Update pilz tutorials for POLYLINE planner #1075
There are no files selected for viewing
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,44 @@ | ||
| { | ||
| "name": "moveit2_tutorials_devcontainer", | ||
| "dockerComposeFile": ["../.docker/docker-compose.yml"], | ||
| "service": "gpu", | ||
| "shutdownAction": "stopCompose", | ||
| "workspaceFolder": "/root/ws_moveit", | ||
| "remoteUser": "root", | ||
| "mounts": [ | ||
| "source=/tmp/.X11-unix,target=/tmp/.X11-unix,type=bind,consistency=cached", | ||
| "source=${localEnv:HOME}/.Xauthority,target=/home/root/.Xauthority,type=bind", | ||
| "source=${localWorkspaceFolder},target=/root/ws_moveit/src/moveit2_tutorials,type=bind,consistency=cached" | ||
| ], | ||
| "remoteEnv": { | ||
| "ROS_DISTRO": "jazzy" | ||
| }, | ||
| "containerEnv": { | ||
| "RCUTILS_COLORIZED_OUTPUT": "1", | ||
| "RCUTILS_CONSOLE_OUTPUT_FORMAT": "[{severity} {time}] [{name}]: {message} ({function_name}() at {file_name}:{line_number})", | ||
| "DISPLAY": "${localEnv:DISPLAY}", | ||
| "LIBGL_ALWAYS_SOFTWARE": "1" | ||
| }, | ||
| "initializeCommand": "bash .devcontainer/initializeCommand.sh", | ||
| "customizations": { | ||
| "vscode": { | ||
| "extensions": [ | ||
| "ms-python.python", | ||
| "ms-python.autopep8", | ||
| "skellock.just", | ||
| "cheshirekow.cmake-format", | ||
| "ms-vscode.cmake-tools", | ||
| "redhat.vscode-xml", | ||
| "redhat.vscode-yaml", | ||
| "llvm-vs-code-extensions.vscode-clangd", | ||
| "lextudio.restructuredtext-pack", | ||
| "bbenoist.Doxygen", | ||
| "ms-vscode.live-server", | ||
| "esbenp.prettier-vscode", | ||
| "EditorConfig.EditorConfig", | ||
| "DavidAnson.vscode-markdownlint", | ||
| "mine.cpplint" | ||
| ] | ||
| } | ||
| } | ||
| } | ||
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,3 @@ | ||
| #!/usr/bin/env bash | ||
|
|
||
| xhost +local:root >/dev/null 2>&1 |
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,40 +1,39 @@ | ||
| # Example command: | ||
| # Rolling without discrete graphics: | ||
| # DOCKER_IMAGE=main-rolling-tutorial-source compose run cpu | ||
|
|
||
| x-common: &common-service | ||
| #image: moveit/moveit2:main-jazzy-tutorial-source | ||
| image: d130s/ros:moveit2-main-jazzy-tutorial-source # TEMPORARY dev | ||
|
There was a problem hiding this comment. 🎯 Functional Correctness | 🟠 Major | 🏗️ Heavy lift 🔎 Supported by static analysis🏁 Script executed: #!/bin/bash
printf '%s\n' '--- changed files and compose context ---'
git status --short
cat -n .docker/docker-compose.yml | sed -n '1,40p'
printf '%s\n' '--- Docker and manifest references ---'
fd -a -t f | rg '(^|/)(Dockerfile|docker-compose\.yml|.*\.repos|.*workflow.*\.ya?ml)$' | sort
rg -n -C 3 'upstream(_jazzy)?\.repos|moveit_msgs|d130s/ros|POLYLINE|jazzy' .docker .github 2>/dev/nullRepository: moveit/moveit2_tutorials Length of output: 4912 🏁 Script executed: #!/bin/bash
printf '%s\n' '--- Dockerfile ---'
cat -n .docker/Dockerfile | sed -n '1,35p'
printf '%s\n' '--- manifests ---'
cat -n .github/upstream.repos | sed -n '1,40p'
cat -n .github/upstream_jazzy.repos | sed -n '1,30p'
printf '%s\n' '--- compose documentation and image references ---'
rg -n -C 4 'docker-compose|Dev Container|dev container|moveit2-main-jazzy-tutorial-source|main-jazzy-tutorial-source|DOCKER_IMAGE' README.md .github .docker docs 2>/dev/nullRepository: moveit/moveit2_tutorials Length of output: 4871 🏁 Script executed: #!/bin/bash
set -eu
repo='d130s/ros'
tag='moveit2-main-jazzy-tutorial-source'
token="$(curl -fsSL "https://auth.docker.io/token?service=registry.docker.io&scope=repository:${repo}:pull" | jq -r .token)"
manifest="$(curl -fsSL \
-H "Authorization: Bearer ${token}" \
-H 'Accept: application/vnd.oci.image.index.v1+json, application/vnd.docker.distribution.manifest.list.v2+json, application/vnd.oci.image.manifest.v1+json, application/vnd.docker.distribution.manifest.v2+json' \
"https://registry-1.docker.io/v2/${repo}/manifests/${tag}")"
printf '%s\n' '--- manifest ---'
printf '%s\n' "$manifest" | jq '{mediaType, schemaVersion, manifests, config, layers}'
if printf '%s\n' "$manifest" | jq -e '.manifests' >/dev/null; then
