ROS 2 port & Gazebo demos

.pre-commit-config.yaml

@@ -15,7 +15,7 @@
 repos:
   # Standard hooks
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v3.4.0
+    rev: v4.4.0
     hooks:
       - id: check-added-large-files
       - id: check-case-conflict
@@ -29,7 +29,7 @@ repos:
       - id: trailing-whitespace
 
   - repo: https://github.com/psf/black
-    rev: 20.8b1
+    rev: 23.3.0
     hooks:
       - id: black
 
@@ -38,10 +38,10 @@ repos:
       - id: clang-format
         name: clang-format
         description: Format files with ClangFormat.
-        entry: clang-format-10
+        entry: clang-format
         language: system
         files: \.(c|cc|cxx|cpp|frag|glsl|h|hpp|hxx|ih|ispc|ipp|java|js|m|proto|vert)$
-        args: ['-fallback-style=none', '-i']
+        args: ["-fallback-style=none", "-i"]
 
   - repo: local
     hooks:
@@ -51,11 +51,3 @@ repos:
         language: pygrep
         entry: Moveit|MoveIt!
         exclude: .pre-commit-config.yaml|README.md
-
-      - id: catkin_lint
-        name: catkin_lint
-        description: Check package.xml and cmake files
-        entry: catkin_lint .
-        language: system
-        always_run: true
-        pass_filenames: false

README.md

@@ -2,21 +2,32 @@
 
 *Tools for robot arm hand-eye calibration.*
 
-| **Warning to Melodic users** |
-| --- |
-| OpenCV 3.2, which is the version in Ubuntu 18.04, has a buggy ArUco board pose detector. Do not expect adequate results if you are using an ArUco board with OpenCV 3.2. |
-
 MoveIt Calibration supports ArUco boards and ChArUco boards as calibration targets. Experiments have demonstrated that a
 ChArUco board gives more accurate results, so it is recommended.
 
-This repository has been developed and tested on ROS Melodic and Noetic. It has not been tested on earlier ROS versions.
-When building `moveit_calibration` on ROS Melodic, `rviz_visual_tools` must also be built from source.
-
 This package was originally developed by Dr. Yu Yan at Intel, and was originally submitted as a PR to the core MoveIt
 repository. For background, see this [Github discussion](https://github.com/ros-planning/moveit/issues/1070).
 
+## Instructions
+
+### Build from Source
+
+```sh
+mkdir -p ws_moveit/src
+cd ws_moveit
+git clone https://github.com/ros-planning/moveit_calibration.git -b ros2 src/moveit_calibration
+vcs import src < src/moveit_calibration/moveit_calibration.repos --skip-existing
+rosdep install -r --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y
+colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
+```
+
+### Example
+
+<!-- TODO: Update tutorial link for website once available -->
+For examples, please follow [Hand-Eye Calibration tutorial](https://github.com/ros-planning/moveit2_tutorials/blob/main/doc/examples/hand_eye_calibration/hand_eye_calibration_tutorial.rst) from [moveit2_tutorials](https://github.com/ros-planning/moveit2_tutorials).
+
 ## GitHub Actions - Continuous Integration
 
-[![Format](https://github.com/ros-planning/moveit_calibration/actions/workflows/format.yaml/badge.svg?branch=master)](https://github.com/ros-planning/moveit_calibration/actions/workflows/format.yaml?branch=master)
-[![BuildAndTest](https://github.com/ros-planning/moveit_calibration/actions/workflows/ci.yaml/badge.svg?branch=master)](https://github.com/ros-planning/moveit_calibration/actions/workflows/ci.yaml?branch=master)
-[![codecov](https://codecov.io/gh/ros-planning/moveit_calibration/branch/master/graph/badge.svg?token=W7uHKcY0ly)](https://codecov.io/gh/ros-planning/moveit_calibration)
+[![Format](https://github.com/ros-planning/moveit_calibration/actions/workflows/format.yaml/badge.svg?branch=ros2)](https://github.com/ros-planning/moveit_calibration/actions/workflows/format.yaml?branch=ros2)
+[![BuildAndTest](https://github.com/ros-planning/moveit_calibration/actions/workflows/ci.yaml/badge.svg?branch=ros2)](https://github.com/ros-planning/moveit_calibration/actions/workflows/ci.yaml?branch=ros2)
+[![codecov](https://codecov.io/gh/ros-planning/moveit_calibration/branch/ros2/graph/badge.svg?token=W7uHKcY0ly)](https://codecov.io/gh/ros-planning/moveit_calibration)

