Merge pull request #363 from reidchristopher/ros2-demo1-instructions

ROS2 Demo1 instructions

exercises/Perception-Driven_Manipulation/ros2/solution_ws/src/pick_and_place_application/src/tasks/create_pick_moves.cpp

@@ -8,13 +8,13 @@
 
   Hints:
     - You can manipulate the "world_to_tcp_tf" transform through the "setOrigin" and "setRotation".
-    - Look into the "create_manipulation_poses" function and observe how each pick pose is created.
+    - Look into the "createManipulationPoses" function and observe how each pick pose is created.
 */
 
 std::vector<geometry_msgs::msg::Pose>
 pick_and_place_application::PickAndPlaceApp::computePickToolPoses(geometry_msgs::msg::Pose& box_pose)
 {
-  // RCLCPP_ERROR_STREAM(node->get_logger(), "create_pick_moves is not implemented yet.  Aborting."); exit(1);
+  // RCLCPP_ERROR_STREAM(node->get_logger(), "computePickToolPoses is not implemented yet.  Aborting."); exit(1);
 
   // transforms relative to world
   tf2::Transform tcp_at_box_tf;  // transform of tcp at box pick location relative to world

exercises/Perception-Driven_Manipulation/ros2/solution_ws/src/pick_and_place_application/src/tasks/create_place_moves.cpp

@@ -8,12 +8,12 @@
 
   Hints:
     - You can manipulate the "world_to_tcp_tf" transform through the "setOrigin" and "setRotation".
-    - Use the "create_manipulation_poses" function to create the tcp poses between each place move
+    - Use the "createManipulationPoses" function to create the tcp poses between each place move
 */
 
 std::vector<geometry_msgs::msg::Pose> pick_and_place_application::PickAndPlaceApp::computePlaceToolPoses()
 {
-  // RCLCPP_ERROR_STREAM(node->get_logger(), "create_place_moves is not implemented yet.  Aborting."); exit(1);
+  // RCLCPP_ERROR_STREAM(node->get_logger(), "computePlaceToolPoses is not implemented yet.  Aborting."); exit(1);
 
   // task variables
   tf2::Transform tcp_at_box_tf, tcp_to_wrist_tf;
@@ -26,7 +26,7 @@ std::vector<geometry_msgs::msg::Pose> pick_and_place_application::PickAndPlaceAp
    * Hints:
    * - Use the "setOrigin" method to set the position of "tcp_at_box_tf"
    * 	using cfg.BOX_PLACE_TF.
-   * - cfg.BOX_PLACE_TF is a tf::Transform object so it provides a getOrigin() method.
+   * - cfg.BOX_PLACE_TF is a tf2::Transform object so it provides a getOrigin() method.
    */
   tcp_at_box_tf.setOrigin(cfg.BOX_PLACE_TF.getOrigin());
 
@@ -35,7 +35,7 @@ std::vector<geometry_msgs::msg::Pose> pick_and_place_application::PickAndPlaceAp
    * - Reorient the tool so that the tcp points towards the box.
    * Hints:
    * - Use the "setRotation" to set the orientation of "tcp_at_box_tf".
-   * - The quaternion value "tf::Quaternion(0.707, 0.707, 0, 0)" will point
+   * - The quaternion value "tf2::Quaternion(0.707, 0.707, 0, 0)" will point
    * 	the tcp's direction towards the box.
    */
   tcp_at_box_tf.setRotation(cfg.BOX_PLACE_TF.getRotation() * tf2::Quaternion(0.707, 0.707, 0, 0));
@@ -44,7 +44,7 @@ std::vector<geometry_msgs::msg::Pose> pick_and_place_application::PickAndPlaceAp
    * Goal:
    * - Create place poses for tcp.   *
    * Hints:
-   * - Use the "create_manipulation_poses" and save results to "tcp_place_poses".
+   * - Use the "createManipulationPoses" and save results to "tcp_place_poses".
    * - The RETREAT_DISTANCE and APPROACH_DISTANCE values were populated from a configuration yaml file passed to the executable in the launch file.
    */
   tcp_place_poses = createManipulationPoses(cfg.RETREAT_DISTANCE, cfg.APPROACH_DISTANCE, tcp_at_box_tf);

exercises/Perception-Driven_Manipulation/ros2/solution_ws/src/pick_and_place_application/src/tasks/detect_box_pick.cpp

@@ -11,7 +11,7 @@ geometry_msgs::msg::Pose pick_and_place_application::PickAndPlaceApp::detectBox(
   using RequestType = pick_and_place_msgs::srv::GetTargetPose::Request;
   using ResponseType = pick_and_place_msgs::srv::GetTargetPose::Response;
 
