylinder(); - // CALL_SUB_TUTORIAL add_cylinder - // END_TUTORIAL - points_not_found = false; - } - } - -private: - // BEGIN_SUB_TUTORIAL param_struct - // There are 4 fields and a total of 7 parameters used to define this. - struct AddCylinderParams - { - /* Radius of the cylinder. */ - double radius; - /* Direction vector towards the z-axis of the cylinder. */ - double direction_vec[3]; - /* Center point of the cylinder. */ - double center_pt[3]; - /* Height of the cylinder. */ - double height; - }; - // Declare a variable of type AddCylinderParams and store relevant values from ModelCoefficients. - AddCylinderParams* cylinder_params; - // END_SUB_TUTORIAL - - bool points_not_found = true; -}; - -int main(int argc, char** argv) -{ - // Initialize ROS - ros::init(argc, argv, "cylinder_segment"); - // Start the segmentor - CylinderSegment(); -} diff --git a/doc/examples/perception_pipeline/urdf/realsense_d435/camera.urdf.xacro b/doc/examples/perception_pipeline/urdf/realsense_d435/camera.urdf.xacro new file mode 100644 index 0000000000..86d42f742b --- /dev/null +++ b/doc/examples/perception_pipeline/urdf/realsense_d435/camera.urdf.xacro @@ -0,0 +1,97 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Gazebo/Red + + 0 0 0 0 0 0 + true + 10 + + 1.089 + + 640 + 480 + + + 0.05 + 8.0 + + + + $(arg camera_name)_link_optical + + $(arg camera_name) + /$(arg camera_name)/camera_info + /$(arg camera_name)/depth_image + /$(arg camera_name)/pointcloud + true + + 0.1 + 10.0 + + + + diff --git a/doc/examples/perception_pipeline/urdf/realsense_d435/macros.xacro b/doc/examples/perception_pipeline/urdf/realsense_d435/macros.xacro new file mode 100644 index 0000000000..f0c2202965 --- /dev/null +++ b/doc/examples/perception_pipeline/urdf/realsense_d435/macros.xacro @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + diff --git a/doc/examples/perception_pipeline/worlds/perception_pipeline_demo.world b/doc/examples/perception_pipeline/worlds/perception_pipeline_demo.world new file mode 100644 index 0000000000..3d9971debb --- /dev/null +++ b/doc/examples/perception_pipeline/worlds/perception_pipeline_demo.world @@ -0,0 +1,334 @@ + + + + 1 + 0 0 10 0 -0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + 0 + 0 + 0 + + + + 1 + + + + + 0 0 1 + 100 100 + + + + + + 100 + 50 + + + + + + + + + + + 10 + + + 0 + + + 0 0 1 + 100 100 + + + + + + + 0 + 0 + 0 + + + 0 0 -9.8 + 6e-06 2.3e-05 -4.2e-05 + + + 0.001 + 1 + 1000 + + + 0.4 0.4 0.4 1 + 0.7 0.7 0.7 1 + 1 + + + + + EARTH_WGS84 + 0 + 0 + 0 + 0 + + + 1 + + + 0 0 1 0 -0 0 + + + 1.5 0.8 0.03 + + + + + + 0.6 + 0.6 + + + + + + + + + + + 10 + + + 0 0 1 0 -0 0 + + + 1.5 0.8 0.03 + + + + 1 1 1 1 + + + + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/table/4/files/Table_Diffuse.jpg + + + + + + 0.68 0.38 0.5 0 -0 0 + + + 0.02 + 1 + + + 10 + + + + + + + + + + + + + + + 0.68 0.38 0.5 0 -0 0 + + + 0.02 + 1 + + + + 0.5 0.5 0.5 1 + + + + + 0.68 -0.38 0.5 0 -0 0 + + + 0.02 + 1 + + + 10 + + + + + + + + + + + + + + + 0.68 -0.38 0.5 0 -0 0 + + + 0.02 + 1 + + + + 0.5 0.5 0.5 1 + + + + + -0.68 -0.38 0.5 0 -0 0 + + + 0.02 + 1 + + + 10 + + + + + + + + + + + + + + + -0.68 -0.38 0.5 0 -0 0 + + + 0.02 + 1 + + + + 0.5 0.5 0.5 1 + + + + + -0.68 0.38 0.5 0 -0 0 + + + 0.02 + 1 + + + 10 + + + + + + + + + + + + + + + -0.68 0.38 0.5 0 -0 0 + + + 0.02 + 1 + + + + 0.5 0.5 0.5 1 + + + + 0 + 0 + 0 + + -1.00599 -0.136297 0 0 -0 0 + + + 334 482000000 + 337 668227059 + 1716237052 895027079 + 334482 + + -1.41491 -0.136297 0 0 -0 0 + 1 1 1 + + -1.41491 -0.136297 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + 0 0 0 0 -0 0 + 1 1 1 + + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + 0 0 10 0 -0 0 + + + + + -1.00599 -0.136297 6.35 3.14159 1.57079 3.14159 + orbit + perspective + + + + diff --git a/doc/examples/realtime_servo/realtime_servo_tutorial.rst b/doc/examples/realtime_servo/realtime_servo_tutorial.rst index 09401bf45f..65069eb1bf 100644 --- a/doc/examples/realtime_servo/realtime_servo_tutorial.rst +++ b/doc/examples/realtime_servo/realtime_servo_tutorial.rst @@ -104,7 +104,7 @@ Because the kinematics are handled by the core parts of MoveIt, it is recommende Using the C++ API ------------------ -This can be beneficial when there is a performance requirement to avoid the overhead of ROS communication infrastucture, or when the output generated by Servo needs to be fed into some other controller that does not have a ROS interface. +This can be beneficial when there is a performance requirement to avoid the overhead of ROS communication infrastructure, or when the output generated by Servo needs to be fed into some other controller that does not have a ROS interface. When using MoveIt Servo with the C++ interface the three input command types are ``JointJogCommand``, ``TwistCommand`` and ``PoseCommand``. The output from Servo when using the C++ interface is ``KinematicState``, a struct containing joint names, positions, velocities and accelerations. diff --git a/doc/examples/trajopt_planner/trajopt_planner_tutorial.rst b/doc/examples/trajopt_planner/trajopt_planner_tutorial.rst index 26b90220c3..375b9fe7ee 100644 --- a/doc/examples/trajopt_planner/trajopt_planner_tutorial.rst +++ b/doc/examples/trajopt_planner/trajopt_planner_tutorial.rst @@ -75,7 +75,7 @@ Motion planning problem in TrajOpt is defined by a set of cost (COST) and constr - *GIVEN_TRAJ*: the user provides the entire trajectory for ``data`` member. -- **TermInfo**: This is the base struct for all types of COST and CNT functions that are carried by ``cost_infos`` and ``cnt_infos`` members. COST functions are the objectives that are supposed to be minimized and CNT are the ones that must be satisfied. The current implementation contains ``JointPoseTermInfo``, ``JointVelTermInfo`` (hard-coded) and ``CartPoseTermInfo`` (is partially implemented). Member *term_type* dictates the type of the term we are adding; it could be ``TT_COST`` or ``TT_CNT`` which means a cost term or constraint term respectively. Also ``TT_USE_TIME`` can be selected for this member which allows time parameterization. In this case *use_time* of ``BasicInfo`` should be set to ``true`` as well. The other parameters of these terms which need to be set are loaded from ``trajopt_planning.yaml`` file. The following list describes these parametrs: +- **TermInfo**: This is the base struct for all types of COST and CNT functions that are carried by ``cost_infos`` and ``cnt_infos`` members. COST functions are the objectives that are supposed to be minimized and CNT are the ones that must be satisfied. The current implementation contains ``JointPoseTermInfo``, ``JointVelTermInfo`` (hard-coded) and ``CartPoseTermInfo`` (is partially implemented). Member *term_type* dictates the type of the term we are adding; it could be ``TT_COST`` or ``TT_CNT`` which means a cost term or constraint term respectively. Also ``TT_USE_TIME`` can be selected for this member which allows time parameterization. In this case *use_time* of ``BasicInfo`` should be set to ``true`` as well. The other parameters of these terms which need to be set are loaded from ``trajopt_planning.yaml`` file. The following list describes these parameters: - *coeffs*: weight coefficients for joints diff --git a/doc/how_to_guides/benchmarking/benchmarking_tutorial.rst b/doc/how_to_guides/benchmarking/benchmarking_tutorial.rst index ae2e46ce19..2eb57bcedc 100644 --- a/doc/how_to_guides/benchmarking/benchmarking_tutorial.rst +++ b/doc/how_to_guides/benchmarking/benchmarking_tutorial.rst @@ -11,7 +11,7 @@ The example below demonstrates how the benchmarking can be run. Example ------- -To run the example you need to install git lfs by running ``git lfs install`` and clone [moveit_benchmark_resources](https://github.com/moveit/moveit_benchmark_resources.git) into your workspace. +To run the example you need to install git lfs by running ``git lfs install`` and clone `moveit_benchmark_resources `_ into your workspace. After choosing the storage plugin and configuring the launch.py file, run RViz using :: diff --git a/doc/how_to_guides/pilz_industrial_motion_planner/CMakeLists.txt b/doc/how_to_guides/pilz_industrial_motion_planner/CMakeLists.txt index 2ef8f5af91..5973acf864 100644 --- a/doc/how_to_guides/pilz_industrial_motion_planner/CMakeLists.txt +++ b/doc/how_to_guides/pilz_industrial_motion_planner/CMakeLists.txt @@ -6,10 +6,15 @@ add_executable(pilz_mtc src/pilz_mtc.cpp) target_include_directories(pilz_mtc PUBLIC include) ament_target_dependencies(pilz_mtc ${THIS_PACKAGE_INCLUDE_DEPENDS}) +add_executable(pilz_sequence src/pilz_sequence.cpp) +target_include_directories(pilz_sequence PUBLIC include) +ament_target_dependencies(pilz_sequence ${THIS_PACKAGE_INCLUDE_DEPENDS}) + install( TARGETS pilz_move_group pilz_mtc + pilz_sequence DESTINATION lib/${PROJECT_NAME} ) diff --git a/doc/how_to_guides/pilz_industrial_motion_planner/launch/pilz_moveit.launch.py b/doc/how_to_guides/pilz_industrial_motion_planner/launch/pilz_moveit.launch.py new file mode 100644 index 0000000000..088fc41903 --- /dev/null +++ b/doc/how_to_guides/pilz_industrial_motion_planner/launch/pilz_moveit.launch.py @@ -0,0 +1,111 @@ +import os +from launch import LaunchDescription +from launch_ros.actions import Node +from launch.actions import ExecuteProcess +from ament_index_python.packages import get_package_share_directory +from moveit_configs_utils import MoveItConfigsBuilder + + +def generate_launch_description(): + moveit_config = ( + MoveItConfigsBuilder("moveit_resources_panda") + .robot_description(file_path="config/panda.urdf.xacro") + .trajectory_execution(file_path="config/gripper_moveit_controllers.yaml") + .planning_scene_monitor( + publish_robot_description=True, publish_robot_description_semantic=True + ) + .planning_pipelines(pipelines=["pilz_industrial_motion_planner"]) + .to_moveit_configs() + ) + + # Starts Pilz Industrial Motion Planner MoveGroupSequenceAction and MoveGroupSequenceService servers + move_group_capabilities = { + "capabilities": "pilz_industrial_motion_planner/MoveGroupSequenceAction pilz_industrial_motion_planner/MoveGroupSequenceService" + } + + # Start the actual move_group node/action server + run_move_group_node = Node( + package="moveit_ros_move_group", + executable="move_group", + output="screen", + parameters=[ + moveit_config.to_dict(), + move_group_capabilities, + ], + ) + + # RViz + rviz_config_file = ( + get_package_share_directory("moveit2_tutorials") + "/launch/move_group.rviz" + ) + rviz_node = Node( + package="rviz2", + executable="rviz2", + name="rviz2", + output="log", + arguments=["-d", rviz_config_file], + parameters=[ + moveit_config.robot_description, + moveit_config.robot_description_semantic, + moveit_config.robot_description_kinematics, + moveit_config.planning_pipelines, + moveit_config.joint_limits, + ], + ) + + # Static TF + static_tf = Node( + package="tf2_ros", + executable="static_transform_publisher", + name="static_transform_publisher", + output="log", + arguments=["0.0", "0.0", "0.0", "0.0", "0.0", "0.0", "world", "panda_link0"], + ) + + # Publish TF + robot_state_publisher = Node( + package="robot_state_publisher", + executable="robot_state_publisher", + name="robot_state_publisher", + output="both", + parameters=[moveit_config.robot_description], + ) + + # ros2_control using FakeSystem as hardware + ros2_controllers_path = os.path.join( + get_package_share_directory("moveit_resources_panda_moveit_config"), + "config", + "ros2_controllers.yaml", + ) + ros2_control_node = Node( + package="controller_manager", + executable="ros2_control_node", + parameters=[moveit_config.robot_description, ros2_controllers_path], + output="both", + ) + + # Load controllers + load_controllers = [] + for controller in [ + "panda_arm_controller", + "panda_hand_controller", + "joint_state_broadcaster", + ]: + load_controllers += [ + ExecuteProcess( + cmd=["ros2 run controller_manager spawner {}".format(controller)], + shell=True, + output="screen", + ) + ] + + return LaunchDescription( + [ + rviz_node, + static_tf, + robot_state_publisher, + run_move_group_node, + ros2_control_node, + ] + + load_controllers + ) diff --git a/doc/how_to_guides/pilz_industrial_motion_planner/pilz_industrial_motion_planner.rst b/doc/how_to_guides/pilz_industrial_motion_planner/pilz_industrial_motion_planner.rst index 92403787ca..99f70bd9d9 100644 --- a/doc/how_to_guides/pilz_industrial_motion_planner/pilz_industrial_motion_planner.rst +++ b/doc/how_to_guides/pilz_industrial_motion_planner/pilz_industrial_motion_planner.rst @@ -280,7 +280,7 @@ To run this, execute the following commands in separate Terminals: :: - ros2 launch moveit_resources_panda_moveit_config demo.launch.py + ros2 launch moveit2_tutorials pilz_moveit.launch.py ros2 run moveit2_tutorials pilz_move_group @@ -383,6 +383,174 @@ Restrictions for ``MotionSequenceRequest`` ``blend_radius``\ (i) + ``blend_radius``\ (i+1) has to be smaller than the distance between the goals. +Service interface +~~~~~~~~~~~~~~~~~ + +The service ``plan_sequence_path`` allows the user to generate a joint +trajectory for a ``moveit_msgs::msg::MotionSequenceRequest``. +The trajectory is returned and not executed. + +To use the ``MoveGroupSequenceService`` and the ``MoveGroupSequenceAction``, refer to the :codedir:`Pilz Motion Planner sequence example `. +To run this, execute the following commands in separate terminals: + +:: + + ros2 launch moveit2_tutorials pilz_moveit.launch.py + ros2 run moveit2_tutorials pilz_sequence + +For this service and action, the move_group launch file needs to be modified to include these Pilz Motion Planner capabilities. +The new +:codedir:`pilz_moveit.launch.py ` +is used instead: + +:: + + moveit_config = ( + MoveItConfigsBuilder("moveit_resources_panda") + .robot_description(file_path="config/panda.urdf.xacro") + .trajectory_execution(file_path="config/gripper_moveit_controllers.yaml") + .planning_scene_monitor( + publish_robot_description=True, publish_robot_description_semantic=True + ) + .planning_pipelines( + pipelines=["pilz_industrial_motion_planner"] + ) + .to_moveit_configs() + ) + + # Starts Pilz Industrial Motion Planner MoveGroupSequenceAction and MoveGroupSequenceService servers + move_group_capabilities = { + "capabilities": "pilz_industrial_motion_planner/MoveGroupSequenceAction pilz_industrial_motion_planner/MoveGroupSequenceService" + } + +The +:codedir:`pilz_sequence.cpp file ` +creates two target poses that will be reached sequentially. + +:: + + // ----- Motion Sequence Item 1 + // Create a MotionSequenceItem + moveit_msgs::msg::MotionSequenceItem item1; + + // Set pose blend radius + item1.blend_radius = 0.1; + + // MotionSequenceItem configuration + item1.req.group_name = PLANNING_GROUP; + item1.req.planner_id = "LIN"; + item1.req.allowed_planning_time = 5.0; + item1.req.max_velocity_scaling_factor = 0.1; + item1.req.max_acceleration_scaling_factor = 0.1; + + moveit_msgs::msg::Constraints constraints_item1; + moveit_msgs::msg::PositionConstraint pos_constraint_item1; + pos_constraint_item1.header.frame_id = "world"; + pos_constraint_item1.link_name = "panda_hand"; + + // Set a constraint pose + auto target_pose_item1 = [] { + geometry_msgs::msg::PoseStamped msg; + msg.header.frame_id = "world"; + msg.pose.position.x = 0.3; + msg.pose.position.y = -0.2; + msg.pose.position.z = 0.6; + msg.pose.orientation.x = 1.0; + msg.pose.orientation.y = 0.0; + msg.pose.orientation.z = 0.0; + msg.pose.orientation.w = 0.0; + return msg; + } (); + item1.req.goal_constraints.push_back(kinematic_constraints::constructGoalConstraints("panda_link8", target_pose_item1)); + +The