Updating moveit and canadarm setup

moveit2/Dockerfile

@@ -83,30 +83,51 @@ RUN python3 -m pip install -U \
 
 # Get the MoveIt2 source code
 WORKDIR ${HOME_DIR}
-RUN sudo git clone https://github.com/ros-planning/moveit2.git -b main moveit2/src 
+RUN sudo git clone https://github.com/ros-planning/moveit2.git -b ${ROSDISTRO} moveit2/src
+RUN cd ${MOVEIT2_DIR}/src \
+  && sudo git clone https://github.com/ros-planning/moveit2_tutorials.git -b ${ROSDISTRO}
+
+# Update the ownership of the source files (had to use sudo above to work around
+# a possible inherited 'insteadof' from the host that forces use of ssh
+RUN sudo chown -R ${USERNAME}:${USERNAME} ${MOVEIT2_DIR}
+
+# Get rosinstall_generator
+RUN sudo apt-get update -y && sudo apt-get install -y python3-rosinstall-generator
+
+# Generate repos file for moveit2 dependencies, excluding packages from Space ROS core.
+COPY --chown=${USERNAME}:${USERNAME} moveit2-pkgs.txt /tmp/
+COPY --chown=${USERNAME}:${USERNAME} excluded-pkgs.txt /tmp/
+RUN rosinstall_generator \
+  --rosdistro ${ROSDISTRO} \
+  --deps \
+  --exclude-path ${SPACEROS_DIR}/src \
+  --exclude $(cat /tmp/excluded-pkgs.txt) -- \
+  -- $(cat /tmp/moveit2-pkgs.txt) \
+  > /tmp/moveit2_generated_pkgs.repos
 
 # Get the repositories required by MoveIt2, but not included in Space ROS
 WORKDIR ${MOVEIT2_DIR}
-COPY --chown=${USERNAME}:${USERNAME} moveit2.repos ./
-RUN sudo vcs import src < moveit2.repos
+RUN vcs import src < /tmp/moveit2_generated_pkgs.repos
+COPY --chown=${USERNAME}:${USERNAME} moveit2_tutorials.repos /tmp/
+RUN vcs import src < /tmp/moveit2_tutorials.repos
 
 # Update the ownership of the source files (had to use sudo above to work around
 # a possible inherited 'insteadof' from the host that forces use of ssh
 RUN sudo chown -R ${USERNAME}:${USERNAME} ${MOVEIT2_DIR}
 
 # Install system dependencies
-RUN rosdep install --from-paths ../spaceros/src src --ignore-src --rosdistro ${ROSDISTRO} -y --skip-keys "console_bridge fastcdr fastrtps rti-connext-dds-5.3.1 urdfdom_headers rmw_connextdds ros_testing rmw_connextdds rmw_fastrtps_cpp rmw_fastrtps_dynamic_cpp composition demo_nodes_py lifecycle rosidl_typesupport_fastrtps_cpp rosidl_typesupport_fastrtps_c ikos diagnostic_aggregator diagnostic_updater joy qt_gui rqt_gui rqt_gui_py"
+RUN /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash' \
+ && rosdep install --from-paths ../spaceros/src src --ignore-src --rosdistro ${ROSDISTRO} -r -y --skip-keys "console_bridge generate_parameter_library fastcdr fastrtps rti-connext-dds-5.3.1 urdfdom_headers rmw_connextdds ros_testing rmw_connextdds rmw_fastrtps_cpp rmw_fastrtps_dynamic_cpp composition demo_nodes_py lifecycle rosidl_typesupport_fastrtps_cpp rosidl_typesupport_fastrtps_c ikos diagnostic_aggregator diagnostic_updater joy qt_gui rqt_gui rqt_gui_py"
 
 # Apply a patch to octomap_msgs to work around a build issue
 COPY --chown=${USERNAME}:${USERNAME} octomap_fix.diff ./src/octomap_msgs
 RUN cd src/octomap_msgs && git apply octomap_fix.diff
 
 # Build MoveIt2
-RUN /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON'
+RUN /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash \
+  && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON --event-handlers desktop_notification- status- --parallel-workers 1'
 
