Rename nexus_integration_tests to nexus_demos (#72)

* Rename nexus_integration_tests to nexus_demos

Signed-off-by: Aaron Chong <[email protected]>

* Basic cleanup

Signed-off-by: Aaron Chong <[email protected]>

* Update pkg name in CHANGELOG.rst

Signed-off-by: Yadunund <[email protected]>

---------

Signed-off-by: Aaron Chong <[email protected]>
Signed-off-by: Yadunund <[email protected]>
Co-authored-by: Yadunund <[email protected]>

.github/workflows/nexus_integration_tests.yaml

@@ -36,8 +36,8 @@ jobs:
         rosdep update
         rosdep install --from-paths . -yir
     - name: build
-      run: /ros_entrypoint.sh colcon build --packages-up-to nexus_calibration nexus_gazebo nexus_integration_tests nexus_motion_planner --mixin release lld --cmake-args -DCMAKE_CXX_COMPILER_LAUNCHER=ccache
+      run: /ros_entrypoint.sh colcon build --packages-up-to nexus_calibration nexus_gazebo nexus_demos nexus_motion_planner --mixin release lld --cmake-args -DCMAKE_CXX_COMPILER_LAUNCHER=ccache
     - name: Test - Unit Tests
       run: . ./install/setup.bash && RMW_IMPLEMENTATION=rmw_cyclonedds_cpp /ros_entrypoint.sh colcon test --packages-select nexus_motion_planner --event-handlers=console_direct+
     - name: Test - Integration Test
-      run: . ./install/setup.bash && cd nexus_integration_tests && RMW_IMPLEMENTATION=rmw_cyclonedds_cpp /ros_entrypoint.sh python3 -m unittest
+      run: . ./install/setup.bash && cd nexus_demos && RMW_IMPLEMENTATION=rmw_cyclonedds_cpp /ros_entrypoint.sh python3 -m unittest

README.md

@@ -46,7 +46,7 @@ colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
 ## Configuration
 
 The workcell and system orchestrators rely on behavior trees for orchestration. `NEXUS` provides several BT skills that may be reused for a variety of applications.
-See sample BTs for [system_orchestrator](nexus_integration_tests/config/system_orchestrator_bt.xml) and [workcell_orchestrator](nexus_integration_tests/config/workcell_1_bts/place_on_conveyor.xml) for a pick & place application.
+See sample BTs for [system_orchestrator](nexus_demos/config/system_orchestrator_bt.xml) and [workcell_orchestrator](nexus_demos/config/workcell_1_bts/place_on_conveyor.xml) for a pick & place application.
 
 At present, capabilities are registered as plugins with the `orchestrator` at runtime.
 We support [these capabilities](./nexus_capabilities/src/capabilities/plugins.xml) out of the bo
@@ -61,18 +61,15 @@ A current limitation of this approach is the need to manually update the palette
 
 ### Generating Zenoh bridge configurations
 
-The script in `nexus_network_configuration` helps to simplify configuration of Zenoh bridges for multiple machines. The Zenoh bridge files are generated from [NEXUS Network Configuration](nexus_integration_tests/config/zenoh/nexus_network_config.yaml) and [nexus_endpoints.redf.yaml](./nexus_endpoints.redf.yaml). After configuring the [NEXUS Network Configuration](nexus_integration_tests/config/zenoh/nexus_network_config.yaml), you can run `ros2 run nexus_network_configuration nexus_network_configuration -n <PATH_TO_NEXUS_NETWORK_CONFIG> -r <PATH_TO_REDF_CONFIGS> -o <ZENOH_CONFIGS_OUTPUT_DIRECTORY>` to generate the Zenoh bridges.
+The script in `nexus_network_configuration` helps to simplify configuration of Zenoh bridges for multiple machines. The Zenoh bridge files are generated from [NEXUS Network Configuration](nexus_demos/config/zenoh/nexus_network_config.yaml) and [nexus_endpoints.redf.yaml](./nexus_endpoints.redf.yaml). After configuring the [NEXUS Network Configuration](nexus_demos/config/zenoh/nexus_network_config.yaml), you can run `ros2 run nexus_network_configuration nexus_network_configuration -n <PATH_TO_NEXUS_NETWORK_CONFIG> -r <PATH_TO_REDF_CONFIGS> -o <ZENOH_CONFIGS_OUTPUT_DIRECTORY>` to generate the Zenoh bridges.
 