moveit_calibration_demos/.docker/Dockerfile

@@ -0,0 +1,49 @@
+ARG ROS_DISTRO=humble
+FROM moveit/moveit2:${ROS_DISTRO}-source
+
+### Use bash by default
+SHELL ["/bin/bash", "-c"]
+
+### Install Gazebo
+ARG GZ_VERSION=fortress
+ENV GZ_VERSION=${GZ_VERSION}
+ARG IGNITION_VERSION=${GZ_VERSION}
+ENV IGNITION_VERSION=${GZ_VERSION}
+RUN apt-get update && \
+    apt-get install -yq --no-install-recommends \
+    gz-${GZ_VERSION} && \
+    rm -rf /var/lib/apt/lists/*
+
+### Import and install dependencies, then build these dependencies (not moveit_calibration yet)
+COPY ./moveit_calibration_demos/moveit_calibration_demos.repos /root/ws_moveit/src/moveit_calibration/moveit_calibration_demos/moveit_calibration_demos.repos
+RUN vcs import --shallow /root/ws_moveit/src < /root/ws_moveit/src/moveit_calibration/moveit_calibration_demos/moveit_calibration_demos.repos && \
+    rosdep update && \
+    apt-get update && \
+    rosdep install -y -r -i --rosdistro "${ROS_DISTRO}" --from-paths /root/ws_moveit/src && \
+    rm -rf /var/lib/apt/lists/* && \
+    source "/opt/ros/${ROS_DISTRO}/setup.bash" && \
+    source "/root/ws_moveit/install/local_setup.bash" && \
+    colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --ament-cmake-args -DCMAKE_BUILD_TYPE=Release && \
+    rm -rf /root/ws_moveit/log
+
+### Copy over the rest of moveit_calibration, then install dependencies and build
+COPY ./ /root/ws_moveit/src/moveit_calibration/
+RUN rosdep update && \
+    apt-get update && \
+    rosdep install -y -r -i --rosdistro "${ROS_DISTRO}" --from-paths /root/ws_moveit/src && \
+    rm -rf /var/lib/apt/lists/* && \
+    source "/opt/ros/${ROS_DISTRO}/setup.bash" && \
+    source "/root/ws_moveit/install/local_setup.bash" && \
+    colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --ament-cmake-args -DCMAKE_BUILD_TYPE=Release && \
+    rm -rf /root/ws_moveit/log
+
+### Install panda packages again with --symlink-install (workaround, needed for SDF exporter)
+RUN source "/opt/ros/${ROS_DISTRO}/setup.bash" && \
+    source "/root/ws_moveit/install/local_setup.bash" && \
+    colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --ament-cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install --packages-select panda_description panda_moveit_config panda --symlink-install && \
+    rm -rf /root/ws_moveit/log
+
+### Add workspace to the ROS entrypoint
+### Source ROS workspace inside `~/.bashrc` to enable autocompletion
+RUN sed -i '$i source "/root/ws_moveit/install/local_setup.bash" --' /ros_entrypoint.sh && \
+    sed -i '$a source "/opt/ros/${ROS_DISTRO}/setup.bash"' ~/.bashrc