-  // RCLCPP_ERROR_STREAM(node->get_logger(),"detect_box_pick is not implemented yet.  Aborting."); exit(1);
+  // RCLCPP_ERROR_STREAM(node->get_logger(),"detectBox is not implemented yet.  Aborting."); exit(1);
 
   // creating shape for recognition
   shape_msgs::msg::SolidPrimitive shape;

exercises/Perception-Driven_Manipulation/ros2/solution_ws/src/pick_and_place_application/src/tasks/move_to_wait_position.cpp

@@ -14,7 +14,7 @@ using moveit::planning_interface::MoveItErrorCode;
 
 void pick_and_place_application::PickAndPlaceApp::moveToWaitPosition()
 {
-  // RCLCPP_ERROR(node->get_logger(),"move_to_wait_position is not implemented yet.  Aborting."); exit(1);
+  // RCLCPP_ERROR(node->get_logger(),"moveToWaitPosition is not implemented yet.  Aborting."); exit(1);
 
   if (!moveit_cpp->getPlanningSceneMonitor()->requestPlanningSceneState())
   {
@@ -29,13 +29,13 @@ void pick_and_place_application::PickAndPlaceApp::moveToWaitPosition()
   plan_parameters.planning_time = 20.0f;
   plan_parameters.planning_attempts = 4;
 
-  /*  // task variables
+  /*
 
      Fill Code:
      * Goal:
      * - Set robot wait target
      * Hints:
-     * - Use the "setNamedTarget" method in the "move_group_ptr" object.
+     * - Use the "setGoal" method in the "planning_component" object.
      * - The "WAIT_POSE_NAME" variable is a member of the "cfg" object.
      */
   planning_component.setGoal(cfg.WAIT_POSE_NAME);

exercises/Perception-Driven_Manipulation/ros2/solution_ws/src/pick_and_place_application/src/tasks/pickup_box.cpp

@@ -14,7 +14,7 @@
 void pick_and_place_application::PickAndPlaceApp::doBoxPickup(std::vector<geometry_msgs::msg::Pose>& pick_poses,
                                                               const geometry_msgs::msg::Pose& box_pose)
 {
-  // RCLCPP_ERROR_STREAM(node->get_logger(),"pickup_box is not implemented yet.  Aborting."); exit(1);
+  // RCLCPP_ERROR_STREAM(node->get_logger(),"doBoxPickup is not implemented yet.  Aborting."); exit(1);
 
   // task variables
   bool success;

exercises/Perception-Driven_Manipulation/ros2/solution_ws/src/pick_and_place_application/src/tasks/place_box.cpp

@@ -11,7 +11,7 @@
 void pick_and_place_application::PickAndPlaceApp::doBoxPlace(std::vector<geometry_msgs::msg::Pose>& place_poses,
                                                              const geometry_msgs::msg::Pose& box_pose)
 {
-  // RCLCPP_ERROR_STREAM(node->get_logger(),"place_box is not implemented yet.  Aborting."); exit(1);
+  // RCLCPP_ERROR_STREAM(node->get_logger(),"doBoxPlace is not implemented yet.  Aborting."); exit(1);
 
   // task variables
   bool success;

exercises/Perception-Driven_Manipulation/ros2/solution_ws/src/pick_and_place_application/src/tasks/set_gripper.cpp

@@ -11,7 +11,7 @@ void pick_and_place_application::PickAndPlaceApp::actuateGripper(bool do_grasp)
 {
   using GraspGoalType = pick_and_place_msgs::action::ExecuteGraspMove::Goal;
   using GraspGoalHandle = rclcpp_action::ClientGoalHandle<pick_and_place_msgs::action::ExecuteGraspMove>;
-  // RCLCPP_ERROR_STREAM(node->get_logger(),"set_gripper is not implemented yet.  Aborting."); exit(1);
+  // RCLCPP_ERROR_STREAM(node->get_logger(),"actuateGripper is not implemented yet.  Aborting."); exit(1);
 
   // task variables
   GraspGoalType grasp_goal;

exercises/Perception-Driven_Manipulation/ros2/template_ws/src/dependencies.repos

@@ -14,6 +14,6 @@ repositories:
   perception_pcl:
     type: git
     url: https://github.com/ros-perception/perception_pcl.git
-    version: ros2
+    version: foxy-devel
 
 

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

@@ -8,13 +8,13 @@
 
   Hints:
     - You can manipulate the "world_to_tcp_tf" transform through the "setOrigin" and "setRotation".
-    - Look into the "create_manipulation_poses" function and observe how each pick pose is created.
+    - Look into the "createManipulationPoses" function and observe how each pick pose is created.
 */
 
 std::vector<geometry_msgs::msg::Pose>
 pick_and_place_application::PickAndPlaceApp::computePickToolPoses(geometry_msgs::msg::Pose& box_pose)
 {
-  RCLCPP_ERROR_STREAM(node->get_logger(), "create_pick_moves is not implemented yet.  Aborting."); exit(1);
+  RCLCPP_ERROR_STREAM(node->get_logger(), "computePickToolPoses is not implemented yet.  Aborting."); exit(1);
 