service client needs to be initialized: + +:: + + // MoveGroupSequence service client + using GetMotionSequence = moveit_msgs::srv::GetMotionSequence; + auto service_client = node->create_client("/plan_sequence_path"); + + // Verify that the action server is up and running + while (!service_client->wait_for_service(std::chrono::seconds(10))) + { + RCLCPP_WARN(LOGGER, "Waiting for service /plan_sequence_path to be available..."); + } + +Then, the request is created: + +:: + + // Create request + auto service_request = std::make_shared(); + service_request->request.items.push_back(item1); + service_request->request.items.push_back(item2); + +Once the service call is completed, the method ``future.wait_for(timeout_duration)`` blocks until +a specified ``timeout_duration`` has elapsed or the result becomes available, whichever comes +first. The return value identifies the state of the result. This is performed every second +until the future is ready. + + +:: + + // Call the service and process the result + auto service_future = service_client->async_send_request(service_request); + + // Function to draw the trajectory + auto const draw_trajectory_tool_path = + [&moveit_visual_tools, jmg = move_group_interface.getRobotModel()->getJointModelGroup("panda_arm")]( + auto const& trajectories) { + for (const auto& trajectory : trajectories) { + moveit_visual_tools.publishTrajectoryLine(trajectory, jmg); + } + }; + + // Wait for the result + std::future_status service_status; + do + { + switch (service_status = service_future.wait_for(std::chrono::seconds(1)); service_status) + { + case std::future_status::deferred: + RCLCPP_ERROR(LOGGER, "Deferred"); + break; + case std::future_status::timeout: + RCLCPP_INFO(LOGGER, "Waiting for trajectory plan..."); + break; + case std::future_status::ready: + RCLCPP_INFO(LOGGER, "Service ready!"); + break; + } + } while (service_status != std::future_status::ready); + +The future response is read with the ``future.get()`` method. + +:: + + auto service_response = service_future.get(); + if (service_response->response.error_code.val == moveit_msgs::msg::MoveItErrorCodes::SUCCESS) + { + RCLCPP_INFO(LOGGER, "Planning successful"); + + // Access the planned trajectory + auto trajectory = service_response->response.planned_trajectories; + draw_trajectory_tool_path(trajectory); + moveit_visual_tools.trigger(); + } + else + { + RCLCPP_ERROR(LOGGER, "Planning failed with error code: %d", service_response->response.error_code.val); + + rclcpp::shutdown(); + return 0; + } + +In this case, the planned trajectory is drawn. Here is a comparison of a blend radius of 0 and 0.1 for the first and second trajectory, respectively. + +.. figure:: trajectory_comparison.jpeg + :alt: trajectory comparison + Action interface ~~~~~~~~~~~~~~~~ @@ -397,13 +565,83 @@ constraints of an individual ``moveit_msgs::msg::MotionPlanRequest`` are already satisfied but the ``MoveGroupSequenceAction`` capability doesn't implement such a check to allow moving on a circular or comparable path. -See the ``pilz_robot_programming`` package for a `ROS 1 Python script -`_ -that shows how to use the capability. +The action client needs to be initialized: -Service interface -~~~~~~~~~~~~~~~~~ +:: -The service ``plan_sequence_path`` allows the user to generate a joint -trajectory for a ``moveit_msgs::msg::MotionSequenceRequest``. -The trajectory is returned and not executed. + // MoveGroupSequence action client + using MoveGroupSequence = moveit_msgs::action::MoveGroupSequence; + auto action_client = rclcpp_action::create_client(node, "/sequence_move_group"); + + // Verify that the action server is up and running + if (!action_client->wait_for_action_server(std::chrono::seconds(10))) + { + RCLCPP_ERROR(LOGGER, "Error waiting for action server /sequence_move_group"); + return -1; + } + +Then, the request is created: + +:: + + // Create a MotionSequenceRequest + moveit_msgs::msg::MotionSequenceRequest sequence_request; + sequence_request.items.push_back(item1); + sequence_request.items.push_back(item2); + +The goal and planning options are configured. A goal response callback and result callback can be included as well. + +:: + + // Create action goal + auto goal_msg = MoveGroupSequence::Goal(); + goal_msg.request = sequence_request; + + // Planning options + goal_msg.planning_options.planning_scene_diff.is_diff = true; + goal_msg.planning_options.planning_scene_diff.robot_state.is_diff = true; + // goal_msg.planning_options.plan_only = true; // Uncomment to only plan the trajectory + +Finally, send the goal request and wait for the response: + +:: + + // Send the action goal + auto goal_handle_future = action_client->async_send_goal(goal_msg, send_goal_options); + + // Get result + auto action_result_future = action_client->async_get_result(goal_handle_future.get()); + + // Wait for the result + std::future_status action_status; + do + { + switch (action_status = action_result_future.wait_for(std::chrono::seconds(1)); action_status) + { + case std::future_status::deferred: + RCLCPP_ERROR(LOGGER, "Deferred"); + break; + case std::future_status::timeout: + RCLCPP_INFO(LOGGER, "Executing trajectory..."); + break; + case std::future_status::ready: + RCLCPP_INFO(LOGGER, "Action ready!"); + break; + } + } while (action_status != std::future_status::ready); + + if (action_result_future.valid()) + { + auto result = action_result_future.get(); + RCLCPP_INFO(LOGGER, "Action completed. Result: %d", static_cast(result.code)); + } + else + { + RCLCPP_ERROR(LOGGER, "Action couldn't be completed."); + } + +If the motion needs to be stopped mid-execution, the action can be canceled with: + +:: + + auto future_cancel_motion = client->async_cancel_goal(goal_handle_future_new.get()); diff --git a/doc/how_to_guides/pilz_industrial_motion_planner/src/pilz_move_group.cpp b/doc/how_to_guides/pilz_industrial_motion_planner/src/pilz_move_group.cpp index a1290f3f51..6356bfe3fa 100644 --- a/doc/how_to_guides/pilz_industrial_motion_planner/src/pilz_move_group.cpp +++ b/doc/how_to_guides/pilz_industrial_motion_planner/src/pilz_move_group.cpp @@ -9,7 +9,7 @@ * Pilz Example -- MoveGroup Interface * * To run this example, first run this launch file: - * ros2 launch moveit_resources_panda_moveit_config demo.launch.py + * ros2 launch moveit2_tutorials pilz_moveit.launch.py * * For best results, hide the "MotionPlanning" widget in RViz. * diff --git a/doc/how_to_guides/pilz_industrial_motion_planner/src/pilz_sequence.cpp b/doc/how_to_guides/pilz_industrial_motion_planner/src/pilz_sequence.cpp new file mode 100644 index 0000000000..574b929fc5 --- /dev/null +++ b/doc/how_to_guides/pilz_industrial_motion_planner/src/pilz_sequence.cpp @@ -0,0 +1,359 @@ +#include +#include + +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include + +/** + * Pilz Example -- MoveGroupSequence service and action + * + * To run this example, first run this launch file: + * ros2 launch moveit2_tutorials pilz_moveit.launch.py + * + * Then, run this file: + * ros2 run moveit2_tutorials pilz_sequence + * + */ + +/* Author: Alejo Mancinelli - 02/07/2024 */ + +using moveit_msgs::action::MoveGroupSequence; +using GoalHandleMoveGroupSequence = rclcpp_action::ClientGoalHandle; + +// Create a ROS logger +auto const LOGGER = rclcpp::get_logger("pilz_sequence_node"); + +int main(int argc, char** argv) +{ + // Initialize ROS and create the Node + rclcpp::init(argc, argv); + rclcpp::NodeOptions node_options; + node_options.automatically_declare_parameters_from_overrides(true); + + auto node = rclcpp::Node::make_shared("pilz_sequence_node", node_options); + + // We spin up a SingleThreadedExecutor so MoveItVisualTools interact with ROS + rclcpp::executors::SingleThreadedExecutor executor; + executor.add_node(node); + std::thread([&executor]() { executor.spin(); }).detach(); + + // Planning group + static const std::string PLANNING_GROUP = "panda_arm"; + + // Create the MoveIt MoveGroup Interface + // In this case, this is just necessary for the visual interface + using moveit::planning_interface::MoveGroupInterface; + auto move_group_interface = MoveGroupInterface(node, PLANNING_GROUP); + + // Construct and initialize MoveItVisualTools + auto moveit_visual_tools = moveit_visual_tools::MoveItVisualTools{ node, "panda_link0", "move_group_tutorial", + move_group_interface.getRobotModel() }; + moveit_visual_tools.deleteAllMarkers(); + moveit_visual_tools.loadRemoteControl(); + moveit_visual_tools.prompt("Press 'next' in the RvizVisualToolsGui window to continue the demo"); + + // [ --------------------------------------------------------------- ] + // [ ----------------------- Motion Sequence ----------------------- ] + // [ --------------------------------------------------------------- ] + + // ----- Motion Sequence Item 1 + // Create a MotionSequenceItem + moveit_msgs::msg::MotionSequenceItem item1; + + // Set pose blend radius + item1.blend_radius = 0.1; + + // MotionSequenceItem configuration + item1.req.group_name = PLANNING_GROUP; + item1.req.planner_id = "LIN"; + item1.req.allowed_planning_time = 5.0; + item1.req.max_velocity_scaling_factor = 0.1; + item1.req.max_acceleration_scaling_factor = 0.1; + + moveit_msgs::msg::Constraints constraints_item1; + moveit_msgs::msg::PositionConstraint pos_constraint_item1; + pos_constraint_item1.header.frame_id = "world"; + pos_constraint_item1.link_name = "panda_hand"; + + // Set a constraint pose + auto target_pose_item1 = [] { + geometry_msgs::msg::PoseStamped msg; + msg.header.frame_id = "world"; + msg.pose.position.x = 0.3; + msg.pose.position.y = -0.2; + msg.pose.position.z = 0.6; + msg.pose.orientation.x = 1.0; + msg.pose.orientation.y = 0.0; + msg.pose.orientation.z = 0.0; + msg.pose.orientation.w = 0.0; + return msg; + }(); + item1.req.goal_constraints.push_back( + kinematic_constraints::constructGoalConstraints("panda_link8", target_pose_item1)); + + // ----- Motion Sequence Item 2 + // Create a MotionSequenceItem + moveit_msgs::msg::MotionSequenceItem item2; + + // Set pose blend radius + // For the last pose, it must be 0! + item2.blend_radius = 0.0; + + // MotionSequenceItem configuration + item2.req.group_name = PLANNING_GROUP; + item2.req.planner_id = "LIN"; + item2.req.allowed_planning_time = 5.0; + item2.req.max_velocity_scaling_factor = 0.1; + item2.req.max_acceleration_scaling_factor = 0.1; + + // Set a constraint pose + auto target_pose_item2 = [] { + geometry_msgs::msg::PoseStamped msg; + msg.header.frame_id = "world"; + msg.pose.position.x = 0.3; + msg.pose.position.y = -0.2; + msg.pose.position.z = 0.8; + msg.pose.orientation.x = 1.0; + msg.pose.orientation.y = 0.0; + msg.pose.orientation.z = 0.0; + msg.pose.orientation.w = 0.0; + return msg; + }(); + item2.req.goal_constraints.push_back( + kinematic_constraints::constructGoalConstraints("panda_link8", target_pose_item2)); + + // [ --------------------------------------------------------------- ] + // [ ------------------ MoveGroupSequence Service ------------------ ] + // [ --------------------------------------------------------------- ] + // The trajectory is returned but not executed + + // MoveGroupSequence service client + using GetMotionSequence = moveit_msgs::srv::GetMotionSequence; + auto service_client = node->create_client("/plan_sequence_path"); + + // Verify that the action server is up and running + while (!service_client->wait_for_service(std::chrono::seconds(10))) + { + RCLCPP_WARN(LOGGER, "Waiting for service /plan_sequence_path to be available..."); + } + + // Create request + auto service_request = std::make_shared(); + service_request->request.items.push_back(item1); + service_request->request.items.push_back(item2); + + // Call the service and process the result + auto service_future = service_client->async_send_request(service_request); + + // Function to draw the trajectory + auto const draw_trajectory_tool_path = + [&moveit_visual_tools, + jmg = move_group_interface.getRobotModel()->getJointModelGroup("panda_arm")](auto const& trajectories) { + for (const auto& trajectory : trajectories) + { + moveit_visual_tools.publishTrajectoryLine(trajectory, jmg); + } + }; + + // Wait for the result + std::future_status service_status; + do + { + switch (service_status = service_future.wait_for(std::chrono::seconds(1)); service_status) + { + case std::future_status::deferred: + RCLCPP_ERROR(LOGGER, "Deferred"); + break; + case std::future_status::timeout: + RCLCPP_INFO(LOGGER, "Waiting for trajectory plan..."); + break; + case std::future_status::ready: + RCLCPP_INFO(LOGGER, "Service ready!"); + break; + } + } while (service_status != std::future_status::ready); + + auto service_response = service_future.get(); + if (service_response->response.error_code.val == moveit_msgs::msg::MoveItErrorCodes::SUCCESS) + { + RCLCPP_INFO(LOGGER, "Planning successful"); + + // Access the planned trajectory + auto trajectory = service_response->response.planned_trajectories; + draw_trajectory_tool_path(trajectory); + moveit_visual_tools.trigger(); + } + else + { + RCLCPP_ERROR(LOGGER, "Planning failed with error code: %d", service_response->response.error_code.val); + + rclcpp::shutdown(); + return 0; + } + + moveit_visual_tools.prompt("Press 'next' in the RvizVisualToolsGui window to continue the demo"); + + // [ --------------------------------------------------------------- ] + // [ ------------------ MoveGroupSequence Action ------------------- ] + // [ --------------------------------------------------------------- ] + // Plans and executes the trajectory + + // MoveGroupSequence action client + using MoveGroupSequence = moveit_msgs::action::MoveGroupSequence; + auto action_client = rclcpp_action::create_client(node, "/sequence_move_group"); + + // Verify that the action server is up and running + if (!action_client->wait_for_action_server(std::chrono::seconds(10))) + { + RCLCPP_ERROR(LOGGER, "Error waiting for action server /sequence_move_group"); + return -1; + } + + // Create a MotionSequenceRequest + moveit_msgs::msg::MotionSequenceRequest sequence_request; + sequence_request.items.push_back(item1); + sequence_request.items.push_back(item2); + + // Create action goal + auto goal_msg = MoveGroupSequence::Goal(); + goal_msg.request = sequence_request; + + // Planning options + goal_msg.planning_options.planning_scene_diff.is_diff = true; + goal_msg.planning_options.planning_scene_diff.robot_state.is_diff = true; + // goal_msg.planning_options.plan_only = true; // Uncomment to only plan the trajectory + + // Goal response callback + auto send_goal_options = rclcpp_action::Client::SendGoalOptions(); + send_goal_options.goal_response_callback = [](std::shared_ptr goal_handle) { + try + { + if (!goal_handle) + { + RCLCPP_ERROR(LOGGER, "Goal was rejected by server"); + } + else + { + RCLCPP_INFO(LOGGER, "Goal accepted by server, waiting for result"); + } + } + catch (const std::exception& e) + { + RCLCPP_ERROR(LOGGER, "Exception while waiting for goal response: %s", e.what()); + } + }; + + // Result callback + send_goal_options.result_callback = [](const GoalHandleMoveGroupSequence::WrappedResult& result) { + switch (result.code) + { + case rclcpp_action::ResultCode::SUCCEEDED: + RCLCPP_INFO(LOGGER, "Goal succeeded"); + break; + case rclcpp_action::ResultCode::ABORTED: + RCLCPP_ERROR(LOGGER, "Goal was aborted. Status: %d", result.result->response.error_code.val); + break; + case rclcpp_action::ResultCode::CANCELED: + RCLCPP_ERROR(LOGGER, "Goal was canceled"); + break; + default: + RCLCPP_ERROR(LOGGER, "Unknown result code"); + break; + } + RCLCPP_INFO(LOGGER, "Result received"); + }; + + // Send the