Merge pull request #367 from KevinWarburton/interactive_bridge_exercise

Interactive bridge for Exercise 7.2 and minor corresponding compatibility changes for Exercise 4.1

exercises/4.1/ros1/src/myworkcell_core/src/vision_node.cpp

@@ -41,6 +41,7 @@ class Localizer
           target_pose_from_cam, req.base_frame);
 
       res.pose = target_pose_from_req.pose;
+      res.succeeded = true;
       return true;
     }
 

exercises/4.1/ros1/src/myworkcell_core/srv/LocalizePart.srv

@@ -3,3 +3,4 @@ string base_frame
 ---
 #response
 geometry_msgs/Pose pose
+bool succeeded

exercises/4.1/ros1/src/myworkcell_support/launch/ros2_setup.launch

@@ -1,10 +1,18 @@
 <?xml version="1.0"?>
 <launch>
-  <include file="$(find myworkcell_moveit_config)/launch/myworkcell_planning_execution.launch">
+
+<include file="$(find myworkcell_moveit_config)/launch/myworkcell_planning_execution.launch">
     <arg name="rviz" value="True"/>
   </include>
+
+  <node name="fake_ar_publisher" pkg="fake_ar_publisher" type="fake_ar_publisher_node" />
+
+  <node name="vision_node" type="vision_node" pkg="myworkcell_core" output="screen"/>
+
   <node name="move_robot" pkg="myworkcell_core" type="move_robot" >
     <param name="group" value="manipulator"/>
   </node>
+
   <node name="descartes_node" type="descartes_node" pkg="myworkcell_core" output="screen"/>
-</launch>
+
+</launch>

exercises/4.1/ros1/src/myworkcell_support/launch/setup.launch

@@ -1,3 +1,4 @@
+<?xml version="1.0"?>
 <launch>
   <include file="$(find myworkcell_moveit_config)/launch/myworkcell_planning_execution.launch"/>
   <node name="fake_ar_publisher" pkg="fake_ar_publisher" type="fake_ar_publisher_node" />

exercises/7.2/src/myworkcell_core/CMakeLists.txt → exercises/7.2/solution_ws/src/myworkcell_core/CMakeLists.txt

@@ -27,10 +27,6 @@ add_executable(myworkcell_node src/myworkcell_core.cpp)
 ament_target_dependencies(myworkcell_node "rclcpp" 
   "myworkcell_msgs" "tf2_ros" "tf2_eigen")
 
-add_executable(vision_node src/vision_node.cpp)
-ament_target_dependencies(vision_node "rclcpp" "myworkcell_msgs" "tf2_ros" "tf2_eigen")
-
-
 install(DIRECTORY include/${PROJECT_NAME}/
   DESTINATION include/${PROJECT_NAME}/
   FILES_MATCHING PATTERN "*.h*"
@@ -42,7 +38,6 @@ install(DIRECTORY
 
 install(TARGETS
   myworkcell_node
-  vision_node
   DESTINATION lib/${PROJECT_NAME})
 
 

exercises/7.2/src/myworkcell_core/launch/workcell.launch.py → exercises/7.2/solution_ws/src/myworkcell_core/launch/workcell.launch.py

@@ -4,14 +4,7 @@
 import launch_ros.actions
 
 def generate_launch_description():
-    vision_node = launch_ros.actions.Node(
-                node_name='vision_node',
-                package='myworkcell_core',
-                node_executable='vision_node',
-                output='screen',
-                arguments = [],
-                parameters=[{'frame_id': 'camera_frame', 'pose_vals':[-0.6, 0.2, 0.5, 0.0, 0.0, 0.0]}])
-
+
     myworkcell_node = launch_ros.actions.Node(
                 node_name='myworkcell_node',
                 package='myworkcell_core',
@@ -20,4 +13,4 @@ def generate_launch_description():
                 arguments = [],
                 parameters=[{'base_frame': 'world'}])
 
-    return launch.LaunchDescription([vision_node, myworkcell_node])
+    return launch.LaunchDescription([myworkcell_node])

exercises/7.2/src/myworkcell_msgs/CMakeLists.txt → exercises/7.2/solution_ws/src/myworkcell_msgs/CMakeLists.txt

@@ -19,9 +19,11 @@ endif()
 find_package(ament_cmake REQUIRED)
 
 # find the ROS message code generators
+find_package(builtin_interfaces REQUIRED)	
 find_package(rosidl_default_generators REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(trajectory_msgs REQUIRED)
+#find_package(rosidl_default_generators REQUIRED)
 
 # declare the service files to generate code for
 set(srv_files
@@ -33,9 +35,15 @@ set(srv_files
 
 rosidl_generate_interfaces(${PROJECT_NAME}
    ${srv_files}
-   DEPENDENCIES geometry_msgs trajectory_msgs
+   "msg/ARMarker.msg"
+   DEPENDENCIES geometry_msgs trajectory_msgs builtin_interfaces
 )
 
+#rosidl_generate_interfaces(new_msg
+#  "msg/ARMarker.msg"
+#  DEPENDENCIES builtin_interfaces
+#)
+
 ament_export_dependencies(rosidl_default_runtime)
 ament_package()
 

exercises/7.2/src/myworkcell_msgs/message_mappings.yaml → exercises/7.2/solution_ws/src/myworkcell_msgs/message_mappings.yaml

@@ -12,4 +12,14 @@
   ros1_package_name: 'myworkcell_core'
   ros1_service_name: 'ExecuteTrajectory'
   ros2_package_name: 'myworkcell_msgs'
-  ros2_service_name: 'ExecuteTrajectory'
+  ros2_service_name: 'ExecuteTrajectory'
+-
+  ros1_package_name: 'myworkcell_core'
+  ros1_service_name: 'LocalizePart'
+  ros2_package_name: 'myworkcell_msgs'
+  ros2_service_name: 'LocalizePart' 
+-
+  ros1_package_name: 'fake_ar_publisher'
+  ros1_message_name: 'ARMarker'
+  ros2_package_name: 'myworkcell_msgs'
+  ros2_message_name: 'ARMarker'

exercises/7.2/solution_ws/src/myworkcell_msgs/msg/ARMarker.msg

@@ -0,0 +1,4 @@
+std_msgs/Header header
+uint32 id
+geometry_msgs/PoseWithCovariance pose
+uint32 confidence

exercises/7.2/src/myworkcell_msgs/package.xml → exercises/7.2/solution_ws/src/myworkcell_msgs/package.xml

@@ -15,7 +15,8 @@
 
 	<build_depend>builtin_interfaces</build_depend>	
   <build_depend>trajectory_msgs</build_depend>	
-  <build_depend>geometry_msgs</build_depend>
+  <build_depend>rosidl_default_generators</build_depend>
+  <build_depend></build_depend>
 
   <exec_depend>builtin_interfaces</exec_depend>
 	<exec_depend>rosidl_default_runtime</exec_depend>