Merge pull request #401 from reidchristopher/update/humble

Small fixes/clarity improvements for new Humble port

.check_training_config.bash

@@ -95,7 +95,7 @@ function check_debs() {
   check_deb ros-$ROS2_RELEASE-ros2-controllers
   check_deb ros-$ROS2_RELEASE-xacro
   check_deb ros-$ROS2_RELEASE-joint-state-publisher-gui
-  check-deb ros-$ROS2_RELEASE-pcl-ros
+  check_deb ros-$ROS2_RELEASE-pcl-ros
 }
 
 function check_bashrc() {

exercises/Perception-Driven_Manipulation/ros2/template_ws/src/pick_and_place_application/src/tasks/set_attached_object.cpp

@@ -32,7 +32,7 @@ void PickAndPlaceApp::setAttachedObject(bool attach,
 
     // attaching
     current_state->attachBody(
-        cfg.ATTACHED_OBJECT_LINK_NAME, shapes_array, pose_array, cfg.TOUCH_LINKS, cfg.TCP_LINK_NAME);
+        cfg.ATTACHED_OBJECT_LINK_NAME, Eigen::Isometry3d::Identity(), shapes_array, pose_array, cfg.TOUCH_LINKS, cfg.TCP_LINK_NAME);
 
     // update box marker
     cfg.MARKER_MESSAGE.header.frame_id = cfg.TCP_LINK_NAME;

gh_pages/_source/prerequisites/Navigating-the-Ubuntu-GUI.md

@@ -1,9 +1,6 @@
 # Navigating the Ubuntu GUI
 > In this exercise, we will familiarize ourselves with the graphical user interface (GUI) of the Ubuntu operating system.
 
-## Task 0: Presentation Slides
-Don't forget about the [presentation slides](../../_downloads/slides/ROS-I%20Basic%20Developers%20Training%20-%20Session%200.pdf) that accompany this Lesson!
-
 ## Task 1: Familiarize Yourself with the Ubuntu Desktop
 At the log-in screen, click in the password input box, enter `rosindustrial` for the password, and hit enter. The screen should look like the image below when you log in:
 

gh_pages/_source/prerequisites/The-Linux-Terminal.md

@@ -21,12 +21,12 @@
 
  1. The window will have a single line, which looks like this:
 
-    `ros-industrial@ros-i-foxy-vm:~$`
+    `ros-industrial@ros-i-humble-vm:~$`
 
  1. This is called the prompt, where you enter commands. The prompt, by default, provides three pieces of information:
 
     1. _ros-industrial_ is the login name of the user you are running as.
-    1. _ros-i-foxy-vm_ is the host name of the computer.
+    1. _ros-i-humble-vm_ is the host name of the computer.
     1. ~ is the directory in which the terminal is currently in. (More on this later).
 
  1. Close the terminal window by typing `exit` or clicking on the red 'x' in the window's titlebar.
@@ -64,7 +64,7 @@
  1. Enter `pwd` into the terminal.
     * This will show you the full path of the directory you are working in.
  1. Enter `cd new` into the terminal.
-    * The prompt should change to `ros-industrial@ros-i-foxy-vm:~/ex0.3/new$`.
+    * The prompt should change to `ros-industrial@ros-i-humble-vm:~/ex0.3/new$`.
     * Typing `pwd` will show you now in the directory `/home/ros-industrial/ex0.3/new`.
   1. Enter `cd ..` into the terminal.
     * In the [previous exercise](Exploring-the-Linux-File-System.md), we noted that `..` is the parent folder.

gh_pages/_source/session2/ros2/0-Services.md

@@ -204,7 +204,7 @@ Your goal is to create a more intricate system of nodes:
    }
    ```
 
-1. Following best-practice guidance, we will create a new `ScanNPlan` class (derived from `rclcpp::Node`) to contain the functionality of our new node.  Create a skeleton structure of this class, with an empty constructor and a private area for some internal/private variables.
+1. Following best-practice guidance, we will create a new `ScanNPlan` class (derived from `rclcpp::Node`) to contain the functionality of our new node.  Create a skeleton structure of this class, with an empty constructor and a private area for some internal/private variables. Make sure to place this __above__ your `main` function.
 