digest="$(printf '%s\n' "$manifest" | jq -r '.manifests[] | select(.platform.os=="linux" and .platform.architecture=="amd64") | .digest' | head -n1)"
manifest="$(curl -fsSL \
-H "Authorization: Bearer ${token}" \
-H 'Accept: application/vnd.oci.image.manifest.v1+json, application/vnd.docker.distribution.manifest.v2+json' \
"https://registry-1.docker.io/v2/${repo}/manifests/${digest}")"
fi
config_digest="$(printf '%s\n' "$manifest" | jq -r '.config.digest')"
printf '%s\n' '--- image config history ---'
curl -fsSL -H "Authorization: Bearer ${token}" \
"https://registry-1.docker.io/v2/${repo}/blobs/${config_digest}" |
jq '{config: .config, history: .history}'Repository: moveit/moveit2_tutorials Length of output: 16246 🏁 Script executed: #!/bin/bash
set -eu
printf '%s\n' '--- repository build manifest used by the image history ---'
cat -n moveit2_tutorials.repos | sed -n '1,120p'
printf '%s\n' '--- all moveit_msgs entries in repository manifests ---'
rg -n -C 3 '^[[:space:]]*moveit_msgs:|moveit_msgs' --glob '*.repos' .Repository: moveit/moveit2_tutorials Length of output: 1483 Build and publish a matching Jazzy Dev Container image. The selected image reports 🤖 Prompt for AI Agents |
||
| privileged: true | ||
| network_mode: host | ||
| command: /bin/bash | ||
| tty: true | ||
| volumes: | ||
| - /tmp/.X11-unix:/tmp/.X11-unix | ||
| - $XAUTHORITY:/root/.Xauthority | ||
| environment: | ||
| &common-env | ||
| QT_X11_NO_MITSHM: 1 | ||
| DISPLAY: $DISPLAY | ||
|
|
||
| services: | ||
| cpu: | ||
| <<: *common-service | ||
| container_name: moveit2_container_cpu | ||
| profiles: | ||
| - cpu | ||
| gpu: | ||
| <<: *common-service | ||
| container_name: moveit2_container_gpu | ||
| deploy: | ||
| resources: | ||
| reservations: | ||
| devices: | ||
| - driver: nvidia | ||
| count: 1 | ||
| capabilities: [gpu] | ||
| environment: | ||
| <<: *common-env | ||
| NVIDIA_VISIBLE_DEVICES: all | ||
| NVIDIA_DRIVER_CAPABILITIES: all | ||
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,8 @@ | ||
| repositories: | ||
|
Collaborator
There was a problem hiding this comment. This new Analysis by antigravityRoot Cause
I also confirmed moveit_msgs for Jazzy is 2.6.0 (ref. repo.ros2.org, ros/rosdistro#43732), which doesn't include the new capabilities that Polyline feature depends on. |
||
| # MoveIt msgs containing POLYLINE planner message definitions (e.g. smoothness_level). | ||
| # Required on pre-Kilted ROS distros (e.g. Jazzy) where debian packages lack these definitions. | ||
| # TODO: Remove once moveit_msgs with POLYLINE fields is released into targeted distros. | ||
| moveit_msgs: | ||
| type: git | ||
| url: https://github.com/moveit/moveit_msgs.git | ||
| version: 2.7.2 | ||
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,50 @@ | ||
| <?xml version="1.0" encoding="UTF-8"?> | ||
| <launch> | ||
| <arg name="robot_description_xml_path" default="$(find-pkg-share moveit_resources_panda_moveit_config)/config/panda.urdf.xacro" /> | ||
| <arg name="srdf_path" default="$(find-pkg-share moveit_resources_panda_moveit_config)/config/panda.srdf" /> | ||
| <let name="moveitconfig_share_dir" | ||
| value="$(find-pkg-share moveit_resources_panda_moveit_config)" /> | ||
| <let name="tutorials_share" value="$(find-pkg-share moveit2_tutorials)" /> | ||
| <let name="child_frame_statictf" value="panda_link0" /> | ||
| <let name="arm_controller" value="panda_arm_controller" /> | ||
| <let name="gripper_controller" value="panda_hand_controller" /> | ||
|
|
||
| <node pkg="rviz2" exec="rviz2" output="log" | ||
| args="-d $(var tutorials_share)/launch/move_group.rviz"> | ||
| <param name="robot_description" value="$(command 'xacro $(var robot_description_xml_path)')" /> | ||
| <param from="$(var srdf_path)" /> | ||
|
There was a problem hiding this comment. 🩺 Stability & Availability | 🟠 Major | ⚡ Quick win 🔎 Supported by static analysis🏁 Script executed: #!/usr/bin/env bash
set -euo pipefail
log="$(mktemp)"
trap 'kill "${launch_pid:-}" 2>/dev/null || true; rm -f "$log"' EXIT
timeout 30s ros2 launch moveit2_tutorials pilz_moveit.launch.xml >"$log" 2>&1 &
launch_pid=$!
