From 8a752f4ff2744dbdec6eb153b6361cdc037e1e05 Mon Sep 17 00:00:00 2001 From: Cristian Beltran Date: Thu, 24 Mar 2022 14:39:26 +0900 Subject: [PATCH 01/15] Ignore trac-ik and ur drivers --- .gitignore | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/.gitignore b/.gitignore index d4a9bd69..f530ceea 100644 --- a/.gitignore +++ b/.gitignore @@ -58,9 +58,10 @@ underlay_ws/src/rosparam_shortcuts underlay_ws/src/third_party/generic_flexbe_states underlay_ws/src/third_party/flexbe_app underlay_ws/src/third_party/Universal_Robots_Client_Library -# underlay_ws/src/third_party/ur_drivers +underlay_ws/src/third_party/ur_robot_driver underlay_ws/src/third_party/robotiq underlay_ws/src/third_party/aruco_ros underlay_ws/src/third_party/gazebo_ros_link_attacher +underlay_ws/src/third_party/trac-ik catkin_ws/src/o2ac_vision/log/ From 1a7aa45b62cf460e3d1dd67f77e2a2697d0b8c27 Mon Sep 17 00:00:00 2001 From: Cristian Beltran Date: Thu, 24 Mar 2022 14:40:41 +0900 Subject: [PATCH 02/15] Removed submodule underlay_ws/src/third_party/ur_drivers --- .gitmodules | 5 +---- 1 file changed, 1 insertion(+), 4 deletions(-) diff --git a/.gitmodules b/.gitmodules index 515d0c0d..9175d088 100644 --- a/.gitmodules +++ b/.gitmodules @@ -27,7 +27,4 @@ url = http://gitlab+deploy-token-440735:1DPsfhJwB9i_Emh-9KdN@gitlab.com/sinicx/robotics/on-going/downward.git [submodule "underlay_ws/src/ur_python_utilities"] path = underlay_ws/src/ur_python_utilities - url = http://gitlab+deploy-token-440688:eYTsSmM4yjjtN5eXCx2C@gitlab.com/o2ac/third-party/ur_python_utilities.git -[submodule "underlay_ws/src/third_party/ur_drivers"] - path = underlay_ws/src/third_party/ur_drivers - url = https://github.com/felixvd/Universal_Robots_ROS_Driver.git \ No newline at end of file + url = http://gitlab+deploy-token-440688:eYTsSmM4yjjtN5eXCx2C@gitlab.com/o2ac/third-party/ur_python_utilities.git \ No newline at end of file From 1247d4fcc1d453f5c271888c820d254e93a42d05 Mon Sep 17 00:00:00 2001 From: Cristian Beltran Date: Thu, 10 Mar 2022 18:26:57 +0900 Subject: [PATCH 03/15] Update to noetic --- BUILD-DOCKER-IMAGE.sh | 20 +- docker/o2ac-dev/Dockerfile | 237 ++++++++++-------- .../scripts/initialize-catkin-workspace.sh | 4 +- .../scripts/reset-catkin-workspace.sh | 2 +- o2ac-ur.code-workspace | 2 +- underlay_ws/src/.rosinstall | 24 +- 6 files changed, 158 insertions(+), 131 deletions(-) diff --git a/BUILD-DOCKER-IMAGE.sh b/BUILD-DOCKER-IMAGE.sh index 9f45c4c7..2a0937e3 100755 --- a/BUILD-DOCKER-IMAGE.sh +++ b/BUILD-DOCKER-IMAGE.sh @@ -42,14 +42,14 @@ docker login registry.gitlab.com # If the script runs in CI mode, image builds directly. # Otherwise try to pull it from the server. If this fails, it has to be build locally. -if [[ "$DOCKER_PROJECT" == "gitlab-ci" ]]; then - docker-compose -p ${DOCKER_PROJECT} -f ./docker/docker-compose.yml build -else - # regular developer use case - docker-compose -p ${DOCKER_PROJECT} -f ./docker/docker-compose.yml pull - if [[ "$?" -ne "0" ]]; then - docker-compose -p ${DOCKER_PROJECT} -f ./docker/docker-compose.yml build - fi -fi +# if [[ "$DOCKER_PROJECT" == "gitlab-ci" ]]; then +# docker-compose -p ${DOCKER_PROJECT} -f ./docker/docker-compose.yml build +# else +# # regular developer use case +# docker-compose -p ${DOCKER_PROJECT} -f ./docker/docker-compose.yml pull +# if [[ "$?" -ne "0" ]]; then +# docker-compose -p ${DOCKER_PROJECT} -f ./docker/docker-compose.yml build +# fi +# fi -# docker-compose -p ${DOCKER_PROJECT} -f ./docker/docker-compose.yml build +docker-compose -p ${DOCKER_PROJECT} -f ./docker/docker-compose.yml build diff --git a/docker/o2ac-dev/Dockerfile b/docker/o2ac-dev/Dockerfile index 8f7a05fc..3707933c 100644 --- a/docker/o2ac-dev/Dockerfile +++ b/docker/o2ac-dev/Dockerfile @@ -10,7 +10,8 @@ # https://github.com/NVIDIA/libglvnd # Pull official parent image from Nvidia repository. -FROM nvidia/cudagl:10.1-devel-ubuntu18.04 +FROM nvidia/cudagl:11.0-devel-ubuntu20.04 +# 10.1-devel-ubuntu20.04 # Avoid user interaction during install of tzdata # https://askubuntu.com/questions/909277/avoiding-user-interaction-with-tzdata-when-installing-certbot-in-a-docker-contai @@ -20,25 +21,53 @@ RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone # Install Nvidia cuDNN library missing from parent image. # https://gitlab.com/nvidia/cuda/blob/ubuntu18.04/10.1/devel/cudnn7/Dockerfile RUN apt-get update && apt-get install -y --no-install-recommends \ - libcudnn7=7.6.5.32-1+cuda10.2 \ - libcudnn7-dev=7.6.5.32-1+cuda10.2 \ + libcudnn8=8.3.2.44-1+cuda11.5 \ + libcudnn8-dev=8.3.2.44-1+cuda11.5 \ && rm -rf /var/lib/apt/lists/* ################################################################################ -# Install ROS Melodic Morenia. -# http://wiki.ros.org/melodic/Installation/Ubuntu +# Install ROS Noetic Ninjemys. +# http://wiki.ros.org/noetic/Installation/Ubuntu -# Update package list. -RUN echo "deb http://packages.ros.org/ros/ubuntu bionic main" > /etc/apt/sources.list.d/ros-latest.list +# setup timezone +# RUN echo 'Etc/UTC' > /etc/timezone && \ +# ln -s /usr/share/zoneinfo/Etc/UTC /etc/localtime && \ +# apt-get update && \ +# apt-get install -q -y --no-install-recommends tzdata && \ +# rm -rf /var/lib/apt/lists/* -# Add package keys. -RUN apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 +# install packages +RUN apt-get update && apt-get install -q -y --no-install-recommends \ + dirmngr \ + gnupg2 \ + && rm -rf /var/lib/apt/lists/* + +# setup sources.list +RUN echo "deb http://packages.ros.org/ros/ubuntu focal main" > /etc/apt/sources.list.d/ros1-latest.list + +# setup keys +RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 + +# setup environment +ENV LANG=C.UTF-8 +ENV LC_ALL=C.UTF-8 + +ENV ROS_DISTRO=noetic + +# install ros packages +RUN apt-get update && apt-get install -y --no-install-recommends \ + ros-noetic-ros-core=1.5.0-1* \ + && rm -rf /var/lib/apt/lists/* # Install ROS-desktop-full packages (including ROS, rqt, rviz, and more). RUN apt-get update && apt-get install -y --no-install-recommends \ - ros-melodic-desktop-full=1.4.1-0bionic.20210921.232208 \ - python-rosdep=0.21.0-1 \ + ros-noetic-desktop-full \ + python3-rosdep \ + python3-rosinstall \ + python3-rosinstall-generator \ + python3-wstool \ + build-essential \ && rm -rf /var/lib/apt/lists/* # Initialize 'rosdep'. @@ -49,8 +78,8 @@ RUN rosdep init # Install required packages/tools/dependencies for subsequent installations. RUN apt-get update && apt-get install -y --no-install-recommends \ - apt-transport-https=1.6.14 \ - wget=1.19.4-1ubuntu2.2 \ + apt-transport-https \ + wget \ && rm -rf /var/lib/apt/lists/* ################################################################################ @@ -58,36 +87,36 @@ RUN apt-get update && apt-get install -y --no-install-recommends \ # Install common essentials, RUN apt-get update && apt-cache policy git RUN apt-get update && apt-get install -y --no-install-recommends \ - build-essential=12.4ubuntu1 \ - cmake=3.10.2-1ubuntu2.18.04.2 \ - git=1:2.17.1-1ubuntu0.9 \ - python-dev=2.7.15~rc1-1 \ - python-numpy=1:1.13.3-2ubuntu1 \ - python-pip=9.0.1-2.3~ubuntu1.18.04.5 \ - python-setuptools=39.0.1-2 \ - python-scipy=0.19.1-2ubuntu1 \ + build-essential \ + cmake \ + git \ + python3-dev \ + python3-numpy \ + python3-pip \ + python3-setuptools \ + python3-scipy \ && rm -rf /var/lib/apt/lists/* # Pin pip version to make build more deterministic -RUN pip install --upgrade pip==9.0.1 +RUN pip3 install --upgrade pip==22.0.4 ################################################################################ # Install more common optional packages/tools. RUN apt-get update && apt-get install -y --no-install-recommends \ - inetutils-ping=2:1.9.4-3ubuntu0.1 \ - iproute2=4.15.0-2ubuntu1.3 \ - gdb=8.1.1-0ubuntu1 \ - mesa-utils=8.4.0-1 \ - nano=2.9.3-2 \ - net-tools=1.60+git20161116.90da8a0-1ubuntu1 \ - openssh-client=1:7.6p1-4ubuntu0.5 \ - python-catkin-tools=0.6.1-1 \ - python-tk=2.7.17-1~18.04 \ - unzip=6.0-21ubuntu1.1 \ - vim=2:8.0.1453-1ubuntu1.6 \ - less=487-0.1 \ - usbutils=1:007-4build1 \ + inetutils-ping \ + iproute2 \ + gdb \ + mesa-utils \ + nano \ + net-tools \ + openssh-client \ + python3-catkin-tools \ + python3-tk \ + unzip \ + vim \ + less \ + usbutils \ && rm -rf /var/lib/apt/lists/* ################################################################################ @@ -95,7 +124,7 @@ RUN apt-get update && apt-get install -y --no-install-recommends \ # For copying UR scripts from the robots RUN apt-get update && apt-get install -y --no-install-recommends \ - sshpass=1.06-1 \ + sshpass \ && rm -rf /var/lib/apt/lists/* ################################################################################ @@ -103,41 +132,41 @@ RUN apt-get update && apt-get install -y --no-install-recommends \ # Install MoveIt dependencies because we build it from source. # Also install the binaries to pull in the dependencies. RUN apt-get update && apt-get install -y --no-install-recommends \ - ros-melodic-moveit-resources=0.7.3-1bionic.20210921.221050 \ - ros-melodic-moveit=1.0.8-1bionic.20210922.000107 \ + ros-noetic-moveit-resources \ + ros-noetic-moveit \ && rm -rf /var/lib/apt/lists/* ################################################################################ # Install wstool to use .rosinstall file in the underlay workspace RUN apt-get update && apt-get install -y --no-install-recommends \ - python-wstool=0.1.17-1 \ - clang-format-10=1:10.0.0-4ubuntu1~18.04.2 \ + python3-wstool \ + clang-format-10 \ && rm -rf /var/lib/apt/lists/* ################################################################################ # Install other dependencies of our workspace RUN apt-get update && apt-get install -y --no-install-recommends \ - ros-melodic-effort-controllers=0.17.2-1bionic.20210921.221828 \ - ros-melodic-industrial-robot-status-controller=0.1.2-1bionic.20210921.221524 \ - ros-melodic-socketcan-interface=0.8.5-1bionic.20210921.180404 \ - ros-melodic-industrial-robot-status-interface=0.1.2-1bionic.20210921.203234 \ - ros-melodic-soem=1.4.1003-1bionic.20201015.050528 \ - ros-melodic-graph-msgs=0.1.0-1bionic.20210505.012422 \ - ros-melodic-spacenav-node=1.14.0-1bionic.20210921.210836 \ - ros-melodic-joy-teleop=0.3.1-1bionic.20210921.205844 \ - ros-melodic-code-coverage=0.4.3-1bionic.20200803.132715 \ - ros-melodic-panda-moveit-config=0.7.4-1bionic.20210921.234706 \ - socat=1.7.3.2-2ubuntu2 \ - libqt5x11extras5-dev=5.9.5-0ubuntu1 \ + ros-noetic-effort-controllers \ + ros-noetic-industrial-robot-status-controller \ + ros-noetic-socketcan-interface \ + ros-noetic-industrial-robot-status-interface \ + ros-noetic-soem \ + ros-noetic-graph-msgs \ + ros-noetic-spacenav-node \ + ros-noetic-joy-teleop \ + ros-noetic-code-coverage \ + ros-noetic-panda-moveit-config \ + socat \ + libqt5x11extras5-dev \ && rm -rf /var/lib/apt/lists/* ################################################################################ # Install JSK tools for visualization in Rviz RUN apt-get update && apt-get install -y --no-install-recommends \ - ros-melodic-jsk-visualization=2.1.7-2bionic.20210922.000226 \ + ros-noetic-jsk-visualization \ && rm -rf /var/lib/apt/lists/* ################################################################################ @@ -147,8 +176,8 @@ RUN apt-get update && apt-get install -y --no-install-recommends \ # Gather dependencies from Ubuntu repositories. RUN apt-get update && apt-get install -y --no-install-recommends \ - libcanberra-gtk3-module=0.30-5ubuntu1 \ - libgconf2-dev=3.2.6-4ubuntu1 \ + libcanberra-gtk3-module \ + libgconf2-dev \ && rm -rf /var/lib/apt/lists/* ################################################################################ @@ -156,45 +185,45 @@ RUN apt-get update && apt-get install -y --no-install-recommends \ # Install URe controller dependencies. RUN apt-get update && apt-get install -y --no-install-recommends \ - ros-melodic-ros-control=0.18.4-1bionic.20210921.220930 \ - ros-melodic-robot-controllers=0.6.0-0bionic.20210921.222303 \ - ros-melodic-velocity-controllers=0.17.2-1bionic.20210921.221837 \ - ros-melodic-joint-trajectory-controller=0.17.2-1bionic.20210921.220639 \ - ros-melodic-force-torque-sensor-controller=0.17.2-1bionic.20210921.221513 \ + ros-noetic-ros-control \ + ros-noetic-robot-controllers \ + ros-noetic-velocity-controllers \ + ros-noetic-joint-trajectory-controller \ + ros-noetic-force-torque-sensor-controller \ && rm -rf /var/lib/apt/lists/* ################################################################################ # Add industrial_core submodule RUN apt-get update && apt-get install -y --no-install-recommends \ - ros-melodic-industrial-core=0.7.3-1bionic.20210921.231521 \ + ros-noetic-industrial-core \ && rm -rf /var/lib/apt/lists/* ################################################################################ # Install dependencies for dynamixel and serial communication. -# # ros-melodic-qt-build \ +# # ros-noetic-qt-build \ RUN apt-get update && apt-get install -y --no-install-recommends \ - ros-melodic-dynamixel-sdk=3.7.51-4bionic.20210921.181333 \ - ros-melodic-dynamixel-workbench=2.2.0-0bionic.20210921.212132 \ - ros-melodic-dynamixel-workbench-msgs=2.0.1-0bionic.20210505.011002 \ + ros-noetic-dynamixel-sdk \ + ros-noetic-dynamixel-workbench \ + ros-noetic-dynamixel-workbench-msgs \ && rm -rf /var/lib/apt/lists/* -RUN pip install pyserial==3.4 +RUN pip3 install pyserial==3.4 ################################################################################ # Install pymodbus for the Robotiq gripper driver RUN apt-get update && apt-get