Merge branch 'main' into ch3/trajectory-cache-example

Author: sjahr

.docker/Dockerfile

@@ -1,13 +1,16 @@
 # syntax = docker/dockerfile:1.3
 
 ARG ROS_DISTRO=rolling
+ARG GZ_VERSION=harmonic
 
 ######################### Tutorial Image  #################################################
 
 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

.github/upstream.repos

@@ -16,10 +16,12 @@ repositories:
     url: https://github.com/PickNikRobotics/rviz_visual_tools.git
     version: ros2
   # Remove ros2_kortex when rolling binaries are available.
+  # Need to use this fork since ros2_kortex depends on Gazebo classic packages:
+  # https://github.com/Kinovarobotics/ros2_kortex/issues/217
   ros2_kortex:
     type: git
-    url: https://github.com/Kinovarobotics/ros2_kortex.git
-    version: main
+    url: https://github.com/sea-bass/ros2_kortex.git
+    version: remove-gazebo-classic
   # Remove ros2_robotiq_gripper when rolling binaries are available.
   ros2_robotiq_gripper:
     type: git
@@ -30,3 +32,8 @@ repositories:
     type: git
     url: https://github.com/tylerjw/serial.git
     version: ros2
+  # Doesn't seem to be available from binaries yet
+  gz_ros2_control:
+    type: git
+    url: https://github.com/ros-controls/gz_ros2_control.git
+    version: master

.github/workflows/deploy.yml

@@ -22,9 +22,12 @@ jobs:
     - uses: actions/checkout@v4
 
     - name: Install Python dependencies
+      shell: bash
       run: |
         sudo apt-get update -y
-        sudo apt-get install -y python3-pip
+        sudo apt-get install -y python3-pip python3-venv
+        python3 -m venv .venv
+        source .venv/bin/activate
         pip3 install --upgrade --requirement requirements.txt
 
     - name: Install doxygen and graphviz
@@ -39,6 +42,7 @@ jobs:
       run: |
         source /opt/ros/rolling/setup.bash
         source /root/ws_moveit/install/setup.bash
+        source .venv/bin/activate
         ./htmlproofer.sh
 
   upload_site_artifacts:
@@ -58,9 +62,12 @@ jobs:
     - uses: actions/checkout@v4
 
     - name: Install Python dependencies
+      shell: bash
       run: |
         sudo apt-get update -y
-        sudo apt-get install -y python3-pip
+        sudo apt-get install -y python3-pip python3-venv
+        python3 -m venv .venv
+        source .venv/bin/activate
         pip3 install --upgrade --requirement requirements.txt
 
     - name: Install doxygen and graphviz
@@ -71,13 +78,14 @@ jobs:
       run: |
         source /opt/ros/${{ matrix.rosdistro }}/setup.bash
         source /root/ws_moveit/install/setup.bash
+        source .venv/bin/activate
         make generate_api_artifacts BRANCH=${{ matrix.branch }}
 
     - name: Compress Artifact
       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
@@ -109,7 +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: .
@@ -121,7 +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: .

.gitignore

@@ -7,5 +7,6 @@ build
 Gemfile
 native_build
 *.gdb
+.venv
 # For local rst builds
 _build/

build_locally.sh

@@ -41,7 +41,7 @@ fi
 # Install dependencies, unless argument says to skip
 if ! have_noinstall "$@"; then
   sudo apt-get install -y doxygen graphviz
-  pip3 install --user --upgrade -r requirements.txt
+  pip3 install --upgrade -r requirements.txt
 fi
 
 # A fresh build is required because changes to some components such as css files does not rebuilt currently

doc/examples/hybrid_planning/hybrid_planning_tutorial.rst

@@ -36,7 +36,7 @@ To start the hybrid planning demo simply run: ::
 
 You should see a similar behavior as in the example GIF above without the replanning.
 
-To interact with the architecture you simply need to send a *Hybrid Planning Request* to an action server offered by the *Hybrid Planning Manager* as seen in the :moveit_codedir:`hybrid_planning_test_node <moveit_ros/hybrid_planning/test/hybrid_planning_demo_node.cpp#L245>`.
+To interact with the architecture you simply need to send a *Hybrid Planning Request* to an action server offered by the *Hybrid Planning Manager*.
 
 Let's change this behavior such that the architecture replans the invalidated trajectory. To do so, just change the *planner_logic_plugin* by replacing the plugin name in the :moveit_codedir:`demo configuration <moveit_ros/hybrid_planning/test/config/hybrid_planning_manager.yaml>` with "moveit_hybrid_planning/ReplanInvalidatedTrajectory" and rebuild the package : ::
 

doc/examples/setup_assistant/setup_assistant_tutorial.rst

@@ -504,7 +504,7 @@ To build only the generated ``panda_moveit_config`` package and run the demo, fo
 
 Start the MoveIt demo to interactively plan and execute motions for the robot in RViz. ::
 
-   ros2 launch moveit_resources_panda_moveit_config demo.launch.py
+   ros2 launch panda_moveit_config demo.launch.py
 
 Check out this `brief YouTube video <https://youtu.be/f__udZlnTdM>`_ for an example of how to
 command the robot to move to the pre-defined ``ready`` pose and execute ``open`` and ``close`` motions on the hand.

doc/how_to_contribute/how_to_contribute_to_site.rst

@@ -40,7 +40,20 @@ Steps
 
 2. Test for broken links
 
-  To test for broken links run this command:
+  To test for broken links, run the ``htmlproofer`` script. Note that running this script may require you to install some Python dependencies. If using ``pip`` to install these dependencies, you may want to create a virtual environment.
+
+  .. code-block:: bash
+
+    python3 -m venv .venv
+    source .venv/bin/activate
+
+  You can then install requirements using ``pip``:
+
+  .. code-block:: bash
+
+    pip3 install --upgrade --requirement requirements.txt
+
+  You can run the ``htmlproofer`` script with this command:
 
   .. code-block:: bash
 

doc/how_to_guides/how_to_setup_docker_containers_in_ubuntu.rst

@@ -50,7 +50,7 @@ Further Reading
   refer to `this blog post <https://picknik.ai/ros/robotics/docker/2021/07/20/Vatan-Aksoy-Tezer-Docker.html>`_
   from PickNik's Vatan Aksoy Tezer and Brennard Pierce.
 
-- You can find a list of tagged tutorial images `here <https://github.com/moveit/moveit2_tutorials/pkgs/container/moveit2_tutorials>`__. There are tagged images for both ``rolling`` and ``humble`` which are built on top of the ``rolling-source`` and ``humble-source`` MoveIt 2 Docker images `here <https://hub.docker.com/r/moveit/moveit2/tags>`__.
+- There are tagged images for both ``rolling`` and ``humble`` which are built on top of the ``rolling-source`` and ``humble-source`` MoveIt 2 Docker images `here <https://hub.docker.com/r/moveit/moveit2/tags>`__.
 
 - You can find more tagged images for MoveIt 2 Docker containers `here <https://hub.docker.com/r/moveit/moveit2/tags>`__.
   The tagged images coincide with ROS2 version releases. The ``release`` version of the container provides an environment in which MoveIt 2 is installed via the binaries.

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}
 )

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
+    )