Merge pull request #358 from JeremyZoss/2021.10/day1_updates

day1 updates for clarity and consistency

.check_training_config.bash

@@ -87,7 +87,7 @@ function check_debs() {
   check_deb ros-$ROS_RELEASE-desktop
   check_deb ros-$ROS_RELEASE-perception
   check_deb ros-$ROS_RELEASE-moveit
-  disable_deb ros-$ROS_RELEASE-industrial-core
+  check_deb ros-$ROS_RELEASE-industrial-core
   disable_deb ros-$ROS_RELEASE-openni-launch
   disable_deb ros-$ROS_RELEASE-openni-camera
   disable_deb ros-$ROS_RELEASE-openni2-launch
@@ -97,6 +97,7 @@ function check_debs() {
   check_deb python3-colcon-core
   check_deb python3-colcon-ros
   check_deb ros-$ROS2_RELEASE-desktop
+  check_deb ros-$ROS2_RELEASE-moveit
 }
 
 function check_bashrc() {

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

@@ -23,12 +23,9 @@ find_package(rclcpp REQUIRED)
 add_executable(vision_node src/vision_node.cpp)
 ament_target_dependencies(vision_node rclcpp)
 
-# Mark executables and/or libraries for installation
+# Mark executables for installation
 install(TARGETS vision_node
-    ARCHIVE DESTINATION lib/${PROJECT_NAME}
-    LIBRARY DESTINATION lib/${PROJECT_NAME}
-    RUNTIME DESTINATION lib/${PROJECT_NAME}
-)
+    DESTINATION lib/${PROJECT_NAME})
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)

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

@@ -3,7 +3,7 @@
 <package format="3">
   <name>myworkcell_core</name>
   <version>0.0.0</version>
-  <description>TODO: Package description</description>
+  <description>core scan-n-plan application node</description>
   <maintainer email="me@rosindustrial.com">ROS-Industrial</maintainer>
   <license>TODO: License declaration</license>
 

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

@@ -1,3 +1,6 @@
+/**
+**  Simple ROS Node
+**/
 #include <rclcpp/rclcpp.hpp>
 
 int main(int argc, char* argv[])

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

@@ -24,12 +24,9 @@ find_package(fake_ar_publisher REQUIRED)
 add_executable(vision_node src/vision_node.cpp)
 ament_target_dependencies(vision_node rclcpp fake_ar_publisher)
 
-# Mark executables and/or libraries for installation
+# Mark executables for installation
 install(TARGETS vision_node
-    ARCHIVE DESTINATION lib/${PROJECT_NAME}
-    LIBRARY DESTINATION lib/${PROJECT_NAME}
-    RUNTIME DESTINATION lib/${PROJECT_NAME}
-)
+    DESTINATION lib/${PROJECT_NAME})
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)

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

@@ -3,7 +3,7 @@
 <package format="3">
   <name>myworkcell_core</name>
   <version>0.0.0</version>
-  <description>TODO: Package description</description>
+  <description>core scan-n-plan application node</description>
   <maintainer email="me@rosindustrial.com">ROS-Industrial</maintainer>
   <license>TODO: License declaration</license>
 

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

@@ -1,3 +1,6 @@
+/**
+**  Simple ROS Node
+**/
 #include <rclcpp/rclcpp.hpp>
 #include <fake_ar_publisher/msg/ar_marker.hpp>
 

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

@@ -39,12 +39,9 @@ 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
+# Mark executables for installation
 install(TARGETS vision_node myworkcell_node
-    ARCHIVE DESTINATION lib/${PROJECT_NAME}
-    LIBRARY DESTINATION lib/${PROJECT_NAME}
-    RUNTIME DESTINATION lib/${PROJECT_NAME}
-)
+    DESTINATION lib/${PROJECT_NAME})
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)

