Basic training in ROS2 (#326)

* Redo table of contents to break into sidebar sections

* ROS2 versions of session 1 pages, ROS1 content moved to 'Legacy' section

* Port of session 2 material

* Added intro text on landing page and moved ROS1 content to dedicated legacy page

* Added numeric prefixes to file names for sorting in the filesystem

* Change ROS2 version from Dashing to Eloquent

* Fixed some bugs/problems after a run-through

* Added ROS1 and ROS2 versions of exercise solutions

* Point Travis back to ROS1 exercises

* Note about background for session 3

* Fix incorrent includes

* Fix missing include

* Fix another include

* Fix typo

* Update launch files to Foxy API

* Update eloquent references to foxy

* Minor clean-up prior to ROS2 PR merge

- update PC Setup page and install/check scripts
- add wait_for_service
- sync exercise references to better match instructions

Co-authored-by: Jeremy Zoss <jzoss@swri.org>

.check_training_config.bash

@@ -1,8 +1,8 @@
 #!/bin/bash
 
-TARGET_BRANCH=melodic  # industrial_training git branch
-ROS_RELEASE=melodic    # ROS1 release version
-ROS2_RELEASE=dashing   # ROS2 release version
+TARGET_BRANCH=foxy  # industrial_training git branch
+ROS_RELEASE=noetic     # ROS1 release version
+ROS2_RELEASE=foxy      # ROS2 release version
 
 #=======================================================================
 # verify that PC configuration matches requirements for training class
@@ -73,7 +73,7 @@ function check_debs() {
   check_deb libglu1-mesa-dev
   check_deb pcl-tools
   echo "Checking ROS1 packages:"
-  check_deb python-catkin-tools
+  check_deb python3-catkin-tools
   check_deb ros-$ROS_RELEASE-desktop
   check_deb ros-$ROS_RELEASE-perception
   check_deb ros-$ROS_RELEASE-moveit
@@ -91,11 +91,17 @@ function check_debs() {
 
 function check_bashrc() {
   echo "Checking .bashrc... "
-  printf "  - %-30s" "\$ROS_ROOT:"
-  if [ -z ${ROS_ROOT+x} ]; then
+  printf "  - %-30s" "\$ROS_VERSION:"
+  if [ -z ${ROS_VERSION+x} ]; then
 	print_result $(false)
   else
-	print_result $([ $ROS_ROOT == "/opt/ros/$ROS_RELEASE/share/ros" ])
+	print_result $([ $ROS_VERSION == "2" ])
+  fi
+  printf "  - %-30s" "\$ROS_DISTRO:"
+  if [ -z ${ROS_DISTRO+x} ]; then
+	print_result $(false)
+  else
+	print_result $([ $ROS_DISTRO == "$ROS2_RELEASE" ])
   fi
 }
 

.travis.yml

@@ -11,12 +11,12 @@ matrix:
     env:
     - CONTAINER_IMAGE=ros:melodic \
       CONTAINER_NAME=industrial_training_ci \
-      SRC_DIRS="exercises/1.3/src exercises/1.4/src"
+      SRC_DIRS="exercises/1.3/ros1/src exercises/1.4/ros1/src"
   - name: "Exercise 2"
     env:
     - CONTAINER_IMAGE=ros:melodic \
       CONTAINER_NAME=industrial_training_ci \
-      SRC_DIRS="exercises/2.0/src exercises/2.2/src exercises/2.3/src"
+      SRC_DIRS="exercises/2.0/ros1/src exercises/2.2/ros1/src exercises/2.3/ros1/src"
   - name: "Exercise 3"
     env:
     - CONTAINER_IMAGE=ros:melodic \
@@ -65,4 +65,4 @@ before_script:
   - source .industrial_training_ci.bash && ci_run update_image
 
 script:
-  - source .industrial_training_ci.bash && ci_run build_exercises $SRC_DIRS
+  - source .industrial_training_ci.bash && ci_run build_exercises $SRC_DIRS

exercises/1.3/ros2/src/myworkcell_core/CMakeLists.txt

@@ -0,0 +1,44 @@
+cmake_minimum_required(VERSION 3.5)
+project(myworkcell_core)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+
+# The vision_node executable
+add_executable(vision_node src/vision_node.cpp)
+ament_target_dependencies(vision_node rclcpp)
+
+# Mark executables and/or libraries for installation
+install(TARGETS vision_node
+    ARCHIVE DESTINATION lib/${PROJECT_NAME}
+    LIBRARY DESTINATION lib/${PROJECT_NAME}
+    RUNTIME DESTINATION lib/${PROJECT_NAME}
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # uncomment the line when a copyright and license is not present in all source files
+  #set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # uncomment the line when this package is not in a git repo
+  #set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

exercises/1.3/ros2/src/myworkcell_core/package.xml

@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>myworkcell_core</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="me@rosindustrial.com">ROS-Industrial</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

