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Fixes to ROS2RoboticManipulationTemplate #467

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Sep 1, 2023
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Fixes to ROS2RoboticManipulationTemplate #467

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e83a4cd
Small changes to ROS2 Manipulation Template.
michalpelka Aug 24, 2023
e431377
Apply suggestions from code review
michalpelka Aug 29, 2023
955f78f
Update Templates/Ros2RoboticManipulationTemplate/README.md
michalpelka Aug 30, 2023
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15 changes: 8 additions & 7 deletions Templates/Ros2RoboticManipulationTemplate/README.md
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Expand Up @@ -4,7 +4,14 @@ This project is a template designed to help you quickly start simulating robotic

This template focuses on robotic arm manipulation with ROS 2 and [MoveIt 2](https://moveit.picknik.ai/main/index.html).

## Prerequisites

Make sure that your system meets [Requirements](https://development--o3deorg.netlify.app/docs/welcome-guide/requirements/).

Install ROS2 dependencies for this template:
```bash
sudo apt install ros-${ROS_DISTRO}-moveit ros-${ROS_DISTRO}-moveit-resources ros-${ROS_DISTRO}-depth-image-proc
```
## How to set up a new project with the template

Please follow the instructions in [ROS 2 Gem documentation](https://development--o3deorg.netlify.app/docs/user-guide/interactivity/robotics/project-configuration/)
Expand Down Expand Up @@ -41,19 +48,13 @@ Includes a warehouse scene, [UR10](https://www.universal-robots.com/products/ur1

### Manipulation

Install necessary ROS packages for MoveIt and depth image processing:

```bash
sudo apt-get install ros-humble-moveit ros-humble-moveit-resources ros-humble-depth-image-proc
```

And run the launch file in the project:

```bash
ros2 launch Examples/panda_moveit_config_demo.launch.py
```

This will result in RViz window appearing.
This will result in RViz2 window appearing.
Now you should be able to use `Motion Planning` from `moveit_ros_visualization package`.
To understand more about MoveIt and robotic manipulation, see [tutorials](https://moveit.picknik.ai/main/doc/tutorials/quickstart_in_rviz/quickstart_in_rviz_tutorial.html#getting-started).

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6 changes: 3 additions & 3 deletions ...ates/Ros2RoboticManipulationTemplate/Template/Examples/panda_moveit_config_demo.launch.py
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@@ -1,4 +1,4 @@
import os
from pathlib import Path
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, OpaqueFunction
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
Expand All @@ -24,8 +24,8 @@ def generate_launch_description():

def launch_setup(context, *args, **kwargs):

current_file_path = os.path.abspath(__file__)
current_directory = os.path.dirname(current_file_path)
current_file_path = Path(__file__).resolve()
current_directory = current_file_path.parent

use_sim_time = { "use_sim_time": True}
moveit_config = (
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1 change: 0 additions & 1 deletion Templates/Ros2RoboticManipulationTemplate/Template/Gem/enabled_gems.cmake
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Expand Up @@ -20,7 +20,6 @@ set(ENABLED_GEMS
WhiteBox
DiffuseProbeGrid
Compression
ProteusRobot
WarehouseAssets
ROS2
PhysXDebug
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1 change: 0 additions & 1 deletion Templates/Ros2RoboticManipulationTemplate/Template/project.json
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Expand Up @@ -20,7 +20,6 @@
"restricted": "MySimulationProject",
"engine_version": "2.1.0",
"gem_names": [
"ProteusRobot",
"WarehouseAssets",
"ROS2"
]
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