 Further detailed instructions on running the Zenoh bridges with said configurations are in the [package README](nexus_network_configuration/README.md)
 
 ## Demos
 
 ![](./docs/media/nexus_demo.png)
 
-Follow instructions [here](nexus_integration_tests/README.md) to run pick and place demonstrations with a line comprising of two workcells that perform different types of tasks.
-
-TODO: Add a dedicated demo package.
-
+Follow instructions [here](nexus_demos/README.md) to run pick and place demonstrations with a line comprising of two workcells that perform different types of tasks.
 
 ## Generating Endpoints
 

nexus_integration_tests/CHANGELOG.rst → nexus_demos/CHANGELOG.rst

@@ -1,6 +1,6 @@
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package nexus_integration_tests
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package nexus_demos
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 0.1.1 (2023-11-20)
 ------------------

nexus_integration_tests/CMakeLists.txt → nexus_demos/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.16)
-set(PROJECT_NAME nexus_integration_tests)
+set(PROJECT_NAME nexus_demos)
 project(${PROJECT_NAME} VERSION 0.0.1)
 
 find_package(ament_cmake REQUIRED)
@@ -152,7 +152,7 @@ if(BUILD_TESTING)
     find_package(rcpputils REQUIRED)
 
     # To run the test use:
-    # ros2 run nexus_integration_tests test_mocks
+    # ros2 run nexus_demos test_mocks
     add_executable(test_mocks
       test/main.cpp
       src/test_mock_detection.cpp

nexus_integration_tests/README.md → nexus_demos/README.md

@@ -1,4 +1,6 @@
-# nexus_integration_tests
+# nexus_demos
+
+![](../docs/media/nexus_demo.png)
 
 ## Launch system and workcell orchestrators and all mock nodes
 The [launch.py script](launch/launch.py) will launch the system orchestrator and 2 workcells orchestrators (each with a IRB910SC and IRB1300 robot), along with a Zenoh bridge to link selected ROS endpoints between them. These 3 orchestrators and their accompany components will be in different ROS_DOMAIN_IDs. To launch these components individually, use the following examples given.
@@ -10,40 +12,40 @@ The [launch.py script](launch/launch.py) will launch the system orchestrator and
 `export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp`
 (If testing with real hardware, specify the arguments `use_fake_hardware=False`, `robot1_ip=<IP>` and `robot2_ip=<IP>`)
 ```bash
-ros2 launch nexus_integration_tests launch.py headless:=False
+ros2 launch nexus_demos launch.py headless:=False
 ```
 
 ### Method 2: Launch System Orchestrator and 1 Workcell without Zenoh bridge (Same ROS_DOMAIN_ID)
 Launch with Workcell 1
 ```bash
-ros2 launch nexus_integration_tests launch.py headless:=False use_zenoh_bridge:=False run_workcell_1:=true run_workcell_2:=false
+ros2 launch nexus_demos launch.py headless:=False use_zenoh_bridge:=False run_workcell_1:=true run_workcell_2:=false
 ```
 
 Launch with Workcell 2
 ```bash
-ros2 launch nexus_integration_tests launch.py headless:=False use_zenoh_bridge:=False run_workcell_1:=false run_workcell_2:=true
+ros2 launch nexus_demos launch.py headless:=False use_zenoh_bridge:=False run_workcell_1:=false run_workcell_2:=true
 ```
 