exercises/1.3/ros2/src/myworkcell_core/src/vision_node.cpp

@@ -0,0 +1,15 @@
+#include <rclcpp/rclcpp.hpp>
+
+int main(int argc, char* argv[])
+{
+  // This must be called before anything else ROS-related
+  rclcpp::init(argc, argv);
+
+  // Create a ROS node
+  auto node = std::make_shared<rclcpp::Node>("vision_node");
+
+  RCLCPP_INFO(node->get_logger(), "Hello, World!");
+
+  // Don't exit the program.
+  rclcpp::spin(node);
+}

exercises/1.4/ros2/src/myworkcell_core/CMakeLists.txt

@@ -0,0 +1,45 @@
+cmake_minimum_required(VERSION 3.5)
+project(myworkcell_core)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(fake_ar_publisher REQUIRED)
+
+# The vision_node executable
+add_executable(vision_node src/vision_node.cpp)
+ament_target_dependencies(vision_node rclcpp fake_ar_publisher)
+
+# Mark executables and/or libraries for installation
+install(TARGETS vision_node
+    ARCHIVE DESTINATION lib/${PROJECT_NAME}
+    LIBRARY DESTINATION lib/${PROJECT_NAME}
+    RUNTIME DESTINATION lib/${PROJECT_NAME}
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # uncomment the line when a copyright and license is not present in all source files
+  #set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # uncomment the line when this package is not in a git repo
+  #set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

exercises/1.4/ros2/src/myworkcell_core/package.xml

@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>myworkcell_core</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="me@rosindustrial.com">ROS-Industrial</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>fake_ar_publisher</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

exercises/1.4/ros2/src/myworkcell_core/src/vision_node.cpp

@@ -0,0 +1,40 @@
+#include <rclcpp/rclcpp.hpp>
+#include <fake_ar_publisher/msg/ar_marker.hpp>
+
+class Localizer : public rclcpp::Node
+{
+public:
+  Localizer() : Node("vision_node"), last_msg_{nullptr}
+  {
+    ar_sub_ = this->create_subscription<fake_ar_publisher::msg::ARMarker>(
+        "ar_pose_marker",
+        rclcpp::QoS(1),
+        std::bind(&Localizer::visionCallback, this, std::placeholders::_1));
+  }
+
+  void visionCallback(fake_ar_publisher::msg::ARMarker::SharedPtr msg)
+  {
+    last_msg_ = msg;
+    RCLCPP_INFO(get_logger(), "Received pose: x=%f, y=%f, z=%f",
+        msg->pose.pose.position.x,
+        msg->pose.pose.position.y,
+        msg->pose.pose.position.z);
+  }
+
+  rclcpp::Subscription<fake_ar_publisher::msg::ARMarker>::SharedPtr ar_sub_;
+  fake_ar_publisher::msg::ARMarker::SharedPtr last_msg_;
+};
+
+int main(int argc, char* argv[])
+{
+  // This must be called before anything else ROS-related
+  rclcpp::init(argc, argv);
+
+  // The Localizer class provides this node's ROS interfaces
+  auto node = std::make_shared<Localizer>();
+
+  RCLCPP_INFO(node->get_logger(), "Vision node starting");
+
+  // Don't exit the program.
+  rclcpp::spin(node);
+}

exercises/2.0/ros2/src/myworkcell_core/CMakeLists.txt

@@ -0,0 +1,60 @@
+cmake_minimum_required(VERSION 3.5)
+project(myworkcell_core)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(fake_ar_publisher REQUIRED)
+
+# Interface generation dependencies
+find_package(geometry_msgs REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "srv/LocalizePart.srv"
+  DEPENDENCIES geometry_msgs
+)
+
+# The vision_node executable
+add_executable(vision_node src/vision_node.cpp)
+ament_target_dependencies(vision_node rclcpp fake_ar_publisher)
+rosidl_target_interfaces(vision_node ${PROJECT_NAME} "rosidl_typesupport_cpp")
+
+# The myworkcell_node executable
+add_executable(myworkcell_node src/myworkcell_node.cpp)
+ament_target_dependencies(myworkcell_node rclcpp)
+rosidl_target_interfaces(myworkcell_node ${PROJECT_NAME} "rosidl_typesupport_cpp")
+
+# Mark executables and/or libraries for installation
+install(TARGETS vision_node myworkcell_node
+    ARCHIVE DESTINATION lib/${PROJECT_NAME}
+    LIBRARY DESTINATION lib/${PROJECT_NAME}
+    RUNTIME DESTINATION lib/${PROJECT_NAME}
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # uncomment the line when a copyright and license is not present in all source files
+  #set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # uncomment the line when this package is not in a git repo
+  #set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

exercises/2.0/ros2/src/myworkcell_core/package.xml

@@ -0,0 +1,26 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>myworkcell_core</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="me@rosindustrial.com">ROS-Industrial</maintainer>
+  <license>TODO: License declaration</license>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <build_depend>rosidl_default_generators</build_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <depend>geometry_msgs</depend>
+
+  <depend>rclcpp</depend>
+  <depend>fake_ar_publisher</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>