    ``` c++
    class ScanNPlan : public rclcpp::Node
@@ -265,7 +265,8 @@ Your goal is to create a more intricate system of nodes:
        RCLCPP_INFO(get_logger(), "Attempting to localize part");
 
        // Wait for service to be available
-       if (!vision_client_->wait_for_service(std::chrono::seconds(5))) {
+       if (!vision_client_->wait_for_service(std::chrono::seconds(5)))
+       {
          RCLCPP_ERROR(get_logger(), "Unable to find localize_part service. Start vision_node first.");
          return;
        }
@@ -285,7 +286,8 @@ Your goal is to create a more intricate system of nodes:
        RCLCPP_INFO(get_logger(), "Attempting to localize part");
 
        // Wait for service to be available
-       if (!vision_client_->wait_for_service(std::chrono::seconds(5))) {
+       if (!vision_client_->wait_for_service(std::chrono::seconds(5)))
+       {
          RCLCPP_ERROR(get_logger(), "Unable to find localize_part service. Start vision_node first.");
          return;
        }
@@ -310,7 +312,8 @@ Your goal is to create a more intricate system of nodes:
      RCLCPP_INFO(get_logger(), "Attempting to localize part");
 
      // Wait for service to be available
-     if (!vision_client_->wait_for_service(std::chrono::seconds(5))) {
+     if (!vision_client_->wait_for_service(std::chrono::seconds(5)))
+     {
        RCLCPP_ERROR(get_logger(), "Unable to find localize_part service. Start vision_node first.");
        return;
      }

gh_pages/_source/session3/ros2/0-Intro-to-URDF.md

@@ -39,7 +39,7 @@ Your goal is to describe a workcell that features:
    </robot>
    ```
 
-1. Add the required links. See the [irb2400_macro.xacro](https://github.com/ros-industrial/abb/blob/84825661073a18e33b68bb01b5bf371edd2efd49/abb_irb2400_support/urdf/irb2400_macro.xacro#L54-L69) example from an ABB2400.  Remember that all URDF tags must be placed **between** the `<robot> ... </robot>` tags.
+1. Add the required links. See the [irb2400_macro.xacro](https://github.com/ros-industrial/abb/blob/84825661073a18e33b68bb01b5bf371edd2efd49/abb_irb2400_support/urdf/irb2400.urdf#L46-L65) example from an ABB2400.  Remember that all URDF tags must be placed **between** the `<robot> ... </robot>` tags.
 
    1. Add the `world` frame as a "virtual link" (no geometry).
 

gh_pages/_source/session4/ros2/2-Introduction-to-Perception.md

@@ -6,7 +6,7 @@ The start of most perception processing is ROS message data from a sensor.  In t
 
 1. First, we want to publish the point cloud data as a ROS message to allow display in rviz.
 
-   1. Create a new workspace for this exercise and copy over a point cloud file and some a utility package.
+   1. Create a new workspace for this exercise and copy over a point cloud file and a utility package.
 
       ```
       mkdir -p ~/perception_ws/src

gh_pages/_source/session5/Simple-PCL-Interface-for-Python.rst

@@ -23,7 +23,7 @@ We will create a new ROS 2 workspace, since this exercise does not overlap with
 
    .. code-block:: bash
 
-            source /opt/ros/foxy/setup.bash
+            source /opt/ros/humble/setup.bash
             colcon build
 
 

gh_pages/_source/setup/IDE-Setup.md

@@ -21,7 +21,7 @@ After opening a workspace folder, navigate to the workspace settings (`Ctrl+shif
 
 ```
 {
-   "ros.distro": "foxy",
+   "ros.distro": "humble",
 }
 ```
 
