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MineMuppetMineMuppet
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Fixed indentation issues, trailing whitespace, and other two erros
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‎source/Demos/Canadarm.rst

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Build the Space ROS & MoveIt2 Docker Images
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-------------------------------------------
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If you haven't already, follow `these <https://space-ros.github.io/docs/rolling/Demos/MoveIt2.html>`_ instructions for building the MoveIt2 docker image, and `these <https://space-ros.github.io/docs/rolling/Tutorials/First-Time-Building.html>`_ instructions for the spaceros image. These are the base images for the Canadarm and Curiosity Mars rover demos. The Dockerfile installs all of the prerequisite system dependencies along with the demos source code, then builds the Space ROS Space Robots Demo.
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If you haven't already, follow `the MoveIt2 instructions <https://space-ros.github.io/docs/rolling/Demos/MoveIt2.html>`_, and `the Space ROS image instructions <https://space-ros.github.io/docs/rolling/Tutorials/First-Time-Building.html>`_. These are the base images for the Canadarm and Curiosity Mars rover demos. The Dockerfile installs all of the prerequisite system dependencies along with the demos source code, then builds the Space ROS Space Robots Demo.
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Space ROS Space Robots Demo Docker Image
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----------------------------------------
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.. code-block:: console
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cd ../space_robots
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./build.sh
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cd ../space_robots
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./build.sh
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Running the Demo Docker
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.. code-block:: console
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xhost +local:docker
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xhost +local:docker
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Then run:
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.. code-block:: console
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./run.sh
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./run.sh
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Depending on the host computer, you might need to remove the ``--gpus all`` flag in ``run.sh``, which uses your GPUs.
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.. code-block:: console
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ros2 launch canadarm canadarm.launch.py
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ros2 launch canadarm canadarm.launch.py
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‎source/Demos/Mars-Rover.rst

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@@ -13,8 +13,8 @@ Build the ``space_robots`` image:
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.. code-block:: console
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cd ../space_robots
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./build.sh
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cd ../space_robots
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./build.sh
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Running the Demo Docker
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.. code-block:: console
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xhost +local:docker
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xhost +local:docker
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Then run:
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.. code-block:: console
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./run.sh
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./run.sh
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Depending on the host computer, you might need to remove the ``--gpus all`` flag in ``run.sh``, which uses your GPUs.
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.. code-block:: console
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ros2 launch mars_rover mars_rover.launch.py
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ros2 launch mars_rover mars_rover.launch.py
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On the top left corner, click on the refresh button to show camera feed.
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.. code-block:: console
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docker exec -it <container-name> bash
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docker exec -it <container-name> bash
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Make sure packages are sourced:
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.. code-block:: console
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source ~/spaceros/install/setup.bash
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source ~/spaceros/install/setup.bash
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.. code-block:: console
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source ~/demos_ws/install/setup.bash
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source ~/demos_ws/install/setup.bash
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Available Commands
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~~~~~~~~~~~~~~~~~~
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.. code-block:: console
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ros2 service call /move_forward std_srvs/srv/Empty
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ros2 service call /move_forward std_srvs/srv/Empty
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Stop the rover:
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.. code-block:: console
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ros2 service call /turn_left std_srvs/srv/Empty
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ros2 service call /turn_left std_srvs/srv/Empty
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Turn right:
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ros2 service call /turn_right std_srvs/srv/Empty
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ros2 service call /turn_right std_srvs/srv/Empty
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Open the tool arm:
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.. code-block:: console
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ros2 service call /open_arm std_srvs/srv/Empty
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ros2 service call /open_arm std_srvs/srv/Empty
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Cloes the tool arm:
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.. code-block:: console
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ros2 service call /close_arm std_srvs/srv/Empty
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ros2 service call /close_arm std_srvs/srv/Empty
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Open the mast (camera arm):
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.. code-block:: console
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ros2 service call /mast_open std_srvs/srv/Empty
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ros2 service call /mast_open std_srvs/srv/Empty
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Close the mast (camera arm):
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ros2 service call /mast_close std_srvs/srv/Empty
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ros2 service call /mast_close std_srvs/srv/Empty
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‎source/Demos/MoveIt2.rst

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.. code-block:: console
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cd spaceros_ws
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cd spaceros_ws
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Clone the docker repository:
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git clone https://github.com/space-ros/docker
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git clone https://github.com/space-ros/docker
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Building the MoveIt2 Image
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cd docker/moveit2
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./build.sh
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cd docker/moveit2
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./build.sh
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The build process will take about 30 minutes, depending on the host computer.
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docker image list
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docker image list
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The output will look something like this:
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.. code-block:: console
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REPOSITORY TAG IMAGE ID CREATED SIZE
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openrobotics/moveit2 latest 6edb2edc9643 10 hours ago 15.5GB
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openrobotics/spaceros latest 629b13cf7b74 12 hours ago 7.8GB
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nvidia/cudagl 11.4.1-devel-ubuntu20.04 336416dfcbba 1 week ago 5.35GB
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REPOSITORY TAG IMAGE ID CREATED SIZE
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openrobotics/moveit2 latest 6edb2edc9643 10 hours ago 15.5GB
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openrobotics/spaceros latest 629b13cf7b74 12 hours ago 7.8GB
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nvidia/cudagl 11.4.1-devel-ubuntu20.04 336416dfcbba 1 week ago 5.35GB
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The new image is named openrobotics/moveit2:latest.
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There is a run.sh script provided for convenience that will run the spaceros image in a container.
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.. code-block:: console
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./run.sh
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./run.sh
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Upon startup, the container automatically runs the entrypoint.sh script, which sources the MoveIt2 and Space ROS environment files. You'll now be running inside the container and should see a prompt similar to this:
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.. code-block:: console
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spaceros-user@8e73b41a4e16:~/moveit2#
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spaceros-user@8e73b41a4e16:~/moveit2#
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Running MoveIt2 Tutorials
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ros2 launch moveit2_tutorials demo.launch.py rviz_tutorial:=true
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ros2 launch moveit2_tutorials demo.launch.py rviz_tutorial:=true
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You should see lots of console output and the rviz2 window appear:
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ros2 launch moveit2_tutorials move_group.launch.py
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ros2 launch moveit2_tutorials move_group.launch.py
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.. image:: ../images/move-group-demo.png
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