Perception pipeline tutorial uses ROS1 in ROS2 (Humble) documentation

[rd-bot]

Description

I'm trying to turn a point cloud topic (from an Oak-d lite stereo camera) into an octomap voxels to be used for motion planning with a 7 dof arm. However, the documentation in moveit for Humble is for ROS1:

https://moveit.picknik.ai/humble/doc/examples/perception_pipeline/perception_pipeline_tutorial.html?highlight=perception

Your environment

• ROS Distro: Humble
• Docker Ubuntu 20.04

I'm using ros2 launch depthai_examples stereo_inertial_node.launch.py from here: https://github.com/luxonis/depthai-ros/blob/ros-release/depthai_examples/launch/stereo_inertial_node.launch.py to successfully display a point cloud in rviz2.

Do you have any advice on how to create the octomap? I'd be happy to PR updated documentation but I'm not really sure where to start an octomap_server to publish.

[mabhisharma]

Hi @rd-bot ,
Were you able to figure out how to create the octomap using pointcloud with moveit2 ? am new to ROS2 and any kind of help would be appreciated.

[santoshbalaji]

sensors:  ["sensor1"]
sensor1:
    sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater
    point_cloud_topic: /intel_realsense_r200_depth/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

Add the above configuration under yaml file. Later add this configuration as parameter to moveit_group node.

octomap_updater_config = load_yaml('dragon_ros2_simulation', 'config/3d_sensor.yaml')
move_group_node = Node(
        package="moveit_ros_move_group",
        executable="move_group",
        output="screen",
        parameters=[
            robot_description,
            robot_description_semantic,
            robot_description_kinematics,
            ompl_planning_pipeline_config,
            trajectory_execution,
            moveit_controllers,
            planning_scene_monitor_parameters,
            octomap_config,
            octomap_updater_config,
            {"use_sim_time": use_sim_time},
            {"publish_robot_description_semantic": True}
        ],
    )

[henningkayser]

There are still a bunch of pages that haven't been migrated yet. This is really a community effort so we rely on any contributor that can help to update the content. https://moveit.picknik.ai/humble/doc/examples/examples.html#examples also mentions that most of the listed pages are still ROS 1. @santoshbalaji since you have commented with an updated config, would you have the time for a brief update of the page?

[santoshbalaji]

sure i can do that. I have to update the following page right ?
https://moveit.picknik.ai/humble/doc/examples/perception_pipeline/perception_pipeline_tutorial.html
@henningkayser

[Jaynkd]

@santoshbalaji could send a link to your repo or comment full moveit config file since the moveit humble config file is written in py script and uses moveitconfigsbuilder that i dont know how to use.

[henningkayser]

sure i can do that. I have to update the following page right ? https://moveit.picknik.ai/humble/doc/examples/perception_pipeline/perception_pipeline_tutorial.html @henningkayser

Yes, that's the right page. But if you do this, please start with the main branch.

[130s]

I've started #700, which doesn't do what the tutorial is supposed to. I'm still intermittently going to update it, but a PR against my branch is welcomed.

[130s]

Maybe important thing to note from #25 (comment)

Actual loading of sensor data is implemented here: moveit/moveit2#1387

[130s]

#700 is ready for review.

[130s]

I think #906 addresses this. Suggest to close @sjahr