Merge pull request #190 from lbr-stack/dev-humble-launch

Humble Launch Improvements
lbr-stack · Sep 10, 2024 · ab6af7f · ab6af7f
2 parents 29656d3 + c361e6f
commit ab6af7f
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diff --git a/CHANGELOG.rst b/CHANGELOG.rst
@@ -1,6 +1,20 @@
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 Changelog for package LBR FRI ROS 2 Stack
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Humble v2.1.0 (2024-09-10)
+--------------------------
+* De-couple launch files from ``lbr_bringup`` for easier customization (breaking change):
+
+  * Removed ``sim:=true / false`` argument from launch files in favor of dedicated launch files (since no feature parity between simulation and real robot)
+  * MoveIt and RViz need to be launched separately now
+  * User can now launch via:
+
+    * ``ros2 launch lbr_bringup mock.launch.py`` (new: mock system)
+    * ``ros2 launch lbr_bringup hardware.launch.py`` (real robot)
+    * ``ros2 launch lbr_bringup gazebo.launch.py`` (Gazebo simulation)
+* Added mock hardware to ``lbr_ros2_control`` (for simple ``ros2_control`` testing without the need for Gazebo, refer https://control.ros.org/humble/doc/ros2_control/hardware_interface/doc/mock_components_userdoc.html)
+* Updated documentation
+
 Humble v2.0.0 (2024-07-08)
 --------------------------
 * Remove ``app.launch.py`` from demos in favor for ``ros2_control`` variant (breaking change)
@@ -47,7 +61,7 @@ Humble v1.4.2 (2023-12-29)
 Humble v1.4.1 (2023-12-15)
 --------------------------
 * Removes the ``base_frame`` parameter from ``lbr_bringup``, ``lbr_description``, ``lbr_fri_ros2``, ``lbr_ros2_control``
-* Updates RViZ default config in ``lbr_moveit_config``
+* Updates RViz default config in ``lbr_moveit_config``
 * Refers to https://github.com/lbr-stack/lbr_fri_ros2_stack/pull/144
 
 Humble v1.4.0 (2023-12-08)

diff --git a/README.md b/README.md
@@ -62,19 +62,25 @@ Full documentation available on [Read the Docs](https://lbr-stack.readthedocs.io
     colcon build --symlink-install
     ```
 
-4. Launch the simulation via
+4. In terminal 1, launch a mock setup via
 
     ```shell
     source install/setup.bash
-    ros2 launch lbr_bringup bringup.launch.py \
-        model:=iiwa7 # [iiwa7, iiwa14, med7, med14] \
-        sim:=true # [true, false] \
-        rviz:=true # [true, false] \
-        moveit:=true # [true, false]
+    ros2 launch lbr_bringup mock.launch.py \
+        model:=iiwa7 # [iiwa7, iiwa14, med7, med14]
     ```
 
 > [!TIP]
-> List all arguments for the launch file via `ros2 launch lbr_bringup bringup.launch.py -s`
+> List all arguments for the launch file via `ros2 launch lbr_bringup mock.launch.py -s`
+
+5. In terminal 2, visualize the setup via
+
+    ```shell
+    source install/setup.bash
+    ros2 launch lbr_bringup rviz.launch.py \
+        rviz_config_pkg:=lbr_bringup \
+        rviz_config:=config/mock.rviz
+    ```
 
 Now, run the [demos](https://lbr-stack.readthedocs.io/en/latest/lbr_fri_ros2_stack/lbr_demos/doc/lbr_demos.html). To get started with the real robot, checkout the [Hardware Setup](https://lbr-stack.readthedocs.io/en/latest/lbr_fri_ros2_stack/lbr_fri_ros2_stack/doc/hardware_setup.html).
 

diff --git a/docker/doc/docker.rst b/docker/doc/docker.rst
@@ -16,24 +16,41 @@ To run the ``lbr_fri_ros2_stack`` in a Docker container, follow the instructions
     mkdir -p lbr-stack/src && cd lbr-stack
     vcs import src --input https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/humble/lbr_fri_ros2_stack/repos-fri-${FRI_CLIENT_VERSION}.yaml
 
+#. Install `Docker <https://docs.docker.com/engine/install/>`_:octicon:`link-external`.
+
 #. Copy the Dockerfile and the container scripts to the ``lbr-stack`` directory. Build and start the container
 
    .. code-block:: bash
 
     cp -r src/lbr_fri_ros2_stack/docker/* .
-    chmod +x container_build.sh
-    sudo ./container_build.sh
+    sudo ./container_build.sh # this will run the container once finished
 
-#. Inside the container, launch e.g. simulation via (might require re-launch after Gazebo launched first time)
+#. Once inside the container, launch e.g. the mock setup via
 
