Merge pull request #375 from tiffanyec/training_updates

ROS2 Training updates

gh_pages/_source/session2/ros2/2-Launch-Files.md

@@ -81,7 +81,7 @@ You may also choose to launch `myworkcell_core` node with the others or keep it
 
    You should see an error that the launch file was not found. This is because it only exists in the `src/` directory, and the `ros2` tool will only work with files in the `install/` directory. Therefore, the launch file must be _installed_.
 
-1. Add an installation rule to `CMakeLists.txt`, after the `find_package` section, and before the `BUILD_TESTING` section:
+1. Add an installation rule to `CMakeLists.txt` in your `myworkcell_support` package, after the `find_package` section, and before the `BUILD_TESTING` section:
 
    ``` cmake
    install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}/)

gh_pages/_source/session2/ros2/3-Parameters.md

@@ -106,3 +106,6 @@ So far we haven't used the request field, `base_frame`, for anything. In this ex
          - If you didn't build with the `--symlink-install` option, you will need to re-build after editing the launch file, to copy the updates into the "install" directory.
          - The response frame doesn't change, because we haven't updated vision_node (yet) to handle the request frame.  Vision_node always returns the same frame (for now).
     * Set the base_frame back to "world"
+
+## Challenge Exercise
+* Imagine a human is cooporating with the robot in this scenario. Try adding a new parameter for the human-operational frame.

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

@@ -103,3 +103,6 @@ Your goal is to describe a workcell that features:
       _Note the syntax used to specify a starting parameter value to the node (`--ros-args -p param_name:=param_value`).  Also the use of `cat file.urdf` to pass the file contents as a string._
 
    1. The default RViz setup only shows a minimal amount of info.  You can add various Display elements to customize the display to show exactly what is needed.  Inside RViz add a _RobotModel_ display and a _TF_ display using the button in the lower left. Expand the settings for the added _RobotModel_ display and select `/robot_description` for the field labeled _Description Topic_. Also make sure in the _Global Options_ that _Fixed Frame_ is set to `world`.  Consider saving this configuration (File -> Save Config) to the default RViz config file, so you don't need to repeat these setup steps again later.
+
+## Challenge Exercise
+* Try adding legs to the table. How does this affect the collision geometry?

gh_pages/_source/session3/ros2/0a-Intro-to-ROS1.md

@@ -129,4 +129,3 @@ This exercise is not part of the main "Scan-N-Plan" application.  It helps gain
 * Use a ROS2 publisher and a ROS1 subscriber (opposite direction).
 * Use [command-line args](http://wiki.ros.org/Remapping%20Arguments) to remap the ROS1 topic instead of the ROS2 topic.
 * Create a pair of launch files to automatically restart the ROS1 and ROS2 nodes.  There is no good way to automatically start both ROS1 and ROS2 nodes from a single unified launch file.
-

gh_pages/_source/session3/ros2/1-Workcell-XACRO.md

@@ -128,3 +128,6 @@ Specifically, you will need to:
 
     * If you didn't save your RViz config last time, you may need to repeat the configuration steps: set the 'Fixed Frame' to 'world' and add the RobotModel and TF displays to the tree view on the left.
     * Try moving the joint sliders in the separate GUI window that appears to see the UR5 robot move.
+
+## Challenge Exercise
+* Try adding another instance of the robot model in the scene in a different position and orienatation. 

gh_pages/_source/session3/ros2/2-Coordinate-Transforms-using-TF.md

@@ -96,3 +96,6 @@ Specifically, edit the service callback inside the vision_node to transform the
     ```
 
  1. Change the "base_frame" parameter in `workcell.launch.py` (e.g. to "table"), relaunch the file, and note the different pose result.  Change the "base_frame" parameter back to "world" when you're done.
+
+## Challenge Exercises
+* Try creating a second service to return the transformation from the camera to the table. 

gh_pages/_source/session3/ros2/3-Build-a-MoveIt-Package.md

@@ -335,3 +335,6 @@ In this exercise, you will generate a MoveIt package for the UR5 workcell you bu
     ```
 
 > _Don't worry too much about how to use RViz.  We'll work through that in the next exercise._
+
+## Challenge Exercises
+* Imagine you have misrepresented your robot and need to add an additional joint. Would it be faster to make minor edits to all configuration files or to re-do the MoveIt package creation process? Try each method and compare.

gh_pages/_source/session3/ros2/4-Motion-Planning-RVIZ.md

@@ -1,6 +1,7 @@
 # Motion Planning using RViz
 > In this exercise, we will (finally) learn how to use the MoveIt! RViz plugin to plan and execute motion on a simulated robot. We will explore the different options and constraints associated with both MoveIt! and the RViz plugin.
 
+
 ## Launch the Planning Environment
 
  1. Source your ROS2 workspace.

gh_pages/_source/session4/ros1/1-Descartes-Path-Planning.md

@@ -35,23 +35,29 @@ Left to you are the details of:
  1. Translating those paths into something Descartes can understand.
 
 ### Setup workspace
- 1. Clone the Descartes repository into your workspace src/ directory.
+ 1. Clone the Descartes repository into your ROS1 workspace src/ directory.
 
     ```bash
     cd ~/catkin_ws/src
     git clone -b melodic-devel https://github.com/ros-industrial-consortium/descartes.git
     ```
 
- 1. Copy over the `ur5_demo_descartes` package into your workspace src/ directory.
+ 1. Clone the Universal Robot repository into your workspace src/ directory
+   ```bash
+   git clone https://github.com/ros-industrial/universal_robot.git
+   ```
+
+ 1. Copy over the `ur5_demo_descartes` and the ROS1 version of `myworkcell_support` packages into your workspace src/ directory.
 
     ```bash
-    cp -r ~/industrial_training/exercises/4.1/src/ur5_demo_descartes .
+    cp -r ~/industrial_training/exercises/4.1/ros1/src/ur5_demo_descartes .
+    cp -r ~/industrial_training/exercises/4.1/ros1/src/myworkcell_support .
     ```
 
  1. Copy over the `descartes_node_unfinished.cpp` into your core package's src/ folder and rename it `descartes_node.cpp`.
 
     ```bash
-    cp ~/industrial_training/exercises/4.1/src/descartes_node_unfinished.cpp myworkcell_core/src/descartes_node.cpp
+    cp ~/industrial_training/exercises/4.1/ros1/src/descartes_node_unfinished.cpp myworkcell_core/src/descartes_node.cpp
     ```
 
  1. Add dependencies for the following packages in the `CMakeLists.txt` & `package.xml` files, as in previous exercises.