ROS Industrial Training

This repository contains practice code of ros industrial training melodic branch.

Visualizations

Observations

• Following ROS-Setup, it is quite handy to go through Wiki page of ROS Qt Creator plug-in. This will help new developers to get Qt configured with ROS Workspace, and handle the development of ROS projects from QtCreator.

• Concerning Continuous Integration (CI), there is an infrastructure industrial_ci from ros industrial. However, given the active development on ros-tooling, I decided to use the Github Actions based CI from ros-tooling. This is updated at ros-ci.yml.

• ros industrial training melodic branch is based on catkin build system. However, the Continuous Integration (CI) based on ros-tooling with action-ros-ci considers colcon build system. Colcon build system needs ros packages to be installed in order to discover ros packages and use ros commands as pointed in this reference from aws. Accordingly, the installation of myworkcell_core and myworkcell_support ros packages are updated in this commit.

Documentation Missing (Minor) Details

• Under Download and Build a Package from Source, a ros package fake_ar_publisher is suggested. This is a necessary package to work through the rest of the training. However, for the ros industrial training based on ros melodic, you need to clone to master branch of fake_ar_publisher

  git clone -b master https://github.com/jmeyer1292/fake_ar_publisher.git

• Under Coordinate Tranforms using TF excercise, you need to include tf2_geometry_msgs/tf2_geometry_msgs.h header file or else the transform function throws error.

• Under Using MoveIt! with Physical Hardware, while creating myworkcell_planning_execution.launch file, you may need to change the arg name from config to rviz_config. This is because the autogenerated moveit_rviz.launch file is created with rviz_config as the argument name.

    <include file="$(find myworkcell_moveit_config)/launch/moveit_rviz.launch">
      <arg name="config" value="true"/>
    </include>
  

  to

  <include file="$(find myworkcell_moveit_config)/launch/moveit_rviz.launch">
  <arg name="rviz_config" value="true"/>
  </include>
  

• Under Launch the Planning Environment, running roslaunch myworkcell_moveit_config myworkcell_planning_execution.launch file launches rviz without motion planning. The user need to add the motion planning class manually. Created and added a new rviz configuration file to be launched with motion planning in this commit

• Under more to explore point of Scan-N-Plan Application: Guidance, you will need to use move group getCurrentPose() api call. This may thrown an error if the asynchronos spinner is started after the call to start() of ScanNPlan application (Reference Issue). Check this commit

• Under Application Demo 1 - Perception-Driven Manipulation, you need to add the following planning node to ur5_setup.launch file before running rviz node. Comment this node from ur5_pick_and_place.launch file.

  <include file="$(find ur5_collision_avoidance_moveit_config)/launch/move_group.launch">
    <arg name="publish_monitored_planning_scene" value="true" />
  </include>