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

@@ -3,7 +3,7 @@
 <package format="3">
   <name>myworkcell_core</name>
   <version>0.0.0</version>
-  <description>TODO: Package description</description>
+  <description>core scan-n-plan application node</description>
   <maintainer email="me@rosindustrial.com">ROS-Industrial</maintainer>
   <license>TODO: License declaration</license>
   <member_of_group>rosidl_interface_packages</member_of_group>

exercises/2.0/ros2/src/myworkcell_core/src/myworkcell_node.cpp

@@ -37,7 +37,7 @@ class ScanNPlan : public rclcpp::Node
       return;
     }
 
-    RCLCPP_INFO(this->get_logger(), "Part Localized:  x: %f, y: %f, z: %f",
+    RCLCPP_INFO(this->get_logger(), "Part Localized: x: %f, y: %f, z: %f",
         response->pose.position.x,
         response->pose.position.y,
         response->pose.position.z);

exercises/2.0/ros2/src/myworkcell_core/src/vision_node.cpp

@@ -1,3 +1,6 @@
+/**
+**  Simple ROS Node
+**/
 #include <rclcpp/rclcpp.hpp>
 #include <fake_ar_publisher/msg/ar_marker.hpp>
 #include <myworkcell_core/srv/localize_part.hpp>
@@ -29,7 +32,7 @@ class Localizer : public rclcpp::Node
   }
 
   void localizePart(myworkcell_core::srv::LocalizePart::Request::SharedPtr req,
-                  myworkcell_core::srv::LocalizePart::Response::SharedPtr res)
+                    myworkcell_core::srv::LocalizePart::Response::SharedPtr res)
   {
     // Read last message
     fake_ar_publisher::msg::ARMarker::SharedPtr p = last_msg_;

exercises/2.2/ros2/src/myworkcell_core/CMakeLists.txt

@@ -39,12 +39,9 @@ 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
+# Mark executables for installation
 install(TARGETS vision_node myworkcell_node
-    ARCHIVE DESTINATION lib/${PROJECT_NAME}
-    LIBRARY DESTINATION lib/${PROJECT_NAME}
-    RUNTIME DESTINATION lib/${PROJECT_NAME}
-)
+    DESTINATION lib/${PROJECT_NAME})
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)

exercises/2.2/ros2/src/myworkcell_core/package.xml

@@ -3,7 +3,7 @@
 <package format="3">
   <name>myworkcell_core</name>
   <version>0.0.0</version>
-  <description>TODO: Package description</description>
+  <description>core scan-n-plan application node</description>
   <maintainer email="me@rosindustrial.com">ROS-Industrial</maintainer>
   <license>TODO: License declaration</license>
   <member_of_group>rosidl_interface_packages</member_of_group>

exercises/2.2/ros2/src/myworkcell_core/src/myworkcell_node.cpp

@@ -37,7 +37,7 @@ class ScanNPlan : public rclcpp::Node
       return;
     }
 
-    RCLCPP_INFO(this->get_logger(), "Part Localized:  x: %f, y: %f, z: %f",
+    RCLCPP_INFO(this->get_logger(), "Part Localized: x: %f, y: %f, z: %f",
         response->pose.position.x,
         response->pose.position.y,
         response->pose.position.z);

exercises/2.2/ros2/src/myworkcell_core/src/vision_node.cpp

@@ -1,3 +1,6 @@
+/**
+**  Simple ROS Node
+**/
 #include <rclcpp/rclcpp.hpp>
 #include <fake_ar_publisher/msg/ar_marker.hpp>
 #include <myworkcell_core/srv/localize_part.hpp>
@@ -29,7 +32,7 @@ class Localizer : public rclcpp::Node
   }
 
   void localizePart(myworkcell_core::srv::LocalizePart::Request::SharedPtr req,
-                  myworkcell_core::srv::LocalizePart::Response::SharedPtr res)
+                    myworkcell_core::srv::LocalizePart::Response::SharedPtr res)
   {
     // Read last message
     fake_ar_publisher::msg::ARMarker::SharedPtr p = last_msg_;

exercises/2.3/ros2/src/myworkcell_core/CMakeLists.txt

@@ -39,12 +39,9 @@ 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
+# Mark executables for installation
 install(TARGETS vision_node myworkcell_node
-    ARCHIVE DESTINATION lib/${PROJECT_NAME}
-    LIBRARY DESTINATION lib/${PROJECT_NAME}
-    RUNTIME DESTINATION lib/${PROJECT_NAME}
-)
+    DESTINATION lib/${PROJECT_NAME})
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)