@@ -51,9 +51,9 @@ Add the appropriate ROS and user include paths to resolve IDE include errors. Fo
 ```
 "includePath": [
                 "${workspaceFolder}/**",
-                "/opt/ros/foxy/include/**",
+                "/opt/ros/humble/include/**",
                 "/usr/include/**",
             ],
 ```
 
-where `foxy` can be changed to the appropriate distro.
+where `humble` can be changed to the appropriate distro.

gh_pages/_source/setup/PC-Setup---ROS.md

@@ -4,22 +4,20 @@
 
 ## Virtual Machine Configuration (**Recommended**)
 
-A virtual machine is currently in the works for Humble. For now, we ask you use the direct Linux PC Configuration.
-
-<!-- The VM method is the most convenient method of utilizing the training materials:
+The VM method is the most convenient method of utilizing the training materials:
 
  1. [Download virtual box](https://www.virtualbox.org/wiki/Downloads)
- 1. [Download ROS Foxy training VM](https://rosi-images.datasys.swri.edu)
+ 1. [Download ROS Humble training VM](https://rosi-images.datasys.swri.edu)
  1. [Import image into virtual box](https://www.virtualbox.org/manual/ch01.html#ovf)
  1. Start virtual machine
-    1. *Note: If possible, assign two cores in Settings>>System>>Processor to your virtual machine before starting your virtual machine. This setting can be adjusted when the virtual machine is closed and shut down.
+    1. *Note: If possible, assign additional cores in Settings>>System>>Processor to your virtual machine before starting your virtual machine. This setting can be adjusted when the virtual machine is closed and shut down.
  1. Log into virtual machine, user: ```ros-industrial```, pass: ```rosindustrial``` (no spaces or hyphens)
  1. Get the latest changes (Open Terminal).
 
     ```
     cd ~/industrial_training
     git fetch origin
-    git checkout foxy
+    git checkout humble
     git pull
     ./.check_training_config.bash
     ```
@@ -31,8 +29,6 @@ The Virtual Box is limited both in hardware capability(due to VM limitations) an
 On most new systems, Virtual Box and VMs work out of the box.  The following is a list of issues others have encountered and solutions:
   * Virtualization must be enabled - Older systems do not have virtualization enabled (by default).  Virtualization must be enabled in the BIOS.  See <http://www.sysprobs.com/disable-enable-virtualization-technology-bios> for more information.
 
--->
-
 ## Direct Linux PC Configuration
 An installation [shell script](https://github.com/ros-industrial/industrial_training/blob/humble/gh_pages/_downloads/ros-industrial-training-setup.sh)
 is provided to run in Ubuntu Linux 22.04 LTS (Jammy). This script installs ROS and any other packages needed for the environment used for this training.

gh_pages/index.rst

@@ -42,6 +42,8 @@ C++
 Linux Fundamentals
 ******************
 
+:download:`Slides <_downloads/slides/ROS-I Basic Developers Training - Session 0.pdf>`
+
 - :doc:`0.1 - Intro to Ubuntu GUI <_source/prerequisites/Navigating-the-Ubuntu-GUI>`
 - :doc:`0.2 - The Linux File System <_source/prerequisites/Exploring-the-Linux-File-System>`
 - :doc:`0.3 - Using the Terminal <_source/prerequisites/The-Linux-Terminal>`
@@ -81,8 +83,8 @@ Session 3 - Motion Control of Manipulators
 - :doc:`3.3 - Build a MoveIt Package <_source/session3/ros2/3-Build-a-MoveIt-Package>`
 - :doc:`3.4 - Motion Planning using RViz <_source/session3/ros2/4-Motion-Planning-RVIZ>`
 
-Session 4 - Descartes and Perception
-------------------------------------
+Session 4 - Motion Planning and Perception
+------------------------------------------
 
 :download:`Slides <_downloads/slides/ROS-I Basic Developers Training (ROS2) - Session 4.pdf>`