 Testing with real hardware
 ```bash
-ros2 launch nexus_integration_tests launch.py headless:=False use_zenoh_bridge:=False run_workcell_1:=True run_workcell_2:=False use_fake_hardware:=False robot1_ip:=<IP_ADDR>
+ros2 launch nexus_demos launch.py headless:=False use_zenoh_bridge:=False run_workcell_1:=True run_workcell_2:=False use_fake_hardware:=False robot1_ip:=<IP_ADDR>
 ```
 
 ## Launch Orchestrators individually
 
 ### System Orchestrator
 ```bash
-ros2 launch nexus_integration_tests control_center.launch.py ros_domain_id:=0 headless:=False
+ros2 launch nexus_demos control_center.launch.py ros_domain_id:=0 headless:=False
 ```
 
 ### IRB910SC Workcell
 ```bash
-ros2 launch nexus_integration_tests workcell.launch.py workcell_id:=workcell_1 ros_domain_id:=1 support_package:=abb_irb910sc_support robot_xacro_file:=irb910sc_3_45.xacro moveit_config_package:=abb_irb910sc_3_45_moveit_config controllers_file:=abb_irb910sc_controllers.yaml moveit_config_file:=abb_irb910sc_3_45.srdf.xacro tf_publisher_launch_file:=irb910sc_tf.launch.py planner_config_package:=nexus_integration_tests planner_config_file:=irb910sc_planner_params.yaml sku_detection_params_file:=irb910sc_detection.yaml zenoh_config_file:=workcell_1.json5 headless:=False
+ros2 launch nexus_demos workcell.launch.py workcell_id:=workcell_1 ros_domain_id:=1 support_package:=abb_irb910sc_support robot_xacro_file:=irb910sc_3_45.xacro moveit_config_package:=abb_irb910sc_3_45_moveit_config controllers_file:=abb_irb910sc_controllers.yaml moveit_config_file:=abb_irb910sc_3_45.srdf.xacro tf_publisher_launch_file:=irb910sc_tf.launch.py planner_config_package:=nexus_demos planner_config_file:=irb910sc_planner_params.yaml sku_detection_params_file:=irb910sc_detection.yaml zenoh_config_file:=workcell_1.json5 headless:=False
 ```
 
 ### IRB1300 Workcell
 ```bash
-ros2 launch nexus_integration_tests workcell.launch.py workcell_id:=workcell_2 ros_domain_id:=2 support_package:=abb_irb1300_support robot_xacro_file:=irb1300_10_115.xacro moveit_config_package:=abb_irb1300_10_115_moveit_config controllers_file:=abb_irb1300_controllers.yaml moveit_config_file:=abb_irb1300_10_115.srdf.xacro tf_publisher_launch_file:=irb1300_tf.launch.py sku_detection_params_file:=irb1300_detection.yaml zenoh_config_file:=workcell_2.json5 headless:=False
+ros2 launch nexus_demos workcell.launch.py workcell_id:=workcell_2 ros_domain_id:=2 support_package:=abb_irb1300_support robot_xacro_file:=irb1300_10_115.xacro moveit_config_package:=abb_irb1300_10_115_moveit_config controllers_file:=abb_irb1300_controllers.yaml moveit_config_file:=abb_irb1300_10_115.srdf.xacro tf_publisher_launch_file:=irb1300_tf.launch.py sku_detection_params_file:=irb1300_detection.yaml zenoh_config_file:=workcell_2.json5 headless:=False
 ```
 
 ## Submit a job
@@ -75,7 +77,7 @@ ros2 action send_goal /test_workcell/request nexus_orchestrator_msgs/action/Work
 Gripper position from 0 to `gripper_max_value`:
 
 ```bash
-ros2 run nexus_integration_tests mock_gripper --ros-args -p gripper_max_value:=0.5
+ros2 run nexus_demos mock_gripper --ros-args -p gripper_max_value:=0.5
 ```
 