exercises/2.3/ros2/src/myworkcell_core/package.xml

@@ -3,7 +3,7 @@
 <package format="3">
   <name>myworkcell_core</name>
   <version>0.0.0</version>
-  <description>TODO: Package description</description>
+  <description>core scan-n-plan application node</description>
   <maintainer email="me@rosindustrial.com">ROS-Industrial</maintainer>
   <license>TODO: License declaration</license>
   <member_of_group>rosidl_interface_packages</member_of_group>

exercises/2.3/ros2/src/myworkcell_core/src/myworkcell_node.cpp

@@ -41,7 +41,7 @@ class ScanNPlan : public rclcpp::Node
       return;
     }
 
-    RCLCPP_INFO(this->get_logger(), "Part Localized:  x: %f, y: %f, z: %f",
+    RCLCPP_INFO(this->get_logger(), "Part Localized: x: %f, y: %f, z: %f",
         response->pose.position.x,
         response->pose.position.y,
         response->pose.position.z);
@@ -60,8 +60,7 @@ int main(int argc, char **argv)
   // Create the ScanNPlan node
   auto app = std::make_shared<ScanNPlan>();
 
-  std::string base_frame;
-  app->get_parameter("base_frame", base_frame);
+  std::string base_frame = app->get_parameter("base_frame").as_string();
 
   //Wait for the vision node to receive data
   rclcpp::sleep_for(std::chrono::seconds(2));

exercises/2.3/ros2/src/myworkcell_core/src/vision_node.cpp

@@ -1,3 +1,6 @@
+/**
+**  Simple ROS Node
+**/
 #include <rclcpp/rclcpp.hpp>
 #include <fake_ar_publisher/msg/ar_marker.hpp>
 #include <myworkcell_core/srv/localize_part.hpp>
@@ -29,7 +32,7 @@ class Localizer : public rclcpp::Node
   }
 
   void localizePart(myworkcell_core::srv::LocalizePart::Request::SharedPtr req,
-                  myworkcell_core::srv::LocalizePart::Response::SharedPtr res)
+                    myworkcell_core::srv::LocalizePart::Response::SharedPtr res)
   {
     // Read last message
     fake_ar_publisher::msg::ARMarker::SharedPtr p = last_msg_;

gh_pages/_downloads/ros-industrial-training-setup.sh

@@ -7,14 +7,14 @@ cd $HOME
 
 # ROS1 packages source
 sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
-sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
 
 # ROS2 packages source
 sudo locale-gen en_US en_US.UTF-8
 sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
 export LANG=en_US.UTF-8
-curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
-sudo sh -c 'echo "deb [arch=amd64,arm64] http://packages.ros.org/ros2/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list'
+sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key  -o /usr/share/keyrings/ros-archive-keyring.gpg
+echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
 
 sudo apt update -y
 
@@ -27,7 +27,7 @@ sudo apt install -y ros-noetic-industrial-core
 sudo apt install -y pcl-tools
 
 # ROS2 install
-sudo apt install -y ros-foxy-desktop
+sudo apt install -y ros-foxy-desktop ros-foxy-moveit
 sudo apt install -y python3-colcon-common-extensions python3-argcomplete
 
 # rosdep setup

gh_pages/_source/session1/ros2/0-ROS-Setup.md

@@ -15,12 +15,12 @@ In order to start programming in ROS, you should know how to install ROS on a ne
 We believe we have a good installation of ROS but let's test it to make sure.
 
 ## Scan-N-Plan Application: Guidance
-### Setup ~/.bashrc
+### Check Environment
 1. If you are ever having problems finding or using your ROS packages make sure that you have your environment properly setup. A good way to check is to ensure that environment variables that ROS sets are present:
 
    ```
-   printenv | grep ROS
-   printenv | grep AMENT
+   env | grep ROS
+   env | grep AMENT
    ```
 
 1. If they are not then you might need to 'source' some setup.*sh files.
@@ -29,10 +29,19 @@ We believe we have a good installation of ROS but let's test it to make sure.
    source /opt/ros/foxy/setup.bash
    ```
 
-1. In a "bare" ROS install, you will need to run this command on every new shell you open to have access to the ROS commands.  One of the setup steps in a _typical_ ROS install is to add that command to the end of your `~/.bashrc` file, which is run automatically in every new terminal window.  Check that your `.bashrc` file has already been configured to source the ROS-foxy `setup.bash` script:
+1. Now repeat the check from above and verify that the environment variables are now present.
+
+1. This process allows you to install several ROS distributions (even ROS1 and ROS2) side-by-side on the same computer and switch between them by sourcing the distribution-specific `setup.bash` file.  Your training PC also has a ROS1 "noetic" distribution installed.  Try activating that distribution in the same terminal window you used above and observe how the environment variables change.
 