moveit_calibration_demos/.docker/build.bash

@@ -0,0 +1,40 @@
+#!/usr/bin/env bash
+
+## Configuration
+# Default Docker Hub user (used if user is not logged in)
+DEFAULT_DOCKERHUB_USER="andrejorsula"
+
+## Determine the name of the image to run (automatically inferred from the current user and repository, or using the default if not available)
+# Get the current Docker Hub user or use the default
+DOCKERHUB_USER="$(docker info | sed '/Username:/!d;s/.* //')"
+DOCKERHUB_USER="${DOCKERHUB_USER:-${DEFAULT_DOCKERHUB_USER}}"
+# Get the name of the repository (directory)
+SCRIPT_DIR="$(cd "$(dirname "$(readlink -f "${BASH_SOURCE[0]}")")" &>/dev/null && pwd)"
+REPOSITORY_DIR="$(dirname "$(dirname "${SCRIPT_DIR}")")"
+REPOSITORY_NAME="$(basename "${REPOSITORY_DIR}")"
+# Combine the user and repository name to form the image name
+IMAGE_NAME="${DOCKERHUB_USER}/${REPOSITORY_NAME}"
+# Determine the path to the Dockerfile
+DOCKERFILE="${SCRIPT_DIR}/Dockerfile"
+
+## Parse TAG and forward additional build arguments
+if [ "${#}" -gt "0" ]; then
+    if [[ "${1}" != "-"* ]]; then
+        IMAGE_NAME="${IMAGE_NAME}:${1}"
+        BUILD_ARGS=${*:2}
+    else
+        BUILD_ARGS=${*:1}
+    fi
+fi
+
+## Build the image
+DOCKER_BUILD_CMD=(
+    docker build
+    --file "${DOCKERFILE}"
+    --tag "${IMAGE_NAME}"
+    "${BUILD_ARGS}"
+    "${REPOSITORY_DIR}"
+)
+echo -e "\033[1;30m${DOCKER_BUILD_CMD[*]}\033[0m" | xargs
+# shellcheck disable=SC2048
+exec ${DOCKER_BUILD_CMD[*]}