 To transition lifecycle states
@@ -112,7 +114,7 @@ sku_id2:
 Save this file and launch the vision mock node:
 
 ```bash
-ros2 run nexus_integration_tests mock_detection --ros-args -p config_file:=<path config file>
+ros2 run nexus_demos mock_detection --ros-args -p config_file:=<path config file>
 ```
 
 To transition lifecycle states
@@ -138,7 +140,7 @@ ros2 run nexus_transporter nexus_transporter_node --ros-args -p transporter_plug
 ## mock_printer
 To launch the mock printer:
 ```bash
-ros2 run nexus_integration_tests mock_printer_node
+ros2 run nexus_demos mock_printer_node
 ```
 
 To transition lifecycle states
@@ -155,7 +157,7 @@ ros2 service call /mock_printer/dispense nexus_dispenser_msgs/srv/Dispense '{}'
 ## mock_robot_arm_controller
 To launch the mock_robot_arm_controller
 ```bash
-ros2 run nexus_integration_tests mock_robot_arm_controller
+ros2 run nexus_demos mock_robot_arm_controller
 ```
 
 To launch the mock_robot_arm_controller
@@ -175,33 +177,33 @@ ros2 action send_goal /joint_trajectory_position_controller/follow_joint_traject
 
 First launch `abb_control`
 ```bash
-ros2 launch abb_bringup abb_control.launch.py runtime_config_package:=nexus_integration_tests description_package:=abb_irb910sc_support description_file:=irb910sc_3_45.xacro launch_rviz:=false moveit_config_package:=abb_irb910sc_3_45_moveit_config use_fake_hardware:=true controllers_file:=abb_irb910sc_controllers.yaml
+ros2 launch abb_bringup abb_control.launch.py runtime_config_package:=nexus_demos description_package:=abb_irb910sc_support description_file:=irb910sc_3_45.xacro launch_rviz:=false moveit_config_package:=abb_irb910sc_3_45_moveit_config use_fake_hardware:=true controllers_file:=abb_irb910sc_controllers.yaml
 ```
 
 If running with real robot
 ```bash
-ros2 launch abb_bringup abb_control.launch.py runtime_config_package:=nexus_integration_tests description_package:=abb_irb910sc_support description_file:=irb910sc_3_45.xacro launch_rviz:=false moveit_config_package:=abb_irb910sc_3_45_moveit_config use_fake_hardware:=true controllers_file:=abb_irb910sc_controllers.yaml use_fake_hardware:=false rws_ip:=<ROBOTSTUDIO_IP>
+ros2 launch abb_bringup abb_control.launch.py runtime_config_package:=nexus_demos description_package:=abb_irb910sc_support description_file:=irb910sc_3_45.xacro launch_rviz:=false moveit_config_package:=abb_irb910sc_3_45_moveit_config use_fake_hardware:=true controllers_file:=abb_irb910sc_controllers.yaml use_fake_hardware:=false rws_ip:=<ROBOTSTUDIO_IP>
 ```
 
 Then launch moveit
 ```bash
-ros2 launch nexus_integration_tests abb_irb910sc_moveit.launch.py
+ros2 launch nexus_demos abb_irb910sc_moveit.launch.py
 ```
 
 ### IRB1300
 
 For more information see README in `abb_ros2` repo.
 First launch `abb_control`
 ```bash
-ros2 launch abb_bringup abb_control.launch.py runtime_config_package:=nexus_integration_tests description_package:=abb_irb1300_support description_file:=irb1300_10_115.xacro launch_rviz:=false moveit_config_package:=abb_irb1300_10_115_moveit_config use_fake_hardware:=true controllers_file:=abb_irb1300_controllers.yaml
+ros2 launch abb_bringup abb_control.launch.py runtime_config_package:=nexus_demos description_package:=abb_irb1300_support description_file:=irb1300_10_115.xacro launch_rviz:=false moveit_config_package:=abb_irb1300_10_115_moveit_config use_fake_hardware:=true controllers_file:=abb_irb1300_controllers.yaml
 ```
 
