Perception only: Cherry-pick from moveit/moveit_tutorials#633

doc/examples/perception_pipeline/CMakeLists.txt

@@ -11,10 +11,12 @@ endforeach()
 
 include_directories(include ${PCL_INCLUDE_DIRS})
 
-add_executable(cylinder_segment src/cylinder_segment.cpp)
-ament_target_dependencies(cylinder_segment
+set(APP_CYLINDER detect_and_add_cylinder_collision_object_demo)
+add_executable(${APP_CYLINDER} src/detect_and_add_cylinder_collision_object_demo.cpp)
+ament_target_dependencies(${APP_CYLINDER}
   ${SUBTUTORIAL_DEPENDS}
   ${THIS_PACKAGE_INCLUDE_DEPENDS})
+install(TARGETS ${APP_CYLINDER} RUNTIME DESTINATION lib/${PROJECT_NAME})
 
 install(DIRECTORY bags launch
     DESTINATION share/${PROJECT_NAME}

doc/examples/perception_pipeline/launch/obstacle_avoidance_demo.launch.xml

@@ -3,12 +3,19 @@
   <arg name="launchfile_panda"
        default="$(find-pkg-share moveit_resources_panda_moveit_config)/launch/demo.launch.py" />
 
+  <!--
+  In this tutorial we wait much longer for the robot transforms than we usually would,
+  because the user's machine might be quite slow.
+  -->
+  <param name="robot_description_planning/shape_transform_cache_lookup_wait_time" value="0.5" />
+
   <!-- Play the rosbag that contains the pointcloud data -->
   <executable cmd="ros2 bag play -l $(var bagfile)" output="screen" />
 
   <include file="$(var launchfile_panda)" />
 
   <!-- If needed, broadcast static tf for robot root -->
   <node pkg="tf2_ros" exec="static_transform_publisher" name="to_panda" args="0 0 0 0 0 0  world panda_link0" />
-  <node pkg="tf2_ros" exec="static_transform_publisher" name="to_camera" args="0.115 0.427 0.570 0 0.2 1.92 camera_rgb_optical_frame world" />
+  <node pkg="tf2_ros" type="static_transform_publisher" name="to_camera" args="0.00 -.40 0.60 0.19 0.07 -1.91 world camera_rgb_optical_frame" />
+
 </launch>

doc/examples/perception_pipeline/perception_pipeline_tutorial.rst

@@ -148,7 +148,8 @@ This tutorial uses ``moveit2_tutorials`` that depends on ``moveit_task_construct
 
 Running the Interface
 +++++++++++++++++++++
-Roslaunch the launch file to run the code directly from moveit_tutorials: ::
+
+Launch the prepared launch file in moveit_tutorials to see the planning scene integrating sample point cloud data into an octomap: ::
 
  ros2 launch moveit_tutorials obstacle_avoidance_demo.launch
 
@@ -157,7 +158,7 @@ If not, you may have run into a `known OpenGL rendering issue <http://wiki.ros.o
 
  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 </doc/tutorials/quickstart_in_rviz/quickstart_in_rviz_tutorial>`
+You can test obstacle avoidance with the generated octomap for yourself by setting the goal state manually and then planning and executing. To learn how to do that look at `MoveIt Quickstart in RViz </doc/tutorials/quickstart_in_rviz/quickstart_in_rviz_tutorial>`_
 
 Detecting and Adding Object as Collision Object
 -----------------------------------------------
@@ -172,17 +173,10 @@ After running the code, you should be able to see something like this in RViz:
 
 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.
+Keep the launch file from above running and run the code directly from moveit_tutorials: ::
 
-We are working on fixing it, it should not break the working of the demo.
-You can follow its status in the `issue tracker <https://github.com/ros-planning/moveit_tutorials/issues/192>`_
+  ros2 run moveit2_tutorials detect_and_add_cylinder_collision_object_demo
 
 Relevant Code
 +++++++++++++
@@ -202,4 +196,4 @@ The details regarding the implementation of each of the perception pipeline func
 
    </code>
 
-.. tutorial-formatter:: ./src/cylinder_segment.cpp
+.. tutorial-formatter:: ./src/detect_and_add_cylinder_collision_object_demo.cpp