-# Enable the container to run GUI apps and add a couple sample apps for testing
-RUN touch ${HOME}/.Xauthority
-EXPOSE 8887
+# Add a couple sample GUI apps for testing
 RUN sudo apt-get install -y \
   firefox \
   glmark2 \

moveit2/README.md

@@ -1,6 +1,6 @@
 # MoveIt2 Docker Image
 
-The MoveIt2 Docker image uses the Space ROS docker image (*openrobotics/spaceros:latest*) as its base image. The MoveIt2 Dockerfile installs all of the prerequisite system dependencies to build MoveIt2 and then pulls and builds the latest MoveIt2 source code.
+The MoveIt2 Docker image uses the Space ROS docker image (*openrobotics/spaceros:latest*) as its base image. The MoveIt2 Dockerfile installs all of the prerequisite system dependencies to build MoveIt2 (and Moveit2 tutorials) and then pulls and builds the latest MoveIt2 and Moveit2 tutorials source code.
 
 ## Building the MoveIt2 Image
 
@@ -42,3 +42,29 @@ Upon startup, the container automatically runs the entrypoint.sh script, which s
 ```
 spaceros-user@8e73b41a4e16:~/moveit2#
 ```
+
+## Running MoveIt2 Tutorials
+
+Run the following command to launch the MoveIt2 tutorials demo launch file:
+
+```
+ros2 launch moveit2_tutorials demo.launch.py rviz_tutorial:=true
+```
+
+You should see lots of console output and the rviz2 window appear:
+
+![rviz2 tutorial window](resources/moveit2-rviz-tutorial.png)
+
+You can now following the [MoveIt2 Tutorial documentation](https://moveit.picknik.ai/galactic/doc/tutorials/quickstart_in_rviz/quickstart_in_rviz_tutorial.html).
+
+## Running the MoveIt2 Move Group C++ Interface Demo
+
+To run the Move Group C++ Interface Demo, execute the following command:
+
+```
+ros2 launch moveit2_tutorials move_group.launch.py
+```
+
+![rviz2 move group window](resources/moveit2-rviz.png)
+
+Then, you can follow the [Move Group C++ Interface Demo documentation](https://moveit.picknik.ai/humble/doc/examples/move_group_interface/move_group_interface_tutorial.html).

moveit2/excluded-pkgs.txt

@@ -0,0 +1,10 @@
+fastcdr
+fastrtps
+fastrtps_cmake_module
+rmw_fastrtps_cpp
+rmw_fastrtps_dynamic_cpp
+rmw_fastrtps_shared_cpp
+rmw_connextdds
+rosidl_typesupport_fastrtps_c
+rosidl_typesupport_fastrtps_cpp
+urdfdom_headers

moveit2/moveit2-pkgs.txt

@@ -0,0 +1,37 @@
+ackermann_msgs
+angles
+backward_ros
+control_msgs
+control_toolbox
+eigen_stl_containers
+geometric_shapes
+graph_msgs
+ignition/ignition_cmake2_vendor
+ignition/ignition_math6_vendor
+image_common
+interactive_markers
+joint_state_publisher
+laser_geometry
+launch_param_builder
+moveit_msgs
+moveit_resources
+moveit_task_constructor
+navigation_msgs
+object_recognition_msgs
+octomap
+ompl
+orocos_kinematics_dynamics
+python_qt_binding
+random_numbers
+realtime_tools
+resource_retriever
+ros2_control
+ros2_controllers
+ruckig
+rviz2
+srdfdom
+urdf_parser_py
+vision_opencv
+warehouse_ros
+xacro
+yaml_cpp_vendor

moveit2/moveit2_tutorials.repos

@@ -0,0 +1,17 @@
+repositories:
+  moveit_task_constructor:
+    type: git
+    url: https://github.com/ros-planning/moveit_task_constructor.git
+    version: ros2
+  moveit_visual_tools:
+    type: git
+    url: https://github.com/ros-planning/moveit_visual_tools
+    version: ros2
+  rosparam_shortcuts:
+    type: git
+    url: https://github.com/PickNikRobotics/rosparam_shortcuts
+    version: ros2
+  rviz_visual_tools:
+    type: git
+    url: https://github.com/PickNikRobotics/rviz_visual_tools.git
+    version: ros2