for _ in {1..20}; do
if ros2 node list 2>/dev/null | grep -qx '/move_group'; then
break
fi
sleep 1
done
ros2 node list | grep -qx '/move_group' || {
cat "$log"
exit 1
}
ros2 param get /move_group robot_description_semantic | grep -q '<robot'Repository: moveit/moveit2_tutorials Length of output: 242 🏁 Script executed: #!/usr/bin/env bash
set -euo pipefail
printf '%s\n' '--- launch file ---'
cat -n doc/how_to_guides/pilz_industrial_motion_planner/launch/pilz_moveit.launch.xml
printf '%s\n' '--- directly related launch and parameter contracts ---'
rg -n -C 3 'robot_description_semantic|srdf_path|<param from=|pilz_moveit\.launch' \
doc moveit_config moveit2_tutorials 2>/dev/null || true
printf '%s\n' '--- repository files defining MoveIt launch parameter handling ---'
rg -n -C 4 'robot_description_semantic|semantic_description|param.*from|srdf' \
--glob '*.xml' --glob '*.py' --glob '*.yaml' --glob '*.md' . | head -n 300Repository: moveit/moveit2_tutorials Length of output: 50380 🌐 Web query:
💡 Result: In ROS 2, the Citations:
Load the SRDF into At lines 15 and 32, 🤖 Prompt for AI Agents |
||
| <param from="$(var moveitconfig_share_dir)/config/kinematics.yaml" /> | ||
| <param from="$(var moveitconfig_share_dir)/config/joint_limits.yaml" /> | ||
| <param from="$(var moveitconfig_share_dir)/config/pilz_industrial_motion_planner_planning.yaml" /> | ||
| </node> | ||
|
|
||
| <node pkg="tf2_ros" exec="static_transform_publisher" name="static_transform_publisher" | ||
| output="log" args="0.0 0.0 0.0 0.0 0.0 0.0 world $(var child_frame_statictf)" /> | ||
|
|
||
| <node pkg="robot_state_publisher" | ||
| exec="robot_state_publisher" name="robot_state_publisher" output="both"> | ||
| <param name="robot_description" value="$(command 'xacro $(var robot_description_xml_path)')" /> | ||
| </node> | ||
|
|
||
| <node pkg="moveit_ros_move_group" exec="move_group" output="screen"> | ||
| <param name="capabilities" value="pilz_industrial_motion_planner/MoveGroupSequenceAction pilz_industrial_motion_planner/MoveGroupSequenceService" /> | ||
| <param name="robot_description" value="$(command 'xacro $(var robot_description_xml_path)')" /> | ||
| <param from="$(var srdf_path)" /> | ||
| <param name="publish_robot_description" value="True" /> | ||
| <param name="publish_robot_description_semantic" value="True" /> | ||
| <param from="$(var moveitconfig_share_dir)/config/kinematics.yaml" /> | ||
| <param from="$(var moveitconfig_share_dir)/config/joint_limits.yaml" /> | ||
| <param from="$(var moveitconfig_share_dir)/config/gripper_moveit_controllers.yaml" /> | ||
| <param from="$(var moveitconfig_share_dir)/config/pilz_industrial_motion_planner_planning.yaml" /> | ||
| </node> | ||
|
|
||
| <node pkg="controller_manager" exec="ros2_control_node" output="both"> | ||
| <param name="robot_description" value="$(command 'xacro $(var robot_description_xml_path)')" /> | ||
| <param from="$(var moveitconfig_share_dir)/config/ros2_controllers.yaml" /> | ||
| </node> | ||
|
|
||
| <executable cmd="ros2 run controller_manager spawner joint_state_broadcaster" output="screen" shell="true" /> | ||
| <executable cmd="ros2 run controller_manager spawner $(var arm_controller)" output="screen" shell="true" /> | ||
| <executable cmd="ros2 run controller_manager spawner $(var gripper_controller)" output="screen" shell="true" /> | ||
|
|
||
| </launch> | ||
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Oops, something went wrong.
Oops, something went wrong.
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
This entire devcontainer folder must not be included in this PR (my bad). I'll remove.