moveit_calibration_demos/.docker/run.bash

@@ -0,0 +1,130 @@
+#!/usr/bin/env bash
+
+## Configuration
+# Default Docker Hub user and repository name (used if inferred image is not available)
+DEFAULT_DOCKERHUB_USER="andrejorsula"
+DEFAULT_REPOSITORY_NAME="moveit2_calibration"
+# Flags for running the container
+DOCKER_RUN_OPTS="${DOCKER_RUN_OPTS:-
+    --name "${DEFAULT_REPOSITORY_NAME}"
+    --interactive
+    --tty
+    --rm
+    --network host
+    --ipc host
+}"
+# Flags for enabling GPU (NVIDIA) and GUI (X11) inside the container
+ENABLE_GPU="${ENABLE_GPU:-true}"
+ENABLE_GUI="${ENABLE_GUI:-true}"
+# List of volumes to mount (can be updated by passing -v HOST_DIR:DOCKER_DIR:OPTIONS)
+CUSTOM_VOLUMES=(
+    "/etc/localtime:/etc/localtime:ro"
+)
+# List of environment variables to set (can be updated by passing -e ENV=VALUE)
+CUSTOM_ENVS=(
+)
+
+## Determine the name of the image to run (automatically inferred from the current user and repository, or using the default if not available)
+# Get the current Docker Hub user or use the default
+DOCKERHUB_USER="$(docker info | sed '/Username:/!d;s/.* //')"
+DOCKERHUB_USER="${DOCKERHUB_USER:-${DEFAULT_DOCKERHUB_USER}}"
+# Get the name of the repository (directory) or use the default
+SCRIPT_DIR="$(cd "$(dirname "$(readlink -f "${BASH_SOURCE[0]}")")" &>/dev/null && pwd)"
+REPOSITORY_DIR="$(dirname "${SCRIPT_DIR}")"
+if [[ -f "${REPOSITORY_DIR}/Dockerfile" ]]; then
+    REPOSITORY_NAME="$(basename "${REPOSITORY_DIR}")"
+else
+    REPOSITORY_NAME="${DEFAULT_REPOSITORY_NAME}"
+fi
+# Combine the user and repository name to form the image name
+IMAGE_NAME="${DOCKERHUB_USER}/${REPOSITORY_NAME}"
+# Determine if such image exists (either locally or on Docker Hub), otherwise use the default image name
+if [[ -z "$(docker images -q "${IMAGE_NAME}")" ]] || [[ -z "$(wget -q "https://registry.hub.docker.com/v2/repositories/${IMAGE_NAME}" -O -)" ]]; then
+    IMAGE_NAME="${DEFAULT_DOCKERHUB_USER}/${DEFAULT_REPOSITORY_NAME}"
+fi
+
+## Parse volumes and environment variables
+while getopts ":v:e:" opt; do
+    case "${opt}" in
+        v) CUSTOM_VOLUMES+=("${OPTARG}") ;;
+        e) CUSTOM_ENVS+=("${OPTARG}") ;;
+        *)
+            echo >&2 "Usage: ${0} [-v HOST_DIR:DOCKER_DIR:OPTIONS] [-e ENV=VALUE] [TAG] [CMD]"
+            exit 2
+            ;;
+    esac
+done
+shift "$((OPTIND - 1))"
+
+## Parse TAG and CMD positional arguments
+if [ "${#}" -gt "0" ]; then
+    if [[ $(docker images --format "{{.Tag}}" "${IMAGE_NAME}") =~ (^|[[:space:]])${1}($|[[:space:]]) || $(wget -q "https://registry.hub.docker.com/v2/repositories/${IMAGE_NAME}/tags" -O - | grep -Poe '(?<=(\"name\":\")).*?(?=\")') =~ (^|[[:space:]])${1}($|[[:space:]]) ]]; then
+        # Use the first argument as a tag is such tag exists either locally or on the remote registry
+        IMAGE_NAME="${IMAGE_NAME}:${1}"
+        CMD=${*:2}
+    else
+        CMD=${*:1}
+    fi
+fi
+
+## GPU
+if [[ "${ENABLE_GPU}" = true ]]; then
+    LS_HW_DISPLAY=$(lshw -C display 2> /dev/null | grep vendor)
+    if [[ ${LS_HW_DISPLAY^^} =~ NVIDIA ]]; then
+        # Enable GPU either via NVIDIA Container Toolkit or NVIDIA Docker (depending on Docker version)
+        if dpkg --compare-versions "$(docker version --format '{{.Server.Version}}')" gt "19.3"; then
+            GPU_OPT="--gpus all"
+        else
+            GPU_OPT="--runtime nvidia"
+        fi
+        GPU_ENVS=(
+            NVIDIA_VISIBLE_DEVICES="all"
+            NVIDIA_DRIVER_CAPABILITIES="all"
+        )
+    fi
+fi
+
+## GUI
+if [[ "${ENABLE_GUI}" = true ]]; then
+    # To enable GUI, make sure processes in the container can connect to the x server
+    XAUTH=/tmp/.docker.xauth
+    if [ ! -f ${XAUTH} ]; then
+        touch ${XAUTH}
+        chmod a+r ${XAUTH}
+
+        XAUTH_LIST=$(xauth nlist "${DISPLAY}")
+        if [ -n "${XAUTH_LIST}" ]; then
+            # shellcheck disable=SC2001
+            XAUTH_LIST=$(sed -e 's/^..../ffff/' <<<"${XAUTH_LIST}")
+            echo "${XAUTH_LIST}" | xauth -f ${XAUTH} nmerge -
+        fi
+    fi
+    # GUI-enabling volumes
+    GUI_VOLUMES=(
+        "${XAUTH}:${XAUTH}"
+        "/tmp/.X11-unix:/tmp/.X11-unix"
+        "/dev/input:/dev/input"
+    )
+    # GUI-enabling environment variables
+    GUI_ENVS=(
+        DISPLAY="${DISPLAY}"
+        XAUTHORITY="${XAUTH}"
+    )
+fi
+
+## Run the container
+DOCKER_RUN_CMD=(
+    docker run
+    "${DOCKER_RUN_OPTS}"
+    "${GPU_OPT}"
+    "${GPU_ENVS[@]/#/"--env "}"
+    "${GUI_VOLUMES[@]/#/"--volume "}"
+    "${GUI_ENVS[@]/#/"--env "}"
+    "${CUSTOM_VOLUMES[@]/#/"--volume "}"
+    "${CUSTOM_ENVS[@]/#/"--env "}"
+    "${IMAGE_NAME}"
+    "${CMD}"
+)
+echo -e "\033[1;30m${DOCKER_RUN_CMD[*]}\033[0m" | xargs
+# shellcheck disable=SC2048
+exec ${DOCKER_RUN_CMD[*]}

moveit_calibration_demos/CMakeLists.txt

@@ -0,0 +1,11 @@
+cmake_minimum_required(VERSION 3.5)
+project(moveit_calibration_demos)
+
+# Find dependencies
+find_package(ament_cmake REQUIRED)
+
+# Install directories
+install(DIRECTORY launch rviz worlds DESTINATION share/${PROJECT_NAME})
+
+# Setup the project
+ament_package()