    .. code-block:: bash
 
-    ros2 launch lbr_bringup bringup.launch.py model:=iiwa7 sim:=true moveit:=true
+    ros2 launch lbr_bringup mock.launch.py model:=iiwa7
 
    .. hint::
 
     List all arguments for the launch file via
 
     .. code-block:: bash
 
-        ros2 launch lbr_bringup bringup.launch.py -s
+        ros2 launch lbr_bringup mock.launch.py
+
+   .. hint::
+
+    Refer to :ref:`lbr_bringup` for more launch options.
+
+#. Connect another shell to the running container
+
+   .. code-block:: bash
+    
+    ./container_new_console.sh
+
+#. Run e.g. MoveIt with RViz
+
+   .. code-block:: bash
+    
+    ros2 launch lbr_bringup move_group.launch.py rviz:=true
diff --git a/lbr_bringup/CMakeLists.txt b/lbr_bringup/CMakeLists.txt
@@ -15,6 +15,6 @@ install(
 )
 
 # Launch mixins
-ament_python_install_package(launch_mixins)
+ament_python_install_package(lbr_bringup)
 
 ament_package()
diff --git a/lbr_description/config/config.rviz → lbr_bringup/config/gazebo.rviz b/lbr_description/config/config.rviz → lbr_bringup/config/gazebo.rviz
@@ -1,14 +1,15 @@
 Panels:
   - Class: rviz_common/Displays
-    Help Height: 78
+    Help Height: 87
     Name: Displays
     Property Tree Widget:
       Expanded:
         - /Global Options1
         - /Status1
         - /RobotModel1
-      Splitter Ratio: 0.5
-    Tree Height: 787
+        - /RobotModel1/Description Topic1
+      Splitter Ratio: 0.40760868787765503
+    Tree Height: 657
   - Class: rviz_common/Selection
     Name: Selection
   - Class: rviz_common/Tool Properties
@@ -22,6 +23,11 @@ Panels:
       - /Current View1
     Name: Views
     Splitter Ratio: 0.5
+  - Class: rviz_common/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
 Visualization Manager:
   Class: ""
   Displays:
@@ -53,7 +59,7 @@ Visualization Manager:
         Durability Policy: Volatile
         History Policy: Keep Last
         Reliability Policy: Reliable
-        Value: /robot_description
+        Value: /lbr/robot_description
       Enabled: true
       Links:
         All Links Enabled: true
@@ -105,25 +111,15 @@ Visualization Manager:
           Alpha: 1
           Show Axes: false
           Show Trail: false
-        storz_straight_exoscope_hsi_link_0:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        storz_straight_exoscope_hsi_link_cm:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        storz_straight_exoscope_hsi_link_cm_optical:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
         world:
           Alpha: 1
           Show Axes: false
           Show Trail: false
+      Mass Properties:
+        Inertia: false
+        Mass: false
       Name: RobotModel
-      TF Prefix: ""
+      TF Prefix: lbr
       Update Interval: 0
       Value: true
       Visual Enabled: true
@@ -142,6 +138,9 @@ Visualization Manager:
     - Class: rviz_default_plugins/Measure
       Line color: 128; 128; 0
     - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
       Topic:
         Depth: 5
         Durability Policy: Volatile
@@ -170,39 +169,41 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz_default_plugins/Orbit
-      Distance: 4.795630931854248
+      Distance: 3.38482666015625
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: -0.19523456692695618
-        Y: -0.17667146027088165
-        Z: 0.2629773020744324
-      Focal Shape Fixed Size: true
+        X: -0.10796727985143661
+        Y: -0.08450233191251755
+        Z: 0.1360965371131897
+      Focal Shape Fixed Size: false
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.785398006439209
+      Pitch: 0.7853981852531433
       Target Frame: <Fixed Frame>
-      Value: Orbit (rviz_default_plugins)
-      Yaw: 0.785398006439209
+      Value: Orbit (rviz)
+      Yaw: 0.7853981852531433
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 1016
+  Height: 1021
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd0000000400000000000001ba0000039efc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000039e000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000039efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000039e000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000004ab0000039e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000021200000337fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007901000003fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000004e00000337000000ff01000003fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000035bfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003f0000035b000000d701000003fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073a0000004efc0100000002fb0000000800540069006d006501000000000000073a000002e701000003fb0000000800540069006d00650100000000000004500000000000000000000005270000033700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
+  Time:
+    collapsed: false
   Tool Properties:
     collapsed: false
   Views:
     collapsed: false
-  Width: 1920
-  X: 0
-  Y: 27
+  Width: 1850
+  X: 1080
+  Y: 450
diff --git a/lbr_bringup/config/config.rviz → lbr_bringup/config/hardware.rviz b/lbr_bringup/config/config.rviz → lbr_bringup/config/hardware.rviz