install -y --no-install-recommends \ - python-pymodbus=1.3.2-1 \ + python3-pymodbus \ && rm -rf /var/lib/apt/lists/* ################################################################################ # Install python can module to use the Xela Robotics sensor. -RUN pip install python-can==3.1.1 +RUN pip3 install python-can==3.1.1 ################################################################################ @@ -208,7 +237,7 @@ RUN curl https://packages.microsoft.com/keys/microsoft.asc | gpg --dearmor > mic # Update cache and install VS Code as a package. RUN apt-get update && apt-get install -y --no-install-recommends \ - code=1.61.1-1634175470 \ + code \ && rm -rf /var/lib/apt/lists/* # Set VS Code as the default text editor. @@ -218,17 +247,17 @@ RUN update-alternatives --set editor /usr/bin/code # Solve common error while deleting files from VS Code. # https://code.visualstudio.com/docs/setup/linux#_debian-and-moving-files-to-trash RUN apt-get update && apt-get install -y --no-install-recommends \ - gvfs-bin=1.36.1-0ubuntu1.3.3 \ + gvfs-bin \ && rm -rf /var/lib/apt/lists/* # Solve character rendering issues in GUI by adding missing Japanese fonts. RUN apt-get update && apt-get install -y --no-install-recommends \ - fonts-takao=00303.01-2ubuntu1 \ + fonts-takao \ && rm -rf /var/lib/apt/lists/* # Install a dependency that the next command requires, but VS Code seems to miss sometimes RUN apt-get update && apt-get install -y --no-install-recommends \ - libxtst6=2:1.2.3-1 \ + libxtst6 \ && rm -rf /var/lib/apt/lists/* # Install additional recommended VS Code extensions. @@ -243,13 +272,13 @@ RUN code --install-extension ms-python.python --user-data-dir=/root/.vscode/ \ && code --install-extension ajshort.msg --user-data-dir=/root/.vscode/ # Install Python linter as recommended by Python extension. -RUN /usr/bin/python -m pip install -U \ +RUN /usr/bin/python3 -m pip install -U \ pylint \ autopep8 # Install Exuberant Ctags as recommended by Python extension. RUN apt-get update && apt-get install -y --no-install-recommends \ - exuberant-ctags=1:5.9~svn20110310-11 \ + exuberant-ctags \ && rm -rf /var/lib/apt/lists/* ################################################################################ @@ -258,24 +287,24 @@ RUN apt-get update && apt-get install -y --no-install-recommends \ # librealsense2 RUN rm -f /etc/apt/sources.list.d/realsense-public.list -RUN echo 'deb http://librealsense.intel.com/Debian/apt-repo bionic main' | tee /etc/apt/sources.list.d/realsense-public.list +RUN echo 'deb http://librealsense.intel.com/Debian/apt-repo focal main' | tee /etc/apt/sources.list.d/realsense-public.list RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C8B3A55A6F3EFCDE RUN apt-get update && apt-get install -y --no-install-recommends \ - librealsense2-dkms=1.3.18-0ubuntu1 \ - librealsense2-utils=2.49.0-0~realsense0.5306 \ - librealsense2-dev=2.49.0-0~realsense0.5306 \ + librealsense2-dkms \ + librealsense2-utils \ + librealsense2-dev \ && rm -rf /var/lib/apt/lists/* ################################################################################ # Install opencv for the cameras -RUN pip install opencv-python==4.0.0.21 +RUN pip3 install opencv-python==4.1.2.30 ################################################################################ # Install keras # https://keras.io/#installation -RUN pip install keras==2.2.4 +RUN pip3 install keras==2.2.4 ################################################################################ @@ -283,41 +312,39 @@ RUN pip install keras==2.2.4 # https://docs-cupy.chainer.org/en/latest/install.html # And chainer # https://docs.chainer.org/en/stable/install.html -RUN pip install cupy-cuda101==5.4.0 chainer==5.4.0 +RUN pip3 install cupy-cuda110==10.2.0 chainer==7.8.1 ################################################################################ # Install gym for reinforcement learning -RUN pip install gym +RUN pip3 install gym ################################################################################ # Install eigenpy RUN apt-get update && apt-get install -y --no-install-recommends \ - ros-melodic-eigenpy=2.6.8-1bionic.20210907.141314 \ + ros-noetic-eigenpy \ && rm -rf /var/lib/apt/lists/* ################################################################################ # Deep Learning -RUN pip install torch -RUN pip install --upgrade scipy +RUN pip3 install torch +RUN pip3 install --upgrade scipy ################################################################################ # Install Python3 for open3d, and opencv # Careful: This might set pip to use Python3 by default RUN apt-get update && apt-get install -y --no-install-recommends \ - python3.6-dev=3.6.9-1~18.04ubuntu1.4 \ - python3-pip=9.0.1-2.3~ubuntu1.18.04.5 \ - python3-setuptools=39.0.1-2 \ - python3-opencv=3.2.0+dfsg-4ubuntu0.1 \ + python3-dev \ + python3-pip \ + python3-setuptools \ + python3-opencv \ && rm -rf /var/lib/apt/lists/* # Required for opencv-python. https://stackoverflow.com/questions/63448467/installing-opencv-fails-because-it-cannot-find-skbuild -RUN pip3 install --upgrade pip==21.0.1 - RUN pip3 install open3d==0.12.0 RUN pip3 install opencv-python==4.5.1.48 RUN pip3 install rospkg==1.2.10 @@ -326,45 +353,45 @@ RUN pip3 install rospkg==1.2.10 # Install emacs RUN apt-get update && apt-get install -y --no-install-recommends \ - emacs=47.0 \ + emacs \ && rm -rf /var/lib/apt/lists/* ################################################################################ # Install cgal RUN apt-get update && apt-get install -y --no-install-recommends \ - libcgal-dev=4.11-2build1 \ + libcgal-dev \ && rm -rf /var/lib/apt/lists/* ################################################################################ # Install matheval RUN apt-get update && apt-get install -y --no-install-recommends \ - libmatheval-dev=1.1.11+dfsg-3build1 \ + libmatheval-dev \ && rm -rf /var/lib/apt/lists/* ################################################################################ # Dependency for ur_python_utilities -RUN pip2 install pyquaternion==0.9.9 +RUN pip3 install pyquaternion==0.9.9 # Utilities RUN apt-get update && apt-get install -y --no-install-recommends \ - htop=2.1.0-3 \ - ros-melodic-rqt-multiplot=0.0.10-0bionic.20210921.205109 \ - ros-melodic-trac-ik-python=1.5.1-1bionic.20210921.222641 \ - ros-melodic-trac-ik-kinematics-plugin=1.5.1-1bionic.20210921.224102 \ - ros-melodic-flexbe-behavior-engine=1.3.1-1bionic.20210921.221501 \ - ros-melodic-gripper-action-controller=0.17.2-1bionic.20210921.220651 \ - ros-melodic-jsk-rviz-plugins=2.1.7-2bionic.20210921.230839 \ - python-rosinstall=0.7.8-1 \ + htop \ + ros-noetic-rqt-multiplot \ + ros-noetic-trac-ik-python \ + ros-noetic-trac-ik-kinematics-plugin \ + ros-noetic-flexbe-behavior-engine \ + ros-noetic-gripper-action-controller \ + ros-noetic-jsk-rviz-plugins \ + python3-rosinstall \ && rm -rf /var/lib/apt/lists/* ################################################################################ # Utilities to update the Dockerfile versions RUN apt-get update && apt-get install -y --no-install-recommends \ - python3-apt=1.6.5ubuntu0.7 \ + python3-apt \ && rm -rf /var/lib/apt/lists/* \ && pip3 install dockerfile_parse @@ -372,7 +399,7 @@ RUN apt-get update && apt-get install -y --no-install-recommends \ # Speed up catkin build with ccache RUN apt-get update && apt-get install -y --no-install-recommends \ - ccache=3.4.1-1 \ + ccache \ && rm -rf /var/lib/apt/lists/* RUN echo 'export PATH=/usr/lib/ccache:$PATH' >> $HOME/.bashrc diff --git a/docker/o2ac-dev/scripts/initialize-catkin-workspace.sh b/docker/o2ac-dev/scripts/initialize-catkin-workspace.sh index 9f0e18b7..1359b5f5 100755 --- a/docker/o2ac-dev/scripts/initialize-catkin-workspace.sh +++ b/docker/o2ac-dev/scripts/initialize-catkin-workspace.sh @@ -41,7 +41,7 @@ apt-get update rosdep update # Source the updated ROS environment. -source /opt/ros/melodic/setup.bash +source /opt/ros/noetic/setup.bash # FIXME: Setting PhoLocalization env variable manually seems to be required for ci. # Apparently it's not loaded correctly although the installation seems be complete. @@ -64,7 +64,7 @@ fi cd /root/o2ac-ur/underlay_ws/ && catkin config -init --blacklist robotiq_3f_gripper_articulated_gazebo robotiq_3f_gripper_articulated_gazebo_plugins robotiq_3f_rviz \ robotiq_3f_gripper_control robotiq_3f_gripper_rviz robotiq_3f_gripper_joint_state_publisher robotiq_3f_gripper_visualization \ moveit_ros_warehouse moveit_ros_benchmarks moveit_servo moveit_resources_prbt_ikfast_manipulator_plugin \ - moveit_resources_fanuc_moveit_config moveit_resources_panda_moveit_config moveit_resources_pr2_moveit_config \ +catkin build -DPYTHON_EXECUTABLE=/usr/bin/python3 -DPYTHON_INCLUDE_DIR=/usr/include/python3.8 ur3_e_moveit_config ur10_e_moveit_config catkin build source /root/o2ac-ur/underlay_ws/devel/setup.bash diff --git a/docker/o2ac-dev/scripts/reset-catkin-workspace.sh b/docker/o2ac-dev/scripts/reset-catkin-workspace.sh index 9e12a920..299bada7 100755 --- a/docker/o2ac-dev/scripts/reset-catkin-workspace.sh +++ b/docker/o2ac-dev/scripts/reset-catkin-workspace.sh @@ -11,7 +11,7 @@ rosdep update # TODO: Does this have any effect on the current shell? # Source the ROS environment. -source /opt/ros/melodic/setup.bash +source /opt/ros/noetic/setup.bash ################################################################################ diff --git a/o2ac-ur.code-workspace b/o2ac-ur.code-workspace index c2046d68..e8ac7a8d 100644 --- a/o2ac-ur.code-workspace +++ b/o2ac-ur.code-workspace @@ -23,7 +23,7 @@ "python.formatting.provider": "autopep8", // ROS distro name to use (kinetic, jade, ...). - "ros.distro": "melodic", + "ros.distro": "noetic", "files.watcherExclude": { "**/.git/objects/**": true, "**/.git/subtree-cache/**": true, diff --git a/underlay_ws/src/.rosinstall b/underlay_ws/src/.rosinstall index e30a3d71..5df9752c 100644 --- a/underlay_ws/src/.rosinstall +++ b/underlay_ws/src/.rosinstall @@ -2,10 +2,10 @@ local-name: rosparam_shortcuts uri: https://github.com/PickNikRobotics/rosparam_shortcuts.git version: melodic-devel -- git: - local-name: third_party/geometric_shapes - uri: https://github.com/ros-planning/geometric_shapes.git - version: noetic-devel +# - git: +# local-name: third_party/geometric_shapes +# uri: https://github.com/ros-planning/geometric_shapes.git +# version: noetic-devel - git: local-name: third_party/moveit_resources uri: https://github.com/ros-planning/moveit_resources.git @@ -18,14 +18,14 @@ local-name: third_party/rviz_visual_tools uri: https://github.com/PickNikRobotics/rviz_visual_tools version: master -- git: - local-name: third_party/flexbe_app - uri: https://github.com/cambel/flexbe_app.git - version: pddl-flexbe -- git: - local-name: third_party/generic_flexbe_states - uri: https://github.com/FlexBE/generic_flexbe_states.git - version: master +# - git: +# local-name: third_party/flexbe_app +# uri: https://github.com/cambel/flexbe_app.git +# version: pddl-flexbe +# - git: +# local-name: third_party/generic_flexbe_states +# uri: https://github.com/FlexBE/generic_flexbe_states.git +# version: master - git: local-name: third_party/robotiq uri: https://github.com/ros-industrial/robotiq.git From 2f0c556092f635582ce93d6816cb04b400801edc Mon Sep 17 00:00:00 2001 From: Cristian Beltran Date: Thu, 24 Mar 2022 14:43:44 +0900 Subject: [PATCH 04/15] Update moveit submodules --- underlay_ws/src/moveit | 2 +- underlay_ws/src/moveit_msgs | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/underlay_ws/src/moveit b/underlay_ws/src/moveit index dbc8c864..7d1ea129 160000 --- a/underlay_ws/src/moveit +++ b/underlay_ws/src/moveit @@ -1 +1 @@ -Subproject commit dbc8c8649a60938791b1906bb5d31547921ce894 +Subproject commit 7d1ea129ad72e3a696b3ca03996010ba791c184c diff --git a/underlay_ws/src/moveit_msgs b/underlay_ws/src/moveit_msgs index 6fea241b..c6011b5f 160000 --- a/underlay_ws/src/moveit_msgs +++ b/underlay_ws/src/moveit_msgs @@ -1 +1 @@ -Subproject commit 6fea241bf93475cfe8a7e9a35720f18e448e19ee +Subproject commit c6011b5ffc317543bd8c2818c9c18b9588328a15 From 519a9693cc32125d38bab65624ea2cf6f400f2c4 Mon Sep 17 00:00:00 2001 From: Cristian Beltran Date: Wed, 16 Mar 2022 16:49:21 +0900 Subject: [PATCH 05/15] Update docker utility scripts --- .../scripts/initialize-catkin-workspace.sh | 5 +- docker/o2ac-dev/update_dockerfile.py | 52 +++++++++++++------ 2 files changed, 37 insertions(+), 20 deletions(-) diff --git a/docker/o2ac-dev/scripts/initialize-catkin-workspace.sh b/docker/o2ac-dev/scripts/initialize-catkin-workspace.sh index 1359b5f5..6d6a672f 100755 --- a/docker/o2ac-dev/scripts/initialize-catkin-workspace.sh +++ b/docker/o2ac-dev/scripts/initialize-catkin-workspace.sh @@ -63,10 +63,8 @@ fi # Blacklist packages that we do not use but that are part of metapackages we need cd /root/o2ac-ur/underlay_ws/ && catkin config -init --blacklist robotiq_3f_gripper_articulated_gazebo robotiq_3f_gripper_articulated_gazebo_plugins robotiq_3f_rviz \ robotiq_3f_gripper_control robotiq_3f_gripper_rviz robotiq_3f_gripper_joint_state_publisher robotiq_3f_gripper_visualization \ - moveit_ros_warehouse moveit_ros_benchmarks moveit_servo moveit_resources_prbt_ikfast_manipulator_plugin \ -catkin build -DPYTHON_EXECUTABLE=/usr/bin/python3 -DPYTHON_INCLUDE_DIR=/usr/include/python3.8 ur3_e_moveit_config ur10_e_moveit_config -catkin build +catkin build -DPYTHON_EXECUTABLE=/usr/bin/python3 -DPYTHON_INCLUDE_DIR=/usr/include/python3.8 source /root/o2ac-ur/underlay_ws/devel/setup.bash @@ -87,3 +85,4 @@ source /root/o2ac-ur/catkin_ws/devel/setup.bash rosrun o2ac_parts_description generate_urdf_from_meshes.py rosrun o2ac_parts_description generate_assembled_piece.py rosrun o2ac_parts_description convert_stl_to_ply.py + diff --git a/docker/o2ac-dev/update_dockerfile.py b/docker/o2ac-dev/update_dockerfile.py index 398abbe0..6c4ff950 100755 --- a/docker/o2ac-dev/update_dockerfile.py +++ b/docker/o2ac-dev/update_dockerfile.py @@ -4,6 +4,7 @@ from pprint import pprint from dockerfile_parse import DockerfileParser from IPython.terminal.debugger import set_trace as keyboard +import numpy as np # This script updates each library in the Dockerfile to the newest version. # Each `apt-get install` command needs to be formatted with one library per line. @@ -55,20 +56,19 @@ def update_libraries_without_vars(dockerfile_path): print("Error while reading in lines. Are all libraries on their own line?") print("Failed on line:") print(line) + print('??????????', libraries) # split into library names and versions lib_names, lib_versions = [], [] for lib in libraries: - try: + if '=' in lib: lib_name_ver = lib.split('=') if lib_name_ver[1][0] != '$': # ignore variables for now lib_names.append(lib_name_ver[0]) lib_versions.append(lib_name_ver[1]) - except Exception as e: - print(e) - print("Error while reading in lines. Are all libraries on their own line?") - print("Failed on line:") - print(line) + else: + lib_names.append(lib) + lib_versions.append('no specified') # update and open apt cache cache = apt.cache.Cache() @@ -80,9 +80,11 @@ def update_libraries_without_vars(dockerfile_path): print("Done") # find the libraries to update - libs_to_update = [] + libs_to_update = dict() for lib_name, docker_ver in zip(lib_names, lib_versions): pkg = cache.get(lib_name, None) + if libs_to_update.get(lib_name): + continue if not pkg: print(bcolors.WARNING + "[%s] WARNING: Package not found in cache, ignoring it." % str(lib_name) + bcolors.ENDC) continue @@ -91,20 +93,27 @@ def update_libraries_without_vars(dockerfile_path): print(bcolors.WARNING + "[%s] WARNING: Dockerfile version and installed version are different!" % str(lib_name) + bcolors.ENDC) if docker_ver != pkg.candidate.version: print(bcolors.FAIL + "[%s] UPDATED (old: %s --> new: %s)" % (str(lib_name), str(docker_ver), str(pkg.candidate.version)) + bcolors.ENDC) - libs_to_update.append([lib_name, pkg.candidate.version]) + libs_to_update.update({lib_name: pkg.candidate.version}) else: print("[%s] Up to date (%s)" % (str(lib_name), str(docker_ver))) + # print('+++++',libs_to_update) + # substitute the libraries versions + newlines = [] for line in lines: aux = False - for lib in libs_to_update: - if lib[0].replace(' ', '') == line.replace(' ', '').replace('\t', '').split('=')[0]: + for lib in libs_to_update.items(): + old_line = str(line.replace(' ', '').replace('\\', '').replace('\t', '').strip()) + # if lib[0] in old_line: + # print('wdf', '|'+old_line+'|', 'lib', '|'+lib[0]+'|',lib[1], '=' in old_line, lib[0] == old_line.split('=')[0], lib[0] == old_line ) + if ('=' in old_line and lib[0] == old_line.split('=')[0]) \ + or lib[0] == old_line: newline = ' '+str(lib[0])+'='+str(lib[1])+' \\\n' newlines.append(newline) aux = True - if aux == False: + if not aux: newlines.append(line) # update dockerfile @@ -143,12 +152,21 @@ def update_libraries_with_vars(dockerfile_path): # split into library names and versions lib_names, lib_versions, arg_names = [], [], [] for lib in libraries: - lib_name_ver = lib.split('=') - if lib_name_ver[1][0] == '$': # TODO this fails when the version is not pinned (i.e., no equal symbol present) - lib_names.append(lib_name_ver[0]) - env_var_version = dfp.envs[lib_name_ver[1].replace('$', '').replace('{', '').replace('}', '')] + if '=' in lib: + lib_name_ver = lib.split('=') + if lib_name_ver[1][0] == '$': # TODO this fails when the version is not pinned (i.e., no equal symbol present) + lib_names.append(lib_name_ver[0]) + env_var_version = dfp.envs[lib_name_ver[1].replace('$', '').replace('{', '').replace('}', '')] + lib_versions.append(env_var_version) + arg_name = lib_name_ver[1].replace('$', '').replace('{', '').replace('}', '').lower() + arg_names.append(arg_name) + else: + lib_names.append(lib) + # env_var_version = dfp.envs[lib[1].replace('$', '').replace('{', '').replace('}', '')] + env_var_version = 'None' lib_versions.append(env_var_version) - arg_name = lib_name_ver[1].replace('$', '').replace('{', '').replace('}', '').lower() + # arg_name = lib[1].replace('$', '').replace('{', '').replace('}', '').lower() + arg_name = 'None' arg_names.append(arg_name) # update and open apt cache @@ -201,7 +219,7 @@ def update_libraries_with_vars(dockerfile_path): def update_libraries(dockerfile_path): update_libraries_without_vars(dockerfile_path) - update_libraries_with_vars(dockerfile_path) + # update_libraries_with_vars(dockerfile_path) if __name__ == '__main__': From 69917c70bde0e4dc0df8e3c21ead3bd2b6db7371 Mon Sep 17 00:00:00 2001 From: Cristian Beltran Date: Thu, 24 Mar 2022 14:44:43 +0900 Subject: [PATCH 06/15] Add UR robot driver as dependency --- .gitignore | 1 + underlay_ws/src/.rosinstall | 12 ++++++++++++ 2 files changed, 13 insertions(+) diff --git a/.gitignore b/.gitignore index f530ceea..c3a4314f 100644 --- a/.gitignore +++ b/.gitignore @@ -59,6 +59,7 @@ underlay_ws/src/third_party/generic_flexbe_states underlay_ws/src/third_party/flexbe_app underlay_ws/src/third_party/Universal_Robots_Client_Library underlay_ws/src/third_party/ur_robot_driver +underlay_ws/src/third_party/universal_robot underlay_ws/src/third_party/robotiq underlay_ws/src/third_party/aruco_ros underlay_ws/src/third_party/gazebo_ros_link_attacher diff --git a/underlay_ws/src/.rosinstall b/underlay_ws/src/.rosinstall index 5df9752c..69cf85d6 100644 --- a/underlay_ws/src/.rosinstall +++ b/underlay_ws/src/.rosinstall @@ -42,3 +42,15 @@ local-name: third_party/gazebo_ros_link_attacher uri: https://github.com/pal-robotics/gazebo_ros_link_attacher.git version: melodic-devel +- git: + local-name: third_party/trac-ik + uri: https://bitbucket.org/traclabs/trac_ik.git + version: master +- git: + local-name: third_party/ur_robot_driver + uri: https://github.com/UniversalRobots/Universal_Robots_ROS_Driver.git + version: master +- git: + local-name: third_party/universal_robot + uri: https://github.com/fmauch/universal_robot.git + version: calibration_devel From 07dcd8f231eae1eedba85e1fed8f6421b79a3a4e Mon Sep 17 00:00:00 2001 From: Cristian Beltran Date: Thu, 24 Mar 2022 13:50:55 +0900 Subject: [PATCH 07/15] Update submodules to Noetic --- underlay_ws/src/third_party/realsense-ros | 2 +- underlay_ws/src/ur_python_utilities | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/underlay_ws/src/third_party/realsense-ros b/underlay_ws/src/third_party/realsense-ros index dd092135..e4938bbb 160000 --- a/underlay_ws/src/third_party/realsense-ros +++ b/underlay_ws/src/third_party/realsense-ros @@ -1 +1 @@ -Subproject commit dd0921352fe7c818316fcff1f6d3a41995abcf29 +Subproject commit e4938bbbfd7b285fe71f81fe69cebcc76dbf72fc diff --git a/underlay_ws/src/ur_python_utilities b/underlay_ws/src/ur_python_utilities index 9d1f2c2f..8f64b276 160000 --- a/underlay_ws/src/ur_python_utilities +++ b/underlay_ws/src/ur_python_utilities @@ -1 +1 @@ -Subproject commit 9d1f2c2f856df3621c8a470e9db220f6ee141fa6 +Subproject commit 8f64b27696de22772691fd58018d19b2f5b34934 From c4e01e7f96b75b9cf95ed3586b3ff31c91f189ca Mon Sep 17 00:00:00 2001 From: Cristian Beltran Date: Thu, 24 Mar 2022 13:51:18 +0900 Subject: [PATCH 08/15] Fix compatibility issues --- .vscode/c_cpp_properties.json | 16 + .../aist_depth_filter/src/utils.h | 1 + .../aist_new_localization/src/utils.h | 1 + .../src/o2ac_moveit_config/launch/moveit.rviz | 1835 +++++++++++++---- .../src/o2ac_visualization/CMakeLists.txt | 2 +- .../src/o2ac_visualization.cpp | 6 +- 6 files changed, 1424 insertions(+), 437 deletions(-) create mode 100644 .vscode/c_cpp_properties.json diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json new file mode 100644 index 00000000..3083e4d8 --- /dev/null +++ b/.vscode/c_cpp_properties.json @@ -0,0 +1,16 @@ +{ + "configurations": [ + { + "name": "Linux", + "includePath": [ + "${workspaceFolder}/**" + ], + "defines": [], + "compilerPath": "/usr/lib/ccache/gcc", + "cStandard": "gnu17", + "cppStandard": "gnu++14", + "intelliSenseMode": "linux-gcc-x64" + } + ], + "version": 4 +} \ No newline at end of file diff --git a/catkin_ws/src/aist_modules/aist_depth_filter/src/utils.h b/catkin_ws/src/aist_modules/aist_depth_filter/src/utils.h index 1cc9db9d..b14d4e4a 100644 --- a/catkin_ws/src/aist_modules/aist_depth_filter/src/utils.h +++ b/catkin_ws/src/aist_modules/aist_depth_filter/src/utils.h @@ -13,6 +13,7 @@ #include #include #include +#include namespace aist_depth_filter { diff --git a/catkin_ws/src/aist_modules/aist_new_localization/src/utils.h b/catkin_ws/src/aist_modules/aist_new_localization/src/utils.h index 2820ee21..a17413fa 100644 --- a/catkin_ws/src/aist_modules/aist_new_localization/src/utils.h +++ b/catkin_ws/src/aist_modules/aist_new_localization/src/utils.h @@ -49,6 +49,7 @@ #include #include #include +#include namespace aist_new_localization { diff --git a/catkin_ws/src/o2ac_moveit_config/launch/moveit.rviz b/catkin_ws/src/o2ac_moveit_config/launch/moveit.rviz index e21b0995..dd63bd33 100644 --- a/catkin_ws/src/o2ac_moveit_config/launch/moveit.rviz +++ b/catkin_ws/src/o2ac_moveit_config/launch/moveit.rviz @@ -5,11 +5,12 @@ Panels: Property Tree Widget: Expanded: - /PlanningScene1/Scene Geometry1 + - /MotionPlanning1 - /TF1/Frames1 - /DepthCloud1/Auto Size1 - /Move Success Visualization1/Namespaces1 Splitter Ratio: 0.6773163080215454 - Tree Height: 733 + Tree Height: 355 - Class: rviz/Help Name: Help - Class: rviz/Views @@ -108,16 +109,16 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false - Value: true - a_bot_base_smfl: + a_bot_base_link_inertia: Alpha: 1 Show Axes: false Show Trail: false Value: true - a_bot_cable_tool_tip_link: + a_bot_base_smfl: Alpha: 1 Show Axes: false Show Trail: false + Value: true a_bot_cam_cables_link: Alpha: 1 Show Axes: false @@ -138,6 +139,10 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true + a_bot_flange: + Alpha: 1 + Show Axes: false + Show Trail: false a_bot_forearm_link: Alpha: 1 Show Axes: false @@ -196,6 +201,10 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false + a_bot_knife_tool_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false a_bot_left_inner_finger: Alpha: 1 Show Axes: false @@ -225,10 +234,6 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false - a_bot_nut_tool_m6_tip_link: - Alpha: 1 - Show Axes: false - Show Trail: false a_bot_outside_cam_link: Alpha: 1 Show Axes: false @@ -308,18 +313,6 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true - a_bot_screw_tool_m3_tip_link: - Alpha: 1 - Show Axes: false - Show Trail: false - a_bot_screw_tool_m4_tip_link: - Alpha: 1 - Show Axes: false - Show Trail: false - a_bot_set_screw_tool_tip_link: - Alpha: 1 - Show Axes: false - Show Trail: false a_bot_shoulder_link: Alpha: 1 Show Axes: false @@ -358,30 +351,6 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true - agv_tray: - Alpha: 1 - Show Axes: false - Show Trail: false - agv_tray_center: - Alpha: 1 - Show Axes: false - Show Trail: false - agv_traycorner_1_link: - Alpha: 1 - Show Axes: false - Show Trail: false - agv_traycorner_2_link: - Alpha: 1 - Show Axes: false - Show Trail: false - agv_traycorner_3_link: - Alpha: 1 - Show Axes: false - Show Trail: false - agv_traycorner_4_link: - Alpha: 1 - Show Axes: false - Show Trail: false attached_base_origin_back_link: Alpha: 1 Show Axes: false @@ -398,6 +367,10 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false + b_bot_base_link_inertia: + Alpha: 1 + Show Axes: false + Show Trail: false Value: true b_bot_base_smfl: Alpha: 1 @@ -436,6 +409,10 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true + b_bot_flange: + Alpha: 1 + Show Axes: false + Show Trail: false b_bot_forearm_link: Alpha: 1 Show Axes: false @@ -671,26 +648,12 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true - belt_tool_holder: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - belt_tool_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - belt_tool_pickup_link: - Alpha: 1 - Show Axes: false - Show Trail: false - cable_holder_link: + cooking_board: Alpha: 1 Show Axes: false Show Trail: false Value: true - cable_holder_pickup_link: + cooking_board_surface: Alpha: 1 Show Axes: false Show Trail: false @@ -709,46 +672,20 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true - left_bar: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - left_centering_link: - Alpha: 1 - Show Axes: false - Show Trail: false - m3_feeder_inlet_link: - Alpha: 1 - Show Axes: false - Show Trail: false - m3_feeder_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - m3_feeder_outlet_link: + knife_link: Alpha: 1 Show Axes: false Show Trail: false - m4_feeder_inlet_link: + knife_pickup_link: Alpha: 1 Show Axes: false Show Trail: false - m4_feeder_link: + left_bar: Alpha: 1 Show Axes: false Show Trail: false Value: true - m4_feeder_outlet_link: - Alpha: 1 - Show Axes: false - Show Trail: false - nut_holder1_link: - Alpha: 1 - Show Axes: false - Show Trail: false - nut_holder2_link: + left_centering_link: Alpha: 1 Show Axes: false Show Trail: false @@ -756,28 +693,11 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false - padless_tool_m4_link: - Alpha: 1 - Show Axes: false - Show Trail: false - padless_tool_m4_pickup_link: - Alpha: 1 - Show Axes: false - Show Trail: false - plunger_tool_holder: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - plunger_tool_link: + plate: Alpha: 1 Show Axes: false Show Trail: false Value: true - plunger_tool_pickup_link: - Alpha: 1 - Show Axes: false - Show Trail: false right_bar: Alpha: 1 Show Axes: false @@ -835,61 +755,6 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true - simple_holder: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - simple_holder_tip_link: - Alpha: 1 - Show Axes: false - Show Trail: false - tray: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - tray_center: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - tray_left_stopper: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - tray_left_stopper2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - tray_right_stopper: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - tray_right_stopper2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - traycorner_1_link: - Alpha: 1 - Show Axes: false - Show Trail: false - traycorner_2_link: - Alpha: 1 - Show Axes: false - Show Trail: false - traycorner_3_link: - Alpha: 1 - Show Axes: false - Show Trail: false - traycorner_4_link: - Alpha: 1 - Show Axes: false - Show Trail: false tv: Alpha: 1 Show Axes: false @@ -905,67 +770,6 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true - vgroove_aid_drop_point_link: - Alpha: 1 - Show Axes: false - Show Trail: false - vgroove_aid_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - washer_holder1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - washer_holder1_collar_link: - Alpha: 1 - Show Axes: false - Show Trail: false - washer_holder1_tip_link: - Alpha: 1 - Show Axes: false - Show Trail: false - washer_holder2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - washer_holder2_collar_link: - Alpha: 1 - Show Axes: false - Show Trail: false - washer_holder2_tip_link: - Alpha: 1 - Show Axes: false - Show Trail: false - washer_holder3: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - washer_holder3_collar_link: - Alpha: 1 - Show Axes: false - Show Trail: false - washer_holder3_tip_link: - Alpha: 1 - Show Axes: false - Show Trail: false - washer_holder4: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - washer_holder4_collar_link: - Alpha: 1 - Show Axes: false - Show Trail: false - washer_holder4_tip_link: - Alpha: 1 - Show Axes: false - Show Trail: false workplate: Alpha: 1 Show Axes: false @@ -1016,16 +820,16 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false - Value: true - a_bot_base_smfl: + a_bot_base_link_inertia: Alpha: 1 Show Axes: false Show Trail: false Value: true - a_bot_cable_tool_tip_link: + a_bot_base_smfl: Alpha: 1 Show Axes: false Show Trail: false + Value: true a_bot_cam_cables_link: Alpha: 1 Show Axes: false @@ -1046,6 +850,10 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true + a_bot_flange: + Alpha: 1 + Show Axes: false + Show Trail: false a_bot_forearm_link: Alpha: 1 Show Axes: false @@ -1104,6 +912,10 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false + a_bot_knife_tool_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false a_bot_left_inner_finger: Alpha: 1 Show Axes: false @@ -1133,10 +945,6 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false - a_bot_nut_tool_m6_tip_link: - Alpha: 1 - Show Axes: false - Show Trail: false a_bot_outside_cam_link: Alpha: 1 Show Axes: false @@ -1216,18 +1024,6 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true - a_bot_screw_tool_m3_tip_link: - Alpha: 1 - Show Axes: false - Show Trail: false - a_bot_screw_tool_m4_tip_link: - Alpha: 1 - Show Axes: false - Show Trail: false - a_bot_set_screw_tool_tip_link: - Alpha: 1 - Show Axes: false - Show Trail: false a_bot_shoulder_link: Alpha: 1 Show Axes: false @@ -1266,30 +1062,6 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true - agv_tray: - Alpha: 1 - Show Axes: false - Show Trail: false - agv_tray_center: - Alpha: 1 - Show Axes: false - Show Trail: false - agv_traycorner_1_link: - Alpha: 1 - Show Axes: false - Show Trail: false - agv_traycorner_2_link: - Alpha: 1 - Show Axes: false - Show Trail: false - agv_traycorner_3_link: - Alpha: 1 - Show Axes: false - Show Trail: false - agv_traycorner_4_link: - Alpha: 1 - Show Axes: false - Show Trail: false attached_base_origin_back_link: Alpha: 1 Show Axes: false @@ -1306,6 +1078,10 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false + b_bot_base_link_inertia: + Alpha: 1 + Show Axes: false + Show Trail: false Value: true b_bot_base_smfl: Alpha: 1 @@ -1344,6 +1120,10 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true + b_bot_flange: + Alpha: 1 + Show Axes: false + Show Trail: false b_bot_forearm_link: Alpha: 1 Show Axes: false @@ -1579,44 +1359,38 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true - belt_tool_holder: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - belt_tool_link: + cooking_board: Alpha: 1 Show Axes: false Show Trail: false Value: true - belt_tool_pickup_link: + cooking_board_surface: Alpha: 1 Show Axes: false Show Trail: false - cable_holder_link: + front_bar: Alpha: 1 Show Axes: false Show Trail: false Value: true - cable_holder_pickup_link: + horizontal_column_for_tools: Alpha: 1 Show Axes: false Show Trail: false - front_bar: + Value: true + horizontal_column_top: Alpha: 1 Show Axes: false Show Trail: false Value: true - horizontal_column_for_tools: + knife_link: Alpha: 1 Show Axes: false Show Trail: false - Value: true - horizontal_column_top: + knife_pickup_link: Alpha: 1 Show Axes: false Show Trail: false - Value: true left_bar: Alpha: 1 Show Axes: false @@ -1626,254 +1400,1534 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false - m3_feeder_inlet_link: + o2ac_ground: Alpha: 1 Show Axes: false Show Trail: false - m3_feeder_link: + plate: Alpha: 1 Show Axes: false Show Trail: false Value: true - m3_feeder_outlet_link: + right_bar: Alpha: 1 Show Axes: false Show Trail: false - m4_feeder_inlet_link: + Value: true + right_centering_link: Alpha: 1 Show Axes: false Show Trail: false - m4_feeder_link: + right_storage_area_link: Alpha: 1 Show Axes: false Show Trail: false - Value: true - m4_feeder_outlet_link: + screw_tool_holder_long: Alpha: 1 Show Axes: false Show Trail: false - nut_holder1_link: + Value: true + screw_tool_holder_short: Alpha: 1 Show Axes: false Show Trail: false - nut_holder2_link: + Value: true + screw_tool_m3_link: Alpha: 1 Show Axes: false Show Trail: false - o2ac_ground: + screw_tool_m3_pickup_link: Alpha: 1 Show Axes: false Show Trail: false - padless_tool_m4_link: + screw_tool_m4_link: + Alpha: 1 + Show Axes: false + Show Trail: false + screw_tool_m4_pickup_link: + Alpha: 1 + Show Axes: false + Show Trail: false + set_screw_tool_link: + Alpha: 1 + Show Axes: false + Show Trail: false + set_screw_tool_pickup_link: + Alpha: 1 + Show Axes: false + Show Trail: false + side_limit_a: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + side_limit_b: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + tv: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + vertical_column_left: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + vertical_column_right: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + workplate: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + workspace_center: + Alpha: 1 + Show Axes: false + Show Trail: false + world: + Alpha: 1 + Show Axes: false + Show Trail: false + Robot Alpha: 1 + Show Robot Collision: false + Show Robot Visual: true + Value: true + - Acceleration_Scaling_Factor: 0.1 + Class: moveit_rviz_plugin/MotionPlanning + Enabled: true + Move Group Namespace: "" + MoveIt_Allow_Approximate_IK: false + MoveIt_Allow_External_Program: false + MoveIt_Allow_Replanning: false + MoveIt_Allow_Sensor_Positioning: false + MoveIt_Planning_Attempts: 10 + MoveIt_Planning_Time: 1 + MoveIt_Use_Cartesian_Path: false + MoveIt_Use_Constraint_Aware_IK: true + MoveIt_Workspace: + Center: + X: 0 + Y: 0 + Z: 0 + Size: + X: 2 + Y: 2 + Z: 2 + Name: MotionPlanning + Planned Path: + Color Enabled: false + Interrupt Display: false + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + a_bot_base: + Alpha: 1 + Show Axes: false + Show Trail: false + a_bot_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + a_bot_base_link_inertia: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + a_bot_base_smfl: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + a_bot_cam_cables_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + a_bot_cam_mount: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + a_bot_coupling: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + a_bot_ee_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + a_bot_flange: + Alpha: 1 + Show Axes: false + Show Trail: false + a_bot_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + a_bot_gripper_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + a_bot_inside_cam_link: + Alpha: 1 + Show Axes: false + Show Trail: false + a_bot_inside_camera_color_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + a_bot_inside_camera_color_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + a_bot_inside_camera_connector_link: + Alpha: 1 + Show Axes: false + Show Trail: false + a_bot_inside_camera_depth_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + a_bot_inside_camera_depth_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + a_bot_inside_camera_left_ir_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + a_bot_inside_camera_left_ir_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + a_bot_inside_camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + a_bot_inside_camera_right_ir_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + a_bot_inside_camera_right_ir_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + a_bot_intermediate_link: + Alpha: 1 + Show Axes: false + Show Trail: false + a_bot_knife_tool_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + a_bot_left_inner_finger: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + a_bot_left_inner_finger_pad: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + a_bot_left_inner_knuckle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + a_bot_left_outer_finger: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + a_bot_left_outer_knuckle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + a_bot_nut_tool_m4_hole_link: + Alpha: 1 + Show Axes: false + Show Trail: false + a_bot_outside_cam_link: + Alpha: 1 + Show Axes: false + Show Trail: false + a_bot_outside_camera_color_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + a_bot_outside_camera_color_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + a_bot_outside_camera_connector_link: + Alpha: 1 + Show Axes: false + Show Trail: false + a_bot_outside_camera_depth_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + a_bot_outside_camera_depth_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + a_bot_outside_camera_left_ir_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + a_bot_outside_camera_left_ir_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + a_bot_outside_camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + a_bot_outside_camera_right_ir_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + a_bot_outside_camera_right_ir_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + a_bot_right_inner_finger: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + a_bot_right_inner_finger_pad: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + a_bot_right_inner_knuckle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + a_bot_right_outer_finger: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + a_bot_right_outer_knuckle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + a_bot_robotiq_140_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + a_bot_robotiq_arg2f_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + a_bot_shoulder_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + a_bot_tool0: + Alpha: 1 + Show Axes: false + Show Trail: false + a_bot_tool_intermediate_link: + Alpha: 1 + Show Axes: false + Show Trail: false + a_bot_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + a_bot_wrist_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + a_bot_wrist_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + a_bot_wrist_3_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + agv_table: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + attached_base_origin_back_link: + Alpha: 1 + Show Axes: false + Show Trail: false + attached_base_origin_link: + Alpha: 1 + Show Axes: false + Show Trail: false + b_bot_base: + Alpha: 1 + Show Axes: false + Show Trail: false + b_bot_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + b_bot_base_link_inertia: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + b_bot_base_smfl: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + b_bot_bearing_rotate_helper_link: + Alpha: 1 + Show Axes: false + Show Trail: false + b_bot_belt_hook_curve_link: + Alpha: 1 + Show Axes: false + Show Trail: false + b_bot_cable_tool_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + b_bot_cam_cables_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + b_bot_cam_mount: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + b_bot_coupling: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + b_bot_ee_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + b_bot_flange: + Alpha: 1 + Show Axes: false + Show Trail: false + b_bot_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + b_bot_gripper_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + b_bot_inside_cam_link: + Alpha: 1 + Show Axes: false + Show Trail: false + b_bot_inside_camera_color_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + b_bot_inside_camera_color_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + b_bot_inside_camera_connector_link: + Alpha: 1 + Show Axes: false + Show Trail: false + b_bot_inside_camera_depth_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + b_bot_inside_camera_depth_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + b_bot_inside_camera_left_ir_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + b_bot_inside_camera_left_ir_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + b_bot_inside_camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + b_bot_inside_camera_right_ir_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + b_bot_inside_camera_right_ir_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + b_bot_intermediate_link: + Alpha: 1 + Show Axes: false + Show Trail: false + b_bot_left_inner_finger: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + b_bot_left_inner_finger_pad: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + b_bot_left_inner_knuckle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + b_bot_left_outer_finger: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + b_bot_left_outer_knuckle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + b_bot_nut_tool_m6_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + b_bot_outside_cam_link: + Alpha: 1 + Show Axes: false + Show Trail: false + b_bot_outside_camera_color_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + b_bot_outside_camera_color_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + b_bot_outside_camera_connector_link: + Alpha: 1 + Show Axes: false + Show Trail: false + b_bot_outside_camera_depth_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + b_bot_outside_camera_depth_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + b_bot_outside_camera_left_ir_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + b_bot_outside_camera_left_ir_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + b_bot_outside_camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + b_bot_outside_camera_right_ir_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + b_bot_outside_camera_right_ir_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + b_bot_plunger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + b_bot_right_inner_finger: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + b_bot_right_inner_finger_pad: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + b_bot_right_inner_knuckle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + b_bot_right_outer_finger: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + b_bot_right_outer_knuckle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + b_bot_robotiq_85_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + b_bot_robotiq_arg2f_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + b_bot_screw_tool_m3_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + b_bot_screw_tool_m4_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + b_bot_set_screw_tool_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + b_bot_shoulder_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + b_bot_tool0: + Alpha: 1 + Show Axes: false + Show Trail: false + b_bot_tool_intermediate_link: + Alpha: 1 + Show Axes: false + Show Trail: false + b_bot_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + b_bot_wrist_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + b_bot_wrist_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + b_bot_wrist_3_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + back_bar: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + back_limit_a: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + back_limit_b: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_fixture_top: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cooking_board: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cooking_board_surface: + Alpha: 1 + Show Axes: false + Show Trail: false + front_bar: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + horizontal_column_for_tools: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + horizontal_column_top: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + knife_link: + Alpha: 1 + Show Axes: false + Show Trail: false + knife_pickup_link: + Alpha: 1 + Show Axes: false + Show Trail: false + left_bar: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_centering_link: + Alpha: 1 + Show Axes: false + Show Trail: false + o2ac_ground: + Alpha: 1 + Show Axes: false + Show Trail: false + plate: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_bar: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_centering_link: + Alpha: 1 + Show Axes: false + Show Trail: false + right_storage_area_link: + Alpha: 1 + Show Axes: false + Show Trail: false + screw_tool_holder_long: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + screw_tool_holder_short: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + screw_tool_m3_link: + Alpha: 1 + Show Axes: false + Show Trail: false + screw_tool_m3_pickup_link: + Alpha: 1 + Show Axes: false + Show Trail: false + screw_tool_m4_link: + Alpha: 1 + Show Axes: false + Show Trail: false + screw_tool_m4_pickup_link: + Alpha: 1 + Show Axes: false + Show Trail: false + set_screw_tool_link: + Alpha: 1 + Show Axes: false + Show Trail: false + set_screw_tool_pickup_link: + Alpha: 1 + Show Axes: false + Show Trail: false + side_limit_a: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + side_limit_b: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + tv: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + vertical_column_left: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + vertical_column_right: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + workplate: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + workspace_center: + Alpha: 1 + Show Axes: false + Show Trail: false + world: + Alpha: 1 + Show Axes: false + Show Trail: false + Loop Animation: false + Robot Alpha: 0.5 + Robot Color: 150; 50; 150 + Show Robot Collision: false + Show Robot Visual: true + Show Trail: false + State Display Time: 0.05 s + Trail Step Size: 1 + Trajectory Topic: move_group/display_planned_path + Use Sim Time: false + Planning Metrics: + Payload: 1 + Show Joint Torques: false + Show Manipulability: false + Show Manipulability Index: false + Show Weight Limit: false + TextHeight: 0.07999999821186066 + Planning Request: + Colliding Link Color: 255; 0; 0 + Goal State Alpha: 0.5 + Goal State Color: 250; 128; 0 + Interactive Marker Size: 0.20000000298023224 + Joint Violation Color: 255; 0; 255 + Planning Group: a_bot + Query Goal State: false + Query Start State: false + Show Workspace: false + Start State Alpha: 1 + Start State Color: 0; 255; 0 + Planning Scene Topic: move_group/monitored_planning_scene + Robot Description: robot_description + Scene Geometry: + Scene Alpha: 1 + Scene Color: 50; 230; 50 + Scene Display Time: 0.10000000149011612 + Scene Visual Mesh Scale: 0.0010000000474974513 + Show Collision: true + Show Visual: true + Voxel Coloring: Z-Axis + Voxel Rendering: Occupied Voxels + Scene Robot: + Attached Body Color: 150; 50; 150 + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + a_bot_base: + Alpha: 1 + Show Axes: false + Show Trail: false + a_bot_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + a_bot_base_link_inertia: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + a_bot_base_smfl: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + a_bot_cam_cables_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + a_bot_cam_mount: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + a_bot_coupling: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + a_bot_ee_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + a_bot_flange: + Alpha: 1 + Show Axes: false + Show Trail: false + a_bot_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + a_bot_gripper_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + a_bot_inside_cam_link: + Alpha: 1 + Show Axes: false + Show Trail: false + a_bot_inside_camera_color_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + a_bot_inside_camera_color_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + a_bot_inside_camera_connector_link: + Alpha: 1 + Show Axes: false + Show Trail: false + a_bot_inside_camera_depth_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + a_bot_inside_camera_depth_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + a_bot_inside_camera_left_ir_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + a_bot_inside_camera_left_ir_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + a_bot_inside_camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + a_bot_inside_camera_right_ir_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + a_bot_inside_camera_right_ir_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + a_bot_intermediate_link: + Alpha: 1 + Show Axes: false + Show Trail: false + a_bot_knife_tool_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + a_bot_left_inner_finger: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + a_bot_left_inner_finger_pad: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + a_bot_left_inner_knuckle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + a_bot_left_outer_finger: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + a_bot_left_outer_knuckle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + a_bot_nut_tool_m4_hole_link: + Alpha: 1 + Show Axes: false + Show Trail: false + a_bot_outside_cam_link: + Alpha: 1 + Show Axes: false + Show Trail: false + a_bot_outside_camera_color_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + a_bot_outside_camera_color_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + a_bot_outside_camera_connector_link: + Alpha: 1 + Show Axes: false + Show Trail: false + a_bot_outside_camera_depth_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + a_bot_outside_camera_depth_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + a_bot_outside_camera_left_ir_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + a_bot_outside_camera_left_ir_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + a_bot_outside_camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + a_bot_outside_camera_right_ir_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + a_bot_outside_camera_right_ir_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + a_bot_right_inner_finger: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + a_bot_right_inner_finger_pad: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + a_bot_right_inner_knuckle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + a_bot_right_outer_finger: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + a_bot_right_outer_knuckle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + a_bot_robotiq_140_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + a_bot_robotiq_arg2f_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + a_bot_shoulder_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + a_bot_tool0: + Alpha: 1 + Show Axes: false + Show Trail: false + a_bot_tool_intermediate_link: + Alpha: 1 + Show Axes: false + Show Trail: false + a_bot_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + a_bot_wrist_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + a_bot_wrist_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + a_bot_wrist_3_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + agv_table: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + attached_base_origin_back_link: + Alpha: 1 + Show Axes: false + Show Trail: false + attached_base_origin_link: + Alpha: 1 + Show Axes: false + Show Trail: false + b_bot_base: + Alpha: 1 + Show Axes: false + Show Trail: false + b_bot_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + b_bot_base_link_inertia: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + b_bot_base_smfl: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + b_bot_bearing_rotate_helper_link: + Alpha: 1 + Show Axes: false + Show Trail: false + b_bot_belt_hook_curve_link: + Alpha: 1 + Show Axes: false + Show Trail: false + b_bot_cable_tool_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + b_bot_cam_cables_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + b_bot_cam_mount: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + b_bot_coupling: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + b_bot_ee_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + b_bot_flange: + Alpha: 1 + Show Axes: false + Show Trail: false + b_bot_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + b_bot_gripper_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + b_bot_inside_cam_link: + Alpha: 1 + Show Axes: false + Show Trail: false + b_bot_inside_camera_color_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + b_bot_inside_camera_color_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + b_bot_inside_camera_connector_link: + Alpha: 1 + Show Axes: false + Show Trail: false + b_bot_inside_camera_depth_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + b_bot_inside_camera_depth_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + b_bot_inside_camera_left_ir_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + b_bot_inside_camera_left_ir_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + b_bot_inside_camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + b_bot_inside_camera_right_ir_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + b_bot_inside_camera_right_ir_optical_frame: Alpha: 1 Show Axes: false Show Trail: false - padless_tool_m4_pickup_link: + b_bot_intermediate_link: Alpha: 1 Show Axes: false Show Trail: false - plunger_tool_holder: + b_bot_left_inner_finger: Alpha: 1 Show Axes: false Show Trail: false Value: true - plunger_tool_link: + b_bot_left_inner_finger_pad: Alpha: 1 Show Axes: false Show Trail: false Value: true - plunger_tool_pickup_link: + b_bot_left_inner_knuckle: Alpha: 1 Show Axes: false Show Trail: false - right_bar: + Value: true + b_bot_left_outer_finger: Alpha: 1 Show Axes: false Show Trail: false Value: true - right_centering_link: + b_bot_left_outer_knuckle: Alpha: 1 Show Axes: false Show Trail: false - right_storage_area_link: + Value: true + b_bot_nut_tool_m6_tip_link: Alpha: 1 Show Axes: false Show Trail: false - screw_tool_holder_long: + b_bot_outside_cam_link: Alpha: 1 Show Axes: false Show Trail: false - Value: true - screw_tool_holder_short: + b_bot_outside_camera_color_frame: Alpha: 1 Show Axes: false Show Trail: false - Value: true - screw_tool_m3_link: + b_bot_outside_camera_color_optical_frame: Alpha: 1 Show Axes: false Show Trail: false - screw_tool_m3_pickup_link: + b_bot_outside_camera_connector_link: Alpha: 1 Show Axes: false Show Trail: false - screw_tool_m4_link: + b_bot_outside_camera_depth_frame: Alpha: 1 Show Axes: false Show Trail: false - screw_tool_m4_pickup_link: + b_bot_outside_camera_depth_optical_frame: Alpha: 1 Show Axes: false Show Trail: false - set_screw_tool_link: + b_bot_outside_camera_left_ir_frame: Alpha: 1 Show Axes: false Show Trail: false - set_screw_tool_pickup_link: + b_bot_outside_camera_left_ir_optical_frame: Alpha: 1 Show Axes: false Show Trail: false - side_limit_a: + b_bot_outside_camera_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - side_limit_b: + b_bot_outside_camera_right_ir_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + b_bot_outside_camera_right_ir_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + b_bot_plunger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + b_bot_right_inner_finger: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + b_bot_right_inner_finger_pad: Alpha: 1 Show Axes: false Show Trail: false Value: true - simple_holder: + b_bot_right_inner_knuckle: Alpha: 1 Show Axes: false Show Trail: false Value: true - simple_holder_tip_link: + b_bot_right_outer_finger: Alpha: 1 Show Axes: false Show Trail: false - tray: + Value: true + b_bot_right_outer_knuckle: Alpha: 1 Show Axes: false Show Trail: false Value: true - tray_center: + b_bot_robotiq_85_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + b_bot_robotiq_arg2f_base_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - tray_left_stopper: + b_bot_screw_tool_m3_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + b_bot_screw_tool_m4_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + b_bot_set_screw_tool_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + b_bot_shoulder_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - tray_left_stopper2: + b_bot_tool0: + Alpha: 1 + Show Axes: false + Show Trail: false + b_bot_tool_intermediate_link: + Alpha: 1 + Show Axes: false + Show Trail: false + b_bot_upper_arm_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - tray_right_stopper: + b_bot_wrist_1_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - tray_right_stopper2: + b_bot_wrist_2_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - traycorner_1_link: + b_bot_wrist_3_link: Alpha: 1 Show Axes: false Show Trail: false - traycorner_2_link: + Value: true + back_bar: Alpha: 1 Show Axes: false Show Trail: false - traycorner_3_link: + Value: true + back_limit_a: Alpha: 1 Show Axes: false Show Trail: false - traycorner_4_link: + Value: true + back_limit_b: Alpha: 1 Show Axes: false Show Trail: false - tv: + Value: true + base_fixture_top: Alpha: 1 Show Axes: false Show Trail: false Value: true - vertical_column_left: + cooking_board: Alpha: 1 Show Axes: false Show Trail: false Value: true - vertical_column_right: + cooking_board_surface: + Alpha: 1 + Show Axes: false + Show Trail: false + front_bar: Alpha: 1 Show Axes: false Show Trail: false Value: true - vgroove_aid_drop_point_link: + horizontal_column_for_tools: Alpha: 1 Show Axes: false Show Trail: false - vgroove_aid_link: + Value: true + horizontal_column_top: Alpha: 1 Show Axes: false Show Trail: false Value: true - washer_holder1: + knife_link: + Alpha: 1 + Show Axes: false + Show Trail: false + knife_pickup_link: + Alpha: 1 + Show Axes: false + Show Trail: false + left_bar: Alpha: 1 Show Axes: false Show Trail: false Value: true - washer_holder1_collar_link: + left_centering_link: + Alpha: 1 + Show Axes: false + Show Trail: false + o2ac_ground: Alpha: 1 Show Axes: false Show Trail: false - washer_holder1_tip_link: + plate: Alpha: 1 Show Axes: false Show Trail: false - washer_holder2: + Value: true + right_bar: Alpha: 1 Show Axes: false Show Trail: false Value: true - washer_holder2_collar_link: + right_centering_link: + Alpha: 1 + Show Axes: false + Show Trail: false + right_storage_area_link: Alpha: 1 Show Axes: false Show Trail: false - washer_holder2_tip_link: + screw_tool_holder_long: Alpha: 1 Show Axes: false Show Trail: false - washer_holder3: + Value: true + screw_tool_holder_short: Alpha: 1 Show Axes: false Show Trail: false Value: true - washer_holder3_collar_link: + screw_tool_m3_link: + Alpha: 1 + Show Axes: false + Show Trail: false + screw_tool_m3_pickup_link: + Alpha: 1 + Show Axes: false + Show Trail: false + screw_tool_m4_link: + Alpha: 1 + Show Axes: false + Show Trail: false + screw_tool_m4_pickup_link: + Alpha: 1 + Show Axes: false + Show Trail: false + set_screw_tool_link: + Alpha: 1 + Show Axes: false + Show Trail: false + set_screw_tool_pickup_link: + Alpha: 1 + Show Axes: false + Show Trail: false + side_limit_a: Alpha: 1 Show Axes: false Show Trail: false - washer_holder3_tip_link: + Value: true + side_limit_b: Alpha: 1 Show Axes: false Show Trail: false - washer_holder4: + Value: true + tv: Alpha: 1 Show Axes: false Show Trail: false Value: true - washer_holder4_collar_link: + vertical_column_left: Alpha: 1 Show Axes: false Show Trail: false - washer_holder4_tip_link: + Value: true + vertical_column_right: Alpha: 1 Show Axes: false Show Trail: false + Value: true workplate: Alpha: 1 Show Axes: false @@ -1891,96 +2945,13 @@ Visualization Manager: Show Robot Collision: false Show Robot Visual: true Value: true - - Acceleration_Scaling_Factor: 0.1 - Class: moveit_rviz_plugin/MotionPlanning - Enabled: false - Move Group Namespace: "" - MoveIt_Allow_Approximate_IK: false - MoveIt_Allow_External_Program: false - MoveIt_Allow_Replanning: false - MoveIt_Allow_Sensor_Positioning: false - MoveIt_Planning_Attempts: 10 - MoveIt_Planning_Time: 1 - MoveIt_Use_Cartesian_Path: false - MoveIt_Use_Constraint_Aware_IK: true - MoveIt_Warehouse_Host: 127.0.0.1 - MoveIt_Warehouse_Port: 33829 - MoveIt_Workspace: - Center: - X: 0 - Y: 0 - Z: 0 - Size: - X: 2 - Y: 2 - Z: 2 - Name: MotionPlanning - Planned Path: - Color Enabled: false - Interrupt Display: false - Links: - All Links Enabled: true - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - Link Tree Style: Links in Alphabetic Order - Loop Animation: false - Robot Alpha: 0.5 - Robot Color: 150; 50; 150 - Show Robot Collision: false - Show Robot Visual: true - Show Trail: false - State Display Time: 0.05 s - Trail Step Size: 1 - Trajectory Topic: move_group/display_planned_path - Planning Metrics: - Payload: 1 - Show Joint Torques: false - Show Manipulability: false - Show Manipulability Index: false - Show Weight Limit: false - TextHeight: 0.07999999821186066 - Planning Request: - Colliding Link Color: 255; 0; 0 - Goal State Alpha: 0.5 - Goal State Color: 250; 128; 0 - Interactive Marker Size: 0.20000000298023224 - Joint Violation Color: 255; 0; 255 - Planning Group: a_bot - Query Goal State: false - Query Start State: false - Show Workspace: false - Start State Alpha: 1 - Start State Color: 0; 255; 0 - Planning Scene Topic: move_group/monitored_planning_scene - Robot Description: robot_description - Scene Geometry: - Scene Alpha: 1 - Scene Color: 50; 230; 50 - Scene Display Time: 0.10000000149011612 - Scene Visual Mesh Scale: 0.0010000000474974513 - Show Collision: true - Show Visual: true - Voxel Coloring: Z-Axis - Voxel Rendering: Occupied Voxels - Scene Robot: - Attached Body Color: 150; 50; 150 - Links: - All Links Enabled: true - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - Link Tree Style: Links in Alphabetic Order - Robot Alpha: 1 - Show Robot Collision: false - Show Robot Visual: true - Value: false Velocity_Scaling_Factor: 0.1 - Class: rviz/TF Enabled: false Frame Timeout: 15 Frames: All Enabled: false + Marker Alpha: 1 Marker Scale: 0.05000000074505806 Name: TF Show Arrows: false @@ -1991,7 +2962,7 @@ Visualization Manager: Update Interval: 0 Value: false - Class: rviz/Image - Enabled: true + Enabled: false Image Topic: /camera_multiplexer/image Max Value: 1 Median window: 5 @@ -2001,9 +2972,9 @@ Visualization Manager: Queue Size: 2 Transport Hint: raw Unreliable: false - Value: true + Value: false - Class: rviz/Image - Enabled: true + Enabled: false Image Topic: /o2ac_vision_server/result_image Max Value: 1 Median window: 5 @@ -2013,7 +2984,7 @@ Visualization Manager: Queue Size: 2 Transport Hint: raw Unreliable: false - Value: true + Value: false - Class: rviz/Image Enabled: false Image Topic: /aruco_detector/result @@ -2048,9 +3019,7 @@ Visualization Manager: Enabled: false Invert Rainbow: false Max Color: 255; 255; 255 - Max Intensity: 4096 Min Color: 0; 0; 0 - Min Intensity: 0 Name: DepthCloud Occlusion Compensation: Occlusion Time-Out: 30 @@ -2069,7 +3038,7 @@ Visualization Manager: Marker Topic: /o2ac_assembly_markers Name: Assembly Visualization Namespaces: - "": true + {} Queue Size: 100 Value: true - Class: rviz/MarkerArray @@ -2170,6 +3139,7 @@ Visualization Manager: Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false + Field of View: 0.7853981852531433 Focal Point: X: -0.1349727213382721 Y: 0.07063060998916626 @@ -2181,7 +3151,6 @@ Visualization Manager: Near Clip Distance: 0.009999999776482582 Pitch: 0.5247986912727356 Target Frame: world - Value: Orbit (rviz) Yaw: 0.05504925549030304 Saved: ~ Window Geometry: @@ -2206,7 +3175,7 @@ Window Geometry: collapsed: false O2ACSetupPanel: collapsed: false - QMainWindow State: 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+ QMainWindow State: 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Views: collapsed: false Vision Result: diff --git a/catkin_ws/src/o2ac_visualization/CMakeLists.txt b/catkin_ws/src/o2ac_visualization/CMakeLists.txt index b4ee3b22..765978f8 100644 --- a/catkin_ws/src/o2ac_visualization/CMakeLists.txt +++ b/catkin_ws/src/o2ac_visualization/CMakeLists.txt @@ -22,7 +22,7 @@ find_package(catkin REQUIRED COMPONENTS ## System dependencies are found with CMake's conventions # find_package(Boost REQUIRED COMPONENTS system) -find_package(OpenCV 3 REQUIRED) +find_package(OpenCV 4 REQUIRED) ################################### ## catkin specific configuration ## diff --git a/catkin_ws/src/o2ac_visualization/src/o2ac_visualization.cpp b/catkin_ws/src/o2ac_visualization/src/o2ac_visualization.cpp index b4517c01..d44e9a07 100644 --- a/catkin_ws/src/o2ac_visualization/src/o2ac_visualization.cpp +++ b/catkin_ws/src/o2ac_visualization/src/o2ac_visualization.cpp @@ -36,7 +36,7 @@ const int font_thick_ = 1; const int font_ltype_ = 4; // CV_AA; void check_window() { - if (!cvGetWindowHandle("Monitor")) { + if (!getWindowProperty("Monitor", cv::WND_PROP_AUTOSIZE) >= 0) { cv::namedWindow("Monitor", cv::WINDOW_NORMAL); cv::moveWindow("Monitor", 128, 128); } @@ -45,7 +45,7 @@ void check_window() { void clear_buffer_rect(cv::Rect rect, const cv::Mat &monitor_) { cv::rectangle(monitor_, cv::Point(rect.x, rect.y), cv::Point(rect.x + rect.width, rect.y + rect.height), - cv::Scalar(0, 0, 0), CV_FILLED); + cv::Scalar(0, 0, 0), cv::FILLED); cv::rectangle(monitor_, cv::Point(rect.x, rect.y), cv::Point(rect.x + rect.width, rect.y + rect.height), cv::Scalar(255, 255, 255), 1); @@ -106,7 +106,7 @@ ImageCallback getCallbackForImage(cv::Rect rect, XmlRpc::XmlRpcValue ¶ms, // This function returns callback function return [=](const sensor_msgs::ImageConstPtr &msg) { // Show window at the first time - if (!cvGetWindowHandle("Monitor")) { + if (!getWindowProperty("Monitor", cv::WND_PROP_AUTOSIZE) >= 0) { cv::namedWindow("Monitor", cv::WINDOW_NORMAL); cv::moveWindow("Monitor", 128, 128); } From 386d34ae85609058ae76ce00ccc7f0c26e753388 Mon Sep 17 00:00:00 2001 From: Cristian Beltran Date: Thu, 24 Mar 2022 14:49:28 +0900 Subject: [PATCH 09/15] Update submodules --- github-wiki | 2 +- underlay_ws/src/.rosinstall | 4 ---- underlay_ws/src/moveit_msgs | 2 +- underlay_ws/src/third_party/ur_drivers | 1 - 4 files changed, 2 insertions(+), 7 deletions(-) delete mode 160000 underlay_ws/src/third_party/ur_drivers diff --git a/github-wiki b/github-wiki index 7c1e51c3..d4cd426a 160000 --- a/github-wiki +++ b/github-wiki @@ -1 +1 @@ -Subproject commit 7c1e51c3aa70fd3f0edb27abd437d2cf3f88b7df +Subproject commit d4cd426a95a02254b43348bdd338c73df8cfdd02 diff --git a/underlay_ws/src/.rosinstall b/underlay_ws/src/.rosinstall index 69cf85d6..d86daed4 100644 --- a/underlay_ws/src/.rosinstall +++ b/underlay_ws/src/.rosinstall @@ -34,10 +34,6 @@ local-name: third_party/aruco_ros uri: https://gitlab+deploy-token-490815:UjSrt8ABUzbng94K6-ua@gitlab.com/o2ac/third-party/aruco_ros version: 4c0bb5010487efe539d89f75367a93fd8403a40d -- git: - local-name: third_party/ur_drivers - uri: https://github.com/UniversalRobots/Universal_Robots_ROS_Driver.git - version: 13db13e33702866f230614a6d0bfe583794d8d04 - git: local-name: third_party/gazebo_ros_link_attacher uri: https://github.com/pal-robotics/gazebo_ros_link_attacher.git diff --git a/underlay_ws/src/moveit_msgs b/underlay_ws/src/moveit_msgs index c6011b5f..d62f24a2 160000 --- a/underlay_ws/src/moveit_msgs +++ b/underlay_ws/src/moveit_msgs @@ -1 +1 @@ -Subproject commit c6011b5ffc317543bd8c2818c9c18b9588328a15 +Subproject commit d62f24a2bfbbe8639594ce03ba902a7692d6725b diff --git a/underlay_ws/src/third_party/ur_drivers b/underlay_ws/src/third_party/ur_drivers deleted file mode 160000 index f495cedf..00000000 --- a/underlay_ws/src/third_party/ur_drivers +++ /dev/null @@ -1 +0,0 @@ -Subproject commit f495cedfb639cae9da4706ef7333133b996c12a7 From a4d6f0c2cc07124be2498a26d86cdad5c5d56335 Mon Sep 17 00:00:00 2001 From: Cristian Beltran Date: Thu, 24 Mar 2022 15:28:08 +0900 Subject: [PATCH 10/15] Update gitmodules --- .gitmodules | 13 +++++++++---- 1 file changed, 9 insertions(+), 4 deletions(-) diff --git a/.gitmodules b/.gitmodules index 9175d088..320d235a 100644 --- a/.gitmodules +++ b/.gitmodules @@ -3,16 +3,19 @@ url = https://github.com/o2ac/o2ac-ur.wiki.git [submodule "underlay_ws/src/moveit"] path = underlay_ws/src/moveit - url = http://gitlab+deploy-token-440693:vMpkB_8thDeUCDa4oKNr@gitlab.com/o2ac/moveit.git + url = https://github.com/cambel/moveit.git + branch = noetic-dev [submodule "underlay_ws/src/moveit_msgs"] path = underlay_ws/src/moveit_msgs url = https://github.com/felixvd/moveit_msgs + branch = o2ac-2021-10-29 [submodule "underlay_ws/src/moveit_task_constructor"] path = underlay_ws/src/moveit_task_constructor url = http://gitlab+deploy-token-440692:CsSxsSXceaZ3y9YZzmtf@gitlab.com/o2ac/moveit-task-constructor.git [submodule "underlay_ws/src/third_party/realsense-ros"] path = underlay_ws/src/third_party/realsense-ros - url = http://gitlab+deploy-token-440688:eYTsSmM4yjjtN5eXCx2C@gitlab.com/o2ac/third-party/realsense-ros + url = https://github.com/IntelRealSense/realsense-ros.git + branch = development [submodule "underlay_ws/src/third_party/ddynamic_reconfigure"] path = underlay_ws/src/third_party/ddynamic_reconfigure url = http://gitlab+deploy-token-440688:eYTsSmM4yjjtN5eXCx2C@gitlab.com/o2ac/third-party/ddynamic_reconfigure @@ -21,10 +24,12 @@ url = http://gitlab+deploy-token-440688:eYTsSmM4yjjtN5eXCx2C@gitlab.com/o2ac/third-party/robotiq-cri [submodule "underlay_ws/src/third_party/universal_robot"] path = underlay_ws/src/third_party/universal_robot - url = http://gitlab+deploy-token-440688:eYTsSmM4yjjtN5eXCx2C@gitlab.com/o2ac/third-party/universal_robot + url = https://github.com/fmauch/universal_robot.git + branch = calibration_devel [submodule "underlay_ws/src/downward"] path = underlay_ws/src/downward url = http://gitlab+deploy-token-440735:1DPsfhJwB9i_Emh-9KdN@gitlab.com/sinicx/robotics/on-going/downward.git [submodule "underlay_ws/src/ur_python_utilities"] path = underlay_ws/src/ur_python_utilities - url = http://gitlab+deploy-token-440688:eYTsSmM4yjjtN5eXCx2C@gitlab.com/o2ac/third-party/ur_python_utilities.git \ No newline at end of file + url = https://github.com/cambel/ur3.git + branch = o2ac-noetic From 7a9a64d9df52ace4bfdb48c20e47e758a7380117 Mon Sep 17 00:00:00 2001 From: Cristian Beltran Date: Thu, 24 Mar 2022 15:51:53 +0900 Subject: [PATCH 11/15] Clean up --- docker/o2ac-dev/update_dockerfile.py | 1 - 1 file changed, 1 deletion(-) diff --git a/docker/o2ac-dev/update_dockerfile.py b/docker/o2ac-dev/update_dockerfile.py index 6c4ff950..463faf38 100755 --- a/docker/o2ac-dev/update_dockerfile.py +++ b/docker/o2ac-dev/update_dockerfile.py @@ -56,7 +56,6 @@ def update_libraries_without_vars(dockerfile_path): print("Error while reading in lines. Are all libraries on their own line?") print("Failed on line:") print(line) - print('??????????', libraries) # split into library names and versions lib_names, lib_versions = [], [] From 1d45da7ee185fce29ebab094cbba0e6d8d61c9e9 Mon Sep 17 00:00:00 2001 From: Cristian Beltran Date: Wed, 16 Mar 2022 16:04:13 +0900 Subject: [PATCH 12/15] Fix Python dependencies - Installing cupy-cuda110, chainer, or gym override the numpy system library, which breaks dependencies on ROS packages. using `--ignore-installed` to prevent the issue --- docker/o2ac-dev/Dockerfile | 201 ++++++++++++++++++------------------- 1 file changed, 99 insertions(+), 102 deletions(-) diff --git a/docker/o2ac-dev/Dockerfile b/docker/o2ac-dev/Dockerfile index 3707933c..75e5507b 100644 --- a/docker/o2ac-dev/Dockerfile +++ b/docker/o2ac-dev/Dockerfile @@ -39,8 +39,8 @@ RUN apt-get update && apt-get install -y --no-install-recommends \ # install packages RUN apt-get update && apt-get install -q -y --no-install-recommends \ - dirmngr \ - gnupg2 \ + dirmngr=2.2.19-3ubuntu2.1 \ + gnupg2=2.2.19-3ubuntu2.1 \ && rm -rf /var/lib/apt/lists/* # setup sources.list @@ -57,29 +57,30 @@ ENV ROS_DISTRO=noetic # install ros packages RUN apt-get update && apt-get install -y --no-install-recommends \ - ros-noetic-ros-core=1.5.0-1* \ + ros-noetic-ros-core=1.5.0-1focal.20220107.010105 \ && rm -rf /var/lib/apt/lists/* # Install ROS-desktop-full packages (including ROS, rqt, rviz, and more). RUN apt-get update && apt-get install -y --no-install-recommends \ - ros-noetic-desktop-full \ - python3-rosdep \ - python3-rosinstall \ - python3-rosinstall-generator \ - python3-wstool \ - build-essential \ + ros-noetic-desktop-full=1.5.0-1focal.20220221.113435 \ + python3-rosdep=0.21.0-1 \ + python3-rosinstall=0.7.8-4 \ + python3-rosinstall-generator=0.1.22-1 \ + python3-wstool=0.1.18-2 \ + build-essential=12.8ubuntu1.1 \ && rm -rf /var/lib/apt/lists/* # Initialize 'rosdep'. # http://wiki.ros.org/rosdep + RUN rosdep init ################################################################################ # Install required packages/tools/dependencies for subsequent installations. RUN apt-get update && apt-get install -y --no-install-recommends \ - apt-transport-https \ - wget \ + apt-transport-https=2.0.6 \ + wget=1.20.3-1ubuntu2 \ && rm -rf /var/lib/apt/lists/* ################################################################################ @@ -87,14 +88,14 @@ RUN apt-get update && apt-get install -y --no-install-recommends \ # Install common essentials, RUN apt-get update && apt-cache policy git RUN apt-get update && apt-get install -y --no-install-recommends \ - build-essential \ - cmake \ - git \ - python3-dev \ - python3-numpy \ - python3-pip \ - python3-setuptools \ - python3-scipy \ + build-essential=12.8ubuntu1.1 \ + cmake=3.16.3-1ubuntu1 \ + git=1:2.25.1-1ubuntu3.2 \ + python3-dev=3.8.2-0ubuntu2 \ + python3-numpy=1:1.17.4-5ubuntu3 \ + python3-pip=20.0.2-5ubuntu1.6 \ + python3-setuptools=45.2.0-1 \ + python3-scipy=1.3.3-3build1 \ && rm -rf /var/lib/apt/lists/* # Pin pip version to make build more deterministic @@ -104,19 +105,19 @@ RUN pip3 install --upgrade pip==22.0.4 # Install more common optional packages/tools. RUN apt-get update && apt-get install -y --no-install-recommends \ - inetutils-ping \ - iproute2 \ - gdb \ - mesa-utils \ - nano \ - net-tools \ - openssh-client \ - python3-catkin-tools \ - python3-tk \ - unzip \ - vim \ - less \ - usbutils \ + inetutils-ping=2:1.9.4-11ubuntu0.1 \ + iproute2=5.5.0-1ubuntu1 \ + gdb=9.2-0ubuntu1~20.04.1 \ + mesa-utils=8.4.0-1build1 \ + nano=4.8-1ubuntu1 \ + net-tools=1.60+git20180626.aebd88e-1ubuntu1 \ + openssh-client=1:8.2p1-4ubuntu0.4 \ + python3-catkin-tools=0.8.3-1 \ + python3-tk=3.8.10-0ubuntu1~20.04 \ + unzip=6.0-25ubuntu1 \ + vim=2:8.1.2269-1ubuntu5.7 \ + less=551-1ubuntu0.1 \ + usbutils=1:012-2 \ && rm -rf /var/lib/apt/lists/* ################################################################################ @@ -124,50 +125,41 @@ RUN apt-get update && apt-get install -y --no-install-recommends \ # For copying UR scripts from the robots RUN apt-get update && apt-get install -y --no-install-recommends \ - sshpass \ - && rm -rf /var/lib/apt/lists/* - -################################################################################ - -# Install MoveIt dependencies because we build it from source. -# Also install the binaries to pull in the dependencies. -RUN apt-get update && apt-get install -y --no-install-recommends \ - ros-noetic-moveit-resources \ - ros-noetic-moveit \ + sshpass=1.06-1 \ && rm -rf /var/lib/apt/lists/* ################################################################################ # Install wstool to use .rosinstall file in the underlay workspace RUN apt-get update && apt-get install -y --no-install-recommends \ - python3-wstool \ - clang-format-10 \ + python3-wstool=0.1.18-2 \ + clang-format-10=1:10.0.0-4ubuntu1 \ && rm -rf /var/lib/apt/lists/* ################################################################################ # Install other dependencies of our workspace RUN apt-get update && apt-get install -y --no-install-recommends \ - ros-noetic-effort-controllers \ - ros-noetic-industrial-robot-status-controller \ - ros-noetic-socketcan-interface \ - ros-noetic-industrial-robot-status-interface \ - ros-noetic-soem \ - ros-noetic-graph-msgs \ - ros-noetic-spacenav-node \ - ros-noetic-joy-teleop \ - ros-noetic-code-coverage \ - ros-noetic-panda-moveit-config \ - socat \ - libqt5x11extras5-dev \ + ros-noetic-effort-controllers=0.19.0-1focal.20220221.104843 \ + ros-noetic-industrial-robot-status-controller=0.1.2-1focal.20220107.004524 \ + ros-noetic-socketcan-interface=0.8.5-1focal.20220106.233037 \ + ros-noetic-industrial-robot-status-interface=0.1.2-1focal.20220107.004233 \ + ros-noetic-soem=1.4.1003-1focal.20210423.224754 \ + ros-noetic-graph-msgs=0.1.0-2focal.20210423.223901 \ + ros-noetic-spacenav-node=1.15.1-1focal.20220107.001953 \ + ros-noetic-joy-teleop=0.4.0-1focal.20220107.002043 \ + ros-noetic-code-coverage=0.4.4-1focal.20210423.222045 \ + ros-noetic-panda-moveit-config=0.7.5-1focal.20220226.075123 \ + socat=1.7.3.3-2 \ + libqt5x11extras5-dev=5.12.8-0ubuntu1 \ && rm -rf /var/lib/apt/lists/* ################################################################################ -# Install JSK tools for visualization in Rviz -RUN apt-get update && apt-get install -y --no-install-recommends \ - ros-noetic-jsk-visualization \ - && rm -rf /var/lib/apt/lists/* +# # Install JSK tools for visualization in Rviz +# RUN apt-get update && apt-get install -y --no-install-recommends \ +# ros-noetic-jsk-visualization \ +# && rm -rf /var/lib/apt/lists/* ################################################################################ @@ -176,8 +168,8 @@ RUN apt-get update && apt-get install -y --no-install-recommends \ # Gather dependencies from Ubuntu repositories. RUN apt-get update && apt-get install -y --no-install-recommends \ - libcanberra-gtk3-module \ - libgconf2-dev \ + libcanberra-gtk3-module=0.30-7ubuntu1 \ + libgconf2-dev=3.2.6-6ubuntu1 \ && rm -rf /var/lib/apt/lists/* ################################################################################ @@ -185,18 +177,18 @@ RUN apt-get update && apt-get install -y --no-install-recommends \ # Install URe controller dependencies. RUN apt-get update && apt-get install -y --no-install-recommends \ - ros-noetic-ros-control \ - ros-noetic-robot-controllers \ - ros-noetic-velocity-controllers \ - ros-noetic-joint-trajectory-controller \ - ros-noetic-force-torque-sensor-controller \ + ros-noetic-ros-control=0.19.5-1focal.20220107.004158 \ + ros-noetic-robot-controllers=0.7.0-1focal.20220107.012709 \ + ros-noetic-velocity-controllers=0.19.0-1focal.20220221.105046 \ + ros-noetic-joint-trajectory-controller=0.19.0-1focal.20220221.105035 \ + ros-noetic-force-torque-sensor-controller=0.19.0-1focal.20220107.000731 \ && rm -rf /var/lib/apt/lists/* ################################################################################ # Add industrial_core submodule RUN apt-get update && apt-get install -y --no-install-recommends \ - ros-noetic-industrial-core \ + ros-noetic-industrial-core=0.7.2-1focal.20220221.113322 \ && rm -rf /var/lib/apt/lists/* ################################################################################ @@ -205,9 +197,9 @@ RUN apt-get update && apt-get install -y --no-install-recommends \ # # ros-noetic-qt-build \ RUN apt-get update && apt-get install -y --no-install-recommends \ - ros-noetic-dynamixel-sdk \ - ros-noetic-dynamixel-workbench \ - ros-noetic-dynamixel-workbench-msgs \ + ros-noetic-dynamixel-sdk=3.7.51-4focal.20220106.235702 \ + ros-noetic-dynamixel-workbench=2.2.1-1focal.20220107.004242 \ + ros-noetic-dynamixel-workbench-msgs=2.0.2-2focal.20210629.160048 \ && rm -rf /var/lib/apt/lists/* RUN pip3 install pyserial==3.4 @@ -217,7 +209,7 @@ RUN pip3 install pyserial==3.4 # Install pymodbus for the Robotiq gripper driver RUN apt-get update && apt-get install -y --no-install-recommends \ - python3-pymodbus \ + python3-pymodbus=2.1.0+dfsg-2 \ && rm -rf /var/lib/apt/lists/* ################################################################################ @@ -237,7 +229,7 @@ RUN curl https://packages.microsoft.com/keys/microsoft.asc | gpg --dearmor > mic # Update cache and install VS Code as a package. RUN apt-get update && apt-get install -y --no-install-recommends \ - code \ + code=1.65.2-1646927742 \ && rm -rf /var/lib/apt/lists/* # Set VS Code as the default text editor. @@ -247,17 +239,17 @@ RUN update-alternatives --set editor /usr/bin/code # Solve common error while deleting files from VS Code. # https://code.visualstudio.com/docs/setup/linux#_debian-and-moving-files-to-trash RUN apt-get update && apt-get install -y --no-install-recommends \ - gvfs-bin \ + gvfs-bin=1.44.1-1ubuntu1 \ && rm -rf /var/lib/apt/lists/* # Solve character rendering issues in GUI by adding missing Japanese fonts. RUN apt-get update && apt-get install -y --no-install-recommends \ - fonts-takao \ + fonts-takao=00303.01-3ubuntu1 \ && rm -rf /var/lib/apt/lists/* # Install a dependency that the next command requires, but VS Code seems to miss sometimes RUN apt-get update && apt-get install -y --no-install-recommends \ - libxtst6 \ + libxtst6=2:1.2.3-1 \ && rm -rf /var/lib/apt/lists/* # Install additional recommended VS Code extensions. @@ -278,7 +270,7 @@ RUN /usr/bin/python3 -m pip install -U \ # Install Exuberant Ctags as recommended by Python extension. RUN apt-get update && apt-get install -y --no-install-recommends \ - exuberant-ctags \ + exuberant-ctags=1:5.9~svn20110310-12 \ && rm -rf /var/lib/apt/lists/* ################################################################################ @@ -290,9 +282,9 @@ RUN rm -f /etc/apt/sources.list.d/realsense-public.list RUN echo 'deb http://librealsense.intel.com/Debian/apt-repo focal main' | tee /etc/apt/sources.list.d/realsense-public.list RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C8B3A55A6F3EFCDE RUN apt-get update && apt-get install -y --no-install-recommends \ - librealsense2-dkms \ - librealsense2-utils \ - librealsense2-dev \ + librealsense2-dkms=1.3.18-0ubuntu1 \ + librealsense2-utils=2.50.0-0~realsense0.6128 \ + librealsense2-dev=2.50.0-0~realsense0.6128 \ && rm -rf /var/lib/apt/lists/* ################################################################################ @@ -312,18 +304,18 @@ RUN pip3 install keras==2.2.4 # https://docs-cupy.chainer.org/en/latest/install.html # And chainer # https://docs.chainer.org/en/stable/install.html -RUN pip3 install cupy-cuda110==10.2.0 chainer==7.8.1 +RUN pip3 install cupy-cuda110==10.2.0 chainer==7.8.1 --ignore-installed ################################################################################ # Install gym for reinforcement learning -RUN pip3 install gym +RUN pip3 install gym --ignore-installed ################################################################################ # Install eigenpy RUN apt-get update && apt-get install -y --no-install-recommends \ - ros-noetic-eigenpy \ + ros-noetic-eigenpy=2.6.11-1focal.20220226.071056 \ && rm -rf /var/lib/apt/lists/* ################################################################################ @@ -332,42 +324,41 @@ RUN apt-get update && apt-get install -y --no-install-recommends \ RUN pip3 install torch RUN pip3 install --upgrade scipy -################################################################################ +############################################################################### # Install Python3 for open3d, and opencv # Careful: This might set pip to use Python3 by default RUN apt-get update && apt-get install -y --no-install-recommends \ - python3-dev \ - python3-pip \ - python3-setuptools \ - python3-opencv \ + python3-dev=3.8.2-0ubuntu2 \ + python3-pip=20.0.2-5ubuntu1.6 \ + python3-setuptools=45.2.0-1 \ + python3-opencv=4.2.0+dfsg-5 \ && rm -rf /var/lib/apt/lists/* # Required for opencv-python. https://stackoverflow.com/questions/63448467/installing-opencv-fails-because-it-cannot-find-skbuild RUN pip3 install open3d==0.12.0 RUN pip3 install opencv-python==4.5.1.48 -RUN pip3 install rospkg==1.2.10 ################################################################################ # Install emacs RUN apt-get update && apt-get install -y --no-install-recommends \ - emacs \ + emacs=1:26.3+1-1ubuntu2 \ && rm -rf /var/lib/apt/lists/* ################################################################################ # Install cgal RUN apt-get update && apt-get install -y --no-install-recommends \ - libcgal-dev \ + libcgal-dev=5.0.2-3 \ && rm -rf /var/lib/apt/lists/* ################################################################################ # Install matheval RUN apt-get update && apt-get install -y --no-install-recommends \ - libmatheval-dev \ + libmatheval-dev=1.1.11+dfsg-3build1 \ && rm -rf /var/lib/apt/lists/* ################################################################################ @@ -377,29 +368,35 @@ RUN pip3 install pyquaternion==0.9.9 # Utilities RUN apt-get update && apt-get install -y --no-install-recommends \ - htop \ - ros-noetic-rqt-multiplot \ - ros-noetic-trac-ik-python \ - ros-noetic-trac-ik-kinematics-plugin \ - ros-noetic-flexbe-behavior-engine \ - ros-noetic-gripper-action-controller \ - ros-noetic-jsk-rviz-plugins \ - python3-rosinstall \ + htop=2.2.0-2build1 \ + ros-noetic-rqt-multiplot=0.0.12-1focal.20220107.000756 \ + ros-noetic-trac-ik-python=1.6.6-1focal.20220107.012731 \ + ros-noetic-trac-ik-kinematics-plugin=1.6.6-1focal.20220218.100538 \ + ros-noetic-flexbe-behavior-engine=1.3.1-1focal.20220107.004342 \ + ros-noetic-gripper-action-controller=0.19.0-1focal.20220221.104848 \ + ros-noetic-jsk-rviz-plugins=2.1.8-1focal.20220221.111745 \ + ros-noetic-ros-numpy \ + python3-rosinstall=0.7.8-4 \ && rm -rf /var/lib/apt/lists/* ################################################################################ # Utilities to update the Dockerfile versions RUN apt-get update && apt-get install -y --no-install-recommends \ - python3-apt \ + python3-apt=2.0.0ubuntu0.20.04.7 \ && rm -rf /var/lib/apt/lists/* \ && pip3 install dockerfile_parse +RUN apt-get update && apt-get install -y --no-install-recommends \ + locate \ + && rm -rf /var/lib/apt/lists/* \ + && updatedb + ################################################################################ # Speed up catkin build with ccache RUN apt-get update && apt-get install -y --no-install-recommends \ - ccache \ + ccache=3.7.7-1 \ && rm -rf /var/lib/apt/lists/* RUN echo 'export PATH=/usr/lib/ccache:$PATH' >> $HOME/.bashrc From 66f59ce1cf08f4f6156ea867a1ac5e6b2764e08a Mon Sep 17 00:00:00 2001 From: Cristian Beltran Date: Thu, 24 Mar 2022 16:45:51 +0900 Subject: [PATCH 13/15] Update docker libraries versions --- docker/o2ac-dev/Dockerfile | 17 +++++++++-------- 1 file changed, 9 insertions(+), 8 deletions(-) diff --git a/docker/o2ac-dev/Dockerfile b/docker/o2ac-dev/Dockerfile index 75e5507b..620ec0c4 100644 --- a/docker/o2ac-dev/Dockerfile +++ b/docker/o2ac-dev/Dockerfile @@ -21,8 +21,8 @@ RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone # Install Nvidia cuDNN library missing from parent image. # https://gitlab.com/nvidia/cuda/blob/ubuntu18.04/10.1/devel/cudnn7/Dockerfile RUN apt-get update && apt-get install -y --no-install-recommends \ - libcudnn8=8.3.2.44-1+cuda11.5 \ - libcudnn8-dev=8.3.2.44-1+cuda11.5 \ + libcudnn8=8.3.3.40-1+cuda11.5 \ + libcudnn8-dev=8.3.3.40-1+cuda11.5 \ && rm -rf /var/lib/apt/lists/* ################################################################################ @@ -112,7 +112,7 @@ RUN apt-get update && apt-get install -y --no-install-recommends \ nano=4.8-1ubuntu1 \ net-tools=1.60+git20180626.aebd88e-1ubuntu1 \ openssh-client=1:8.2p1-4ubuntu0.4 \ - python3-catkin-tools=0.8.3-1 \ + python3-catkin-tools=0.8.5-1 \ python3-tk=3.8.10-0ubuntu1~20.04 \ unzip=6.0-25ubuntu1 \ vim=2:8.1.2269-1ubuntu5.7 \ @@ -149,7 +149,7 @@ RUN apt-get update && apt-get install -y --no-install-recommends \ ros-noetic-spacenav-node=1.15.1-1focal.20220107.001953 \ ros-noetic-joy-teleop=0.4.0-1focal.20220107.002043 \ ros-noetic-code-coverage=0.4.4-1focal.20210423.222045 \ - ros-noetic-panda-moveit-config=0.7.5-1focal.20220226.075123 \ + ros-noetic-panda-moveit-config=0.7.5-1focal.20220307.072215 \ socat=1.7.3.3-2 \ libqt5x11extras5-dev=5.12.8-0ubuntu1 \ && rm -rf /var/lib/apt/lists/* @@ -188,7 +188,7 @@ RUN apt-get update && apt-get install -y --no-install-recommends \ # Add industrial_core submodule RUN apt-get update && apt-get install -y --no-install-recommends \ - ros-noetic-industrial-core=0.7.2-1focal.20220221.113322 \ + ros-noetic-industrial-core=0.7.2-1focal.20220307.031804 \ && rm -rf /var/lib/apt/lists/* ################################################################################ @@ -371,11 +371,11 @@ RUN apt-get update && apt-get install -y --no-install-recommends \ htop=2.2.0-2build1 \ ros-noetic-rqt-multiplot=0.0.12-1focal.20220107.000756 \ ros-noetic-trac-ik-python=1.6.6-1focal.20220107.012731 \ - ros-noetic-trac-ik-kinematics-plugin=1.6.6-1focal.20220218.100538 \ + ros-noetic-trac-ik-kinematics-plugin=1.6.6-1focal.20220307.024843 \ ros-noetic-flexbe-behavior-engine=1.3.1-1focal.20220107.004342 \ ros-noetic-gripper-action-controller=0.19.0-1focal.20220221.104848 \ ros-noetic-jsk-rviz-plugins=2.1.8-1focal.20220221.111745 \ - ros-noetic-ros-numpy \ + ros-noetic-ros-numpy=0.0.5-2focal.20220107.003648 \ python3-rosinstall=0.7.8-4 \ && rm -rf /var/lib/apt/lists/* @@ -388,7 +388,8 @@ RUN apt-get update && apt-get install -y --no-install-recommends \ && pip3 install dockerfile_parse RUN apt-get update && apt-get install -y --no-install-recommends \ - locate \ + locate=4.7.0-1ubuntu1 \ + python-is-python3=3.8.2-4 \ && rm -rf /var/lib/apt/lists/* \ && updatedb From 0c37d0c77b1a6680aeaa756ab93d02fa5a47017b Mon Sep 17 00:00:00 2001 From: Cristian Beltran Date: Fri, 8 Apr 2022 17:23:53 +0900 Subject: [PATCH 14/15] Fix moveit constructor dependencies --- underlay_ws/src/moveit_task_constructor | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/underlay_ws/src/moveit_task_constructor b/underlay_ws/src/moveit_task_constructor index c9cd168c..be0e65c8 160000 --- a/underlay_ws/src/moveit_task_constructor +++ b/underlay_ws/src/moveit_task_constructor @@ -1 +1 @@ -Subproject commit c9cd168cf33fb4db8829971bb8619170b7f2f68c +Subproject commit be0e65c8e7f160a0bcbb27e75d7e71dad06285be From f08c0747fd069931adb48c8d74dbea8b4cdfe099 Mon Sep 17 00:00:00 2001 From: Cristian Beltran Date: Fri, 8 Apr 2022 17:27:21 +0900 Subject: [PATCH 15/15] Remove libraries that depends on moveit from Dockerfile --- .gitignore | 1 + docker/o2ac-dev/Dockerfile | 42 ++++++++++++++++++------------------- underlay_ws/src/.rosinstall | 4 ++++ 3 files changed, 25 insertions(+), 22 deletions(-) diff --git a/.gitignore b/.gitignore index c3a4314f..26a78a2c 100644 --- a/.gitignore +++ b/.gitignore @@ -64,5 +64,6 @@ underlay_ws/src/third_party/robotiq underlay_ws/src/third_party/aruco_ros underlay_ws/src/third_party/gazebo_ros_link_attacher underlay_ws/src/third_party/trac-ik +underlay_ws/third_party/jsk_visualization catkin_ws/src/o2ac_vision/log/ diff --git a/docker/o2ac-dev/Dockerfile b/docker/o2ac-dev/Dockerfile index 620ec0c4..8e83374c 100644 --- a/docker/o2ac-dev/Dockerfile +++ b/docker/o2ac-dev/Dockerfile @@ -139,20 +139,20 @@ RUN apt-get update && apt-get install -y --no-install-recommends \ ################################################################################ # Install other dependencies of our workspace -RUN apt-get update && apt-get install -y --no-install-recommends \ - ros-noetic-effort-controllers=0.19.0-1focal.20220221.104843 \ - ros-noetic-industrial-robot-status-controller=0.1.2-1focal.20220107.004524 \ - ros-noetic-socketcan-interface=0.8.5-1focal.20220106.233037 \ - ros-noetic-industrial-robot-status-interface=0.1.2-1focal.20220107.004233 \ - ros-noetic-soem=1.4.1003-1focal.20210423.224754 \ - ros-noetic-graph-msgs=0.1.0-2focal.20210423.223901 \ - ros-noetic-spacenav-node=1.15.1-1focal.20220107.001953 \ - ros-noetic-joy-teleop=0.4.0-1focal.20220107.002043 \ - ros-noetic-code-coverage=0.4.4-1focal.20210423.222045 \ - ros-noetic-panda-moveit-config=0.7.5-1focal.20220307.072215 \ - socat=1.7.3.3-2 \ - libqt5x11extras5-dev=5.12.8-0ubuntu1 \ - && rm -rf /var/lib/apt/lists/* +# RUN apt-get update && apt-get install -y --no-install-recommends \ +# ros-noetic-effort-controllers=0.19.0-1focal.20220221.104843 \ +# ros-noetic-socketcan-interface=0.8.5-1focal.20220106.233037 \ +# ros-noetic-soem=1.4.1003-1focal.20210423.224754 \ +# ros-noetic-graph-msgs=0.1.0-2focal.20210423.223901 \ +# ros-noetic-spacenav-node=1.15.1-1focal.20220107.001953 \ +# ros-noetic-joy-teleop=0.4.0-1focal.20220107.002043 \ +# ros-noetic-code-coverage=0.4.4-1focal.20210423.222045 \ +# ros-noetic-industrial-robot-status-controller=0.1.2-1focal.20220107.004524 \ +# ros-noetic-industrial-robot-status-interface=0.1.2-1focal.20220107.004233 \ +# ros-noetic-panda-moveit-config=0.7.5-1focal.20220307.072215 \ +# socat=1.7.3.3-2 \ +# libqt5x11extras5-dev=5.12.8-0ubuntu1 \ +# && rm -rf /var/lib/apt/lists/* ################################################################################ @@ -187,14 +187,13 @@ RUN apt-get update && apt-get install -y --no-install-recommends \ ################################################################################ # Add industrial_core submodule -RUN apt-get update && apt-get install -y --no-install-recommends \ - ros-noetic-industrial-core=0.7.2-1focal.20220307.031804 \ - && rm -rf /var/lib/apt/lists/* +# RUN apt-get update && apt-get install -y --no-install-recommends \ +# ros-noetic-industrial-core=0.7.2-1focal.20220307.031804 \ +# && rm -rf /var/lib/apt/lists/* ################################################################################ # Install dependencies for dynamixel and serial communication. -# # ros-noetic-qt-build \ RUN apt-get update && apt-get install -y --no-install-recommends \ ros-noetic-dynamixel-sdk=3.7.51