   // transforms relative to world
   tf2::Transform tcp_at_box_tf;  // transform of tcp at box pick location relative to world

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

@@ -8,12 +8,12 @@
 
   Hints:
     - You can manipulate the "world_to_tcp_tf" transform through the "setOrigin" and "setRotation".
-    - Use the "create_manipulation_poses" function to create the tcp poses between each place move
+    - Use the "createManipulationPoses" function to create the tcp poses between each place move
 */
 
 std::vector<geometry_msgs::msg::Pose> pick_and_place_application::PickAndPlaceApp::computePlaceToolPoses()
 {
-  RCLCPP_ERROR_STREAM(node->get_logger(), "create_place_moves is not implemented yet.  Aborting."); exit(1);
+  RCLCPP_ERROR_STREAM(node->get_logger(), "computePlaceToolPoses is not implemented yet.  Aborting."); exit(1);
 
   // task variables
   tf2::Transform tcp_at_box_tf, tcp_to_wrist_tf;
@@ -26,7 +26,7 @@ std::vector<geometry_msgs::msg::Pose> pick_and_place_application::PickAndPlaceAp
    * Hints:
    * - Use the "setOrigin" method to set the position of "tcp_at_box_tf"
    * 	using cfg.BOX_PLACE_TF.
-   * - cfg.BOX_PLACE_TF is a tf::Transform object so it provides a getOrigin() method.
+   * - cfg.BOX_PLACE_TF is a tf2::Transform object so it provides a getOrigin() method.
    */
   // UNCOMMENT AND COMPLETE:  tcp_at_box_tf.setOrigin(...);
 
@@ -35,7 +35,7 @@ std::vector<geometry_msgs::msg::Pose> pick_and_place_application::PickAndPlaceAp
    * - Reorient the tool so that the tcp points towards the box.
    * Hints:
    * - Use the "setRotation" to set the orientation of "tcp_at_box_tf".
-   * - The quaternion value "tf::Quaternion(0.707, 0.707, 0, 0)" will point
+   * - The quaternion value "tf2::Quaternion(0.707, 0.707, 0, 0)" will point
    * 	the tcp's direction towards the box.
    */
   // UNCOMMENT AND COMPLETE:  tcp_at_box_tf.setRotation(cfg.BOX_PLACE_TF.getRotation() * ...);
@@ -44,7 +44,7 @@ std::vector<geometry_msgs::msg::Pose> pick_and_place_application::PickAndPlaceAp
    * Goal:
    * - Create place poses for tcp.   *
    * Hints:
-   * - Use the "create_manipulation_poses" and save results to "tcp_place_poses".
+   * - Use the "createManipulationPoses" and save results to "tcp_place_poses".
    * - The RETREAT_DISTANCE and APPROACH_DISTANCE values were populated from a configuration yaml file passed to the executable in the launch file.
    */
   // UNCOMMENT AND COMPLETE:  tcp_place_poses = createManipulationPoses(..., ..., tcp_at_box_tf);

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

@@ -11,7 +11,7 @@ geometry_msgs::msg::Pose pick_and_place_application::PickAndPlaceApp::detectBox(
   using RequestType = pick_and_place_msgs::srv::GetTargetPose::Request;
   using ResponseType = pick_and_place_msgs::srv::GetTargetPose::Response;
 
-  RCLCPP_ERROR_STREAM(node->get_logger(),"detect_box_pick is not implemented yet.  Aborting."); exit(1);
+  RCLCPP_ERROR_STREAM(node->get_logger(),"detectBox is not implemented yet.  Aborting."); exit(1);
 
   // creating shape for recognition
   shape_msgs::msg::SolidPrimitive shape;

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

@@ -14,7 +14,7 @@ using moveit::planning_interface::MoveItErrorCode;
 
 void pick_and_place_application::PickAndPlaceApp::moveToWaitPosition()
 {
-  RCLCPP_ERROR(node->get_logger(),"move_to_wait_position is not implemented yet.  Aborting."); exit(1);
+  RCLCPP_ERROR(node->get_logger(),"moveToWaitPosition is not implemented yet.  Aborting."); exit(1);
 
   if (!moveit_cpp->getPlanningSceneMonitor()->requestPlanningSceneState())
   {
@@ -35,7 +35,7 @@ void pick_and_place_application::PickAndPlaceApp::moveToWaitPosition()
      * Goal:
      * - Set robot wait target
      * Hints:
-     * - Use the "setNamedTarget" method in the "move_group_ptr" object.
+     * - Use the "setGoal" method in the "planning_component" object.
      * - The "WAIT_POSE_NAME" variable is a member of the "cfg" object.
      */
   // UNCOMMENT AND COMPLETE: planning_component.setGoal(...);