action goal + auto goal_handle_future = action_client->async_send_goal(goal_msg, send_goal_options); + + // Get result + auto action_result_future = action_client->async_get_result(goal_handle_future.get()); + + // Wait for the result + std::future_status action_status; + do + { + switch (action_status = action_result_future.wait_for(std::chrono::seconds(1)); action_status) + { + case std::future_status::deferred: + RCLCPP_ERROR(LOGGER, "Deferred"); + break; + case std::future_status::timeout: + RCLCPP_INFO(LOGGER, "Executing trajectory..."); + break; + case std::future_status::ready: + RCLCPP_INFO(LOGGER, "Action ready!"); + break; + } + } while (action_status != std::future_status::ready); + + if (action_result_future.valid()) + { + auto result = action_result_future.get(); + RCLCPP_INFO(LOGGER, "Action completed. Result: %d", static_cast(result.code)); + } + else + { + RCLCPP_ERROR(LOGGER, "Action couldn't be completed."); + } + + moveit_visual_tools.prompt("Press 'next' in the RvizVisualToolsGui window to continue the demo"); + + // [ --------------------------------------------------------------- ] + // [ ------------------------- Stop Motion ------------------------- ] + // [ --------------------------------------------------------------- ] + + // Repeats the motion but after 2 seconds cancels the action + auto cancel_goal_handle_future = action_client->async_send_goal(goal_msg, send_goal_options); + sleep(2); + auto cancel_action_result_future = action_client->async_cancel_goal(cancel_goal_handle_future.get()); + + // Wait for the result + std::future_status action_cancel_status; + do + { + switch (action_cancel_status = cancel_action_result_future.wait_for(std::chrono::seconds(1)); action_cancel_status) + { + case std::future_status::deferred: + RCLCPP_ERROR(LOGGER, "Deferred"); + break; + case std::future_status::timeout: + RCLCPP_INFO(LOGGER, "Waiting for trajectory stop..."); + break; + case std::future_status::ready: + RCLCPP_INFO(LOGGER, "Action cancel!"); + break; + } + } while (action_cancel_status != std::future_status::ready); + + if (cancel_action_result_future.valid()) + { + auto cancel_response = cancel_action_result_future.get(); + + if (!cancel_response->return_code) + { + RCLCPP_INFO(LOGGER, "The action has been canceled by the action server."); + } + else + { + RCLCPP_INFO(LOGGER, "Action cancel error. Code: %d.", cancel_response->return_code); + } + } + else + { + RCLCPP_ERROR(LOGGER, "Action couldn't be canceled."); + } + + rclcpp::shutdown(); + return 0; +} diff --git a/doc/how_to_guides/pilz_industrial_motion_planner/trajectory_comparison.jpeg b/doc/how_to_guides/pilz_industrial_motion_planner/trajectory_comparison.jpeg new file mode 100644 index 0000000000..b0821bc895 Binary files /dev/null and b/doc/how_to_guides/pilz_industrial_motion_planner/trajectory_comparison.jpeg differ diff --git a/doc/tutorials/getting_started/getting_started.rst b/doc/tutorials/getting_started/getting_started.rst index 07b7a64466..95a35b6f22 100644 --- a/doc/tutorials/getting_started/getting_started.rst +++ b/doc/tutorials/getting_started/getting_started.rst @@ -59,20 +59,24 @@ For tutorials you will need to have a :ros_documentation:`colcon `` can be e.g. ``humble`` for ROS Humble, or ``main`` for the latest version of the tutorials : :: cd ~/ws_moveit/src - git clone https://github.com/moveit/moveit2_tutorials + git clone -b https://github.com/moveit/moveit2_tutorials Next we will download the source code for the rest of MoveIt: :: - vcs import < moveit2_tutorials/moveit2_tutorials.repos + vcs import --recursive < moveit2_tutorials/moveit2_tutorials.repos The import command may ask for your GitHub credentials. You can just press Enter until it moves on (ignore the "Authentication failed" error). Build your Colcon Workspace ^^^^^^^^^^^^^^^^^^^^^^^^^^^ +First remove all previously installed moveit binaries: :: + + sudo apt remove ros-$ROS_DISTRO-moveit* + The following will install from Debian any package dependencies not already in your workspace. This is the step that will install MoveIt and all of its dependencies: :: @@ -89,7 +93,7 @@ This build command will likely take a long time (20+ minutes) depending on your .. warning:: Some of the packages built with this command require up to 16Gb of RAM to build. By default, ``colcon`` tries to build as many packages as possible at the same time. If you are low on computer memory, or if the build is generally having trouble completing on your computer, - you can try appending ``--executor sequential`` to the ``colcon`` command above to build only one package at a time, or ``--parallel-workers `` to limit the number of simultaneous builds. + you can try appending ``--executor sequential`` to the ``colcon`` command above to build only one package at a time, or ``--parallel-workers `` to limit the number of simultaneous builds. For even more limited machines, you can try running ``MAKEFLAGS="-j4 -l1" colcon build --executor sequential``. If everything goes well, you should see the message "Summary: X packages finished" where X might be 50. If you have problems, try re-checking your `ROS Installation `_. diff --git