    ```
-   tail ~/.bashrc
+   source /opt/ros/noetic/setup.bash
+   env | grep ROS
    ```
 
-This process allows you to install several ROS distributions (even ROS1 and ROS2) on the same computer and switch between them by sourcing the distribution-specific `setup.bash` file.
+1. If you switch back to the "foxy" ROS2 distribution, you'll notice that your environment is stil polluted with some variables from the ROS1 "noetic" distribution.  To prevent confusion, it can be helpful to always start with a fresh terminal window rather than switching between distributions in the same terminal window.
+
+In a "bare" ROS install, you will need to run the "source" command on **every** new shell you open to have access to the ROS commands.  If your project only uses a single distribution, it can be helpful to configure our `~/.bashrc` file to automatically source this setup file for each new terminal window.  See [here](https://docs.ros.org/en/foxy/Tutorials/Configuring-ROS2-Environment.html#add-sourcing-to-your-shell-startup-script) for details.  Since this class uses content in both ROS1 and ROS2, we have not configured this auto-sourcing behavior for your training PC.
+
+1. Open a new terminal window and source the ROS2 "foxy" distribution.  Experiment with terminal windows, sourcing, and checking your environment until you are comfortable with this concept.
+
+**Remember to source the appropriate `setup` script in every new terminal window you open.  Forgetting this step is a common error among new ROS users.**

gh_pages/_source/session1/ros2/1-Create-ROS-Workspace.md

@@ -17,12 +17,19 @@ We have a good installation of ROS, and we need to take the first step to settin
 
 ### Create a Workspace
 
+1. Close any open terminal windows.  Open a new terminal and source the "foxy" distribution.
+
+   ```
+   source /opt/ros/foxy/setup.bash
+   ```
+
 1. Create the root workspace directory. Note that the required structure is a top-level directory and a `src/` directory one level down. The directory name is a completely free choice. We will use `ros2_ws` throughout these tutorials.
 
    ```
    cd ~/
    mkdir --parents ros2_ws/src
    cd ros2_ws
+   ls
    ```
 
 1. Build the workspace from the workspace root-directory (`ros2_ws`).
@@ -33,8 +40,10 @@ We have a good installation of ROS, and we need to take the first step to settin
    ```
 
    * _See that the `ros2_ws` directory now contains additional directories (build, install, log)._
+   * `colcon build` must always be run from the **root** of your workspace directory.
+   * Don't run `colcon build` from a terminal where you've also sourced this workspace's setup file.  Use a dedicated terminal for building.
 
-1. These new directories can be safely deleted at any time.  Note that colcon never changes any files in the `src` directory.  Re-run `colcon build` to re-create the build/install/log directories.
+1. These new directories can be safely deleted at any time.  This is sometimes used to resolve unusual build errors by "starting with a clean slate".  Note that colcon never changes any files in the `src` directory.  Re-run `colcon build` to re-create the build/install/log directories.
 
    ```
    rm -r build/ install/ log/
@@ -43,15 +52,13 @@ We have a good installation of ROS, and we need to take the first step to settin
    ls
    ```
 
-1. Make the workspace visible to ROS. Source the setup file in the install directory.
+1. Make the contents of this workspace visible to ROS. Source the setup file in the install directory.
 
    ```
-   source install/setup.bash
+   source ~/ros2_ws/install/setup.bash
    ```
 
    * _This file MUST be sourced for every new terminal._
-   * To save typing, add this to your `~/.bashrc` file, so it is automatically sourced for each new terminal:
+   * This file will automatically include the ROS environment that was active when you first built this workspace.  Make sure you have sourced the correct ROS distribution before building a new workspace for the first time!
+
 
-     1. `gedit ~/.bashrc`
-     1. add to the end: `source ~/ros2_ws/install/setup.bash`
-     1. save and close the editor