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

@@ -14,7 +14,7 @@
 void pick_and_place_application::PickAndPlaceApp::doBoxPickup(std::vector<geometry_msgs::msg::Pose>& pick_poses,
                                                               const geometry_msgs::msg::Pose& box_pose)
 {
-  RCLCPP_ERROR_STREAM(node->get_logger(),"pickup_box is not implemented yet.  Aborting."); exit(1);
+  RCLCPP_ERROR_STREAM(node->get_logger(),"doBoxPickup is not implemented yet.  Aborting."); exit(1);
 
   // task variables
   bool success;

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

@@ -11,7 +11,7 @@
 void pick_and_place_application::PickAndPlaceApp::doBoxPlace(std::vector<geometry_msgs::msg::Pose>& place_poses,
                                                              const geometry_msgs::msg::Pose& box_pose)
 {
-  RCLCPP_ERROR_STREAM(node->get_logger(),"place_box is not implemented yet.  Aborting."); exit(1);
+  RCLCPP_ERROR_STREAM(node->get_logger(),"doBoxPlace is not implemented yet.  Aborting."); exit(1);
 
   // task variables
   bool success;

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

@@ -12,7 +12,7 @@ void pick_and_place_application::PickAndPlaceApp::actuateGripper(bool do_grasp)
   using GraspGoalType = pick_and_place_msgs::action::ExecuteGraspMove::Goal;
   using GraspGoalHandle = rclcpp_action::ClientGoalHandle<pick_and_place_msgs::action::ExecuteGraspMove>;
 
-  RCLCPP_ERROR_STREAM(node->get_logger(),"set_gripper is not implemented yet.  Aborting."); exit(1);
+  RCLCPP_ERROR_STREAM(node->get_logger(),"actuateGripper is not implemented yet.  Aborting."); exit(1);
 
   // task variables
   GraspGoalType grasp_goal;

gh_pages/_source/demo1/1-Inspect-the-package.rst

@@ -0,0 +1,86 @@
+Inspect the ``pick_and_place_application`` Package
+==================================================
+
+  In this exercise, we will get familiar with all the files that you will be
+  interacting with throughout the next exercises.
+
+
+Acquire the Workspace
+------------------------------------
+
+.. code-block:: shell
+
+  cp -r ~/industrial_training/exercises/Perception-Driven_Manipulation/ros2/template_ws \
+  ~/perception_driven_ws
+
+
+Locate and navigate into the package
+------------------------------------
+
+.. code-block:: shell
+
+  cd ~/perception_driven_ws/src/pick_and_place_application/
+
+
+Look into the ``launch`` directory
+----------------------------------
+
+* ``application_setup.launch.py``
+
+  * Brings up the entire ROS system (MoveIt!, Rviz, perception nodes, ROS-I drivers, robot I/O peripherals)
+
+* ``application_run.launch.py``
+
+  * Runs your pick and place node.
+
+
+Look into the ``config`` directory
+----------------------------------
+
+* ``pick_and_place_parameters.yaml``
+
+  * List of parameters read by the pick and place node.
+
+* ``rviz_config.rviz``
+
+  * Rviz configuration file for display properties.
+
+* ``target_recognition_parameters.yaml``
+
+  * Parameters used by the target recognition service for detecting the box from the sensor data.
+
+* ``fake_obstacles_cloud_descriptions.yaml``
+
+  * Parameters used to generate simulated sensor data (simulated sensor mode only).
+
+
+Look into the ``src`` directory
+-------------------------------
+
+* ``nodes/``
+
+  * ``pick_and_place_node.cpp``
+
+    * Main application thread. Contains all necessary headers and function calls.
+
+* ``tasks/``
+
+  * ``create_motion_plan.cpp``
+  * ``create_pick_moves.cpp``
+  * ``create_place_moves.cpp``
+  * ``detect_box_pick.cpp``
+  * ``initialize.cpp``
+  * ``move_to_wait_position.cpp``
+  * ``pickup_box.cpp``
+  * ``place_box.cpp``
+  * ``reset_world.cpp``
+  * ``set_attached_object.cpp``
+  * ``set_gripper.cpp``
+
+.. note:: The ``tasks`` directory contains source files with incomplete function definitions. You will fill with code where needed in order to complete the exercise.
+
+* ``utilities/``
+
+  * ``pick_and_place_utilities.cpp``
+
+    * Contains support functions that will help you complete the exercise.