 If running with real robot
 ```bash
-ros2 launch abb_bringup abb_control.launch.py runtime_config_package:=nexus_integration_tests description_package:=abb_irb1300_support description_file:=irb1300_10_115.xacro launch_rviz:=false moveit_config_package:=abb_irb1300_10_114_moveit_config use_fake_hardware:=true controllers_file:=abb_irb1300_controllers.yaml use_fake_hardware:=false rws_ip:=<ROBOTSTUDIO_IP>
+ros2 launch abb_bringup abb_control.launch.py runtime_config_package:=nexus_demos description_package:=abb_irb1300_support description_file:=irb1300_10_115.xacro launch_rviz:=false moveit_config_package:=abb_irb1300_10_114_moveit_config use_fake_hardware:=true controllers_file:=abb_irb1300_controllers.yaml use_fake_hardware:=false rws_ip:=<ROBOTSTUDIO_IP>
 ```
 
 Then launch moveit
 ```bash
-ros2 launch nexus_integration_tests abb_irb1300_moveit.launch.py
+ros2 launch nexus_demos abb_irb1300_moveit.launch.py
 ```

nexus_integration_tests/launch/include/nexus_control.launch.py → nexus_demos/launch/include/nexus_control.launch.py

@@ -21,7 +21,7 @@ def generate_launch_description():
     declared_arguments.append(
         DeclareLaunchArgument(
             "runtime_config_package",
-            default_value="nexus_integration_tests",
+            default_value="nexus_demos",
             description='Package with the controller\'s configuration in "config" folder. \
         Usually the argument is not set, it enables use of a custom setup.',
         )

nexus_integration_tests/launch/inter_workcell.launch.py → nexus_demos/launch/inter_workcell.launch.py

@@ -142,7 +142,7 @@ def launch_setup(context, *args, **kwargs):
                 [
                     PathJoinSubstitution(
                         [
-                            FindPackageShare("nexus_integration_tests"),
+                            FindPackageShare("nexus_demos"),
                             "launch",
                             "rmf_transporter.launch.xml",
                         ]
@@ -182,7 +182,7 @@ def launch_setup(context, *args, **kwargs):
     mock_emergency_alarm_node = LifecycleNode(
         name="mock_emergency_alarm",
         namespace="",
-        package="nexus_integration_tests",
+        package="nexus_demos",
         executable="mock_emergency_alarm",
     )
 
@@ -200,7 +200,7 @@ def launch_setup(context, *args, **kwargs):
                 [
                     PathJoinSubstitution(
                         [
-                            FindPackageShare("nexus_integration_tests"),
+                            FindPackageShare("nexus_demos"),
                             "launch",
                             "zenoh_bridge.launch.py",
                         ]
@@ -264,7 +264,7 @@ def generate_launch_description():
             ),
             DeclareLaunchArgument(
                 name="zenoh_config_package",
-                default_value="nexus_integration_tests",
+                default_value="nexus_demos",
                 description="Package containing Zenoh DDS bridge configurations",
             ),
             DeclareLaunchArgument(
@@ -299,12 +299,12 @@ def generate_launch_description():
             ),
             DeclareLaunchArgument(
                 "nexus_rviz_config",
-                default_value=os.path.join(get_package_share_directory("nexus_integration_tests"), "rviz", "nexus_panel.rviz"),
+                default_value=os.path.join(get_package_share_directory("nexus_demos"), "rviz", "nexus_panel.rviz"),
                 description="Absolute path to an RViZ config file.",
             ),
             DeclareLaunchArgument(
                 "system_orchestrator_bt_dir",
-                default_value=os.path.join(get_package_share_directory("nexus_integration_tests"), "config", "system_bts"),
+                default_value=os.path.join(get_package_share_directory("nexus_demos"), "config", "system_bts"),
                 description="Absolute path directory containing BTs for the system orchestrator.",
             ),
             DeclareLaunchArgument(