a/doc/tutorials/pick_and_place_with_moveit_task_constructor/pick_and_place_with_moveit_task_constructor.rst b/doc/tutorials/pick_and_place_with_moveit_task_constructor/pick_and_place_with_moveit_task_constructor.rst index 3c64bcca84..d88143f762 100644 --- a/doc/tutorials/pick_and_place_with_moveit_task_constructor/pick_and_place_with_moveit_task_constructor.rst +++ b/doc/tutorials/pick_and_place_with_moveit_task_constructor/pick_and_place_with_moveit_task_constructor.rst @@ -55,13 +55,19 @@ More detailed information on MTC can be found in the :doc:`MoveIt Task Construct ----------------- If you haven't already done so, make sure you've completed the steps in :doc:`Getting Started `. -2.1 Download MoveIt Task Constructor -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -Move into your colcon workspace and pull the MoveIt Task Constructor source: :: +Move into your colcon workspace and pull the MoveIt Task Constructor source, where ```` can be e.g. ``humble`` for ROS Humble, or ``ros2`` for the latest version compatible with MoveIt 2 ``main``: :: cd ~/ws_moveit/src - git clone git@github.com:moveit/moveit_task_constructor.git -b ros2 + git clone -b https://github.com/moveit/moveit_task_constructor.git + +Install missing packages with rosdep: :: + + rosdep install --from-paths . --ignore-src --rosdistro $ROS_DISTRO + +Build the workspace: :: + + cd ~/ws_moveit + colcon build --mixin release 3 Trying It Out ------------------ @@ -73,9 +79,9 @@ For all demos you should launch the basic environment: :: Subsequently, you can run the individual demos: :: - ros2 launch moveit_task_constructor_demo cartesian.launch.py - ros2 launch moveit_task_constructor_demo modular.launch.py - ros2 launch moveit_task_constructor_demo pickplace.launch.py + ros2 launch moveit_task_constructor_demo run.launch.py exe:=cartesian + ros2 launch moveit_task_constructor_demo run.launch.py exe:=modular + ros2 launch moveit_task_constructor_demo run.launch.py exe:=pick_place_demo On the right side you should see the **Motion Planning Tasks** panel outlining the hierarchical stage structure of the tasks. When you select a particular stage, the list of successful and failed solutions will be @@ -426,7 +432,7 @@ As mentioned above, this function creates a MoveIt Task Constructor object and s task.setProperty("eef", hand_group_name); task.setProperty("ik_frame", hand_frame); -Now, we add an example stage to the node. The first line sets ``current_state_ptr`` to ``nullptr``; this creates a pointer to a stage such that we can re-use stage information in specific scenarios. This line is not used at this moment, but will be used later when more stages are added to the task. Next, we make a ``current_state`` stage (a generator stage) and add it to our task - this starts the robot off in its current state. Now that we've created the ``CurrentState`` stage, we save a pointer to it in the ``current_state_ptr`` for later use. +Now, we add an example stage to the node. The first line sets ``current_state_ptr`` to ``nullptr``; this creates a pointer to a stage such that we can reuse stage information in specific scenarios. This line is not used at this moment, but will be used later when more stages are added to the task. Next, we make a ``current_state`` stage (a generator stage) and add it to our task - this starts the robot off in its current state. Now that we've created the ``CurrentState`` stage, we save a pointer to it in the ``current_state_ptr`` for later use. .. code-block:: c++ diff --git a/doc/tutorials/your_first_project/your_first_project.rst b/doc/tutorials/your_first_project/your_first_project.rst index f4d9a0c133..2c15798feb 100644 --- a/doc/tutorials/your_first_project/your_first_project.rst +++ b/doc/tutorials/your_first_project/your_first_project.rst @@ -177,7 +177,7 @@ In the workspace directory, ``ws_moveit``, run this command: colcon build --mixin debug -After this succeeds, we need to re-use the demo launch file from the previous tutorial to start RViz and the MoveGroup node. +After this succeeds, we need to reuse the demo launch file from the previous tutorial to start RViz and the MoveGroup node. In a separate terminal, source the workspace and then execute this: .. code-block:: bash diff --git a/index.rst b/index.rst index eb06f4e8a6..411fe56d98 100644 --- a/index.rst +++ b/index.rst @@ -6,7 +6,7 @@ Welcome to the unified MoveIt documentation, which includes tutorials, how-to gu MoveIt 2 is the robotic manipulation platform for ROS 2 and incorporates the latest advances in motion planning, manipulation, 3D perception, kinematics, control, and navigation. MoveIt 2 was first released in 2019; for ROS 1 documentation, see `MoveIt 1 tutorials `_. For the commercially supported version see `MoveIt Pro tutorials `_. -.. image:: https://moveit.ros.org/assets/images/roadmap.png +.. image:: http://moveit.ros.org/assets/images/roadmap.png :width: 400px How-To Use This Website diff --git a/moveit2_tutorials.repos b/moveit2_tutorials.repos index c6e8eaf7b3..4d46a2c980 100644 --- a/moveit2_tutorials.repos +++ b/moveit2_tutorials.repos @@ -48,4 +48,4 @@ repositories: gz_ros2_control: type: git url: https://github.com/ros-controls/gz_ros2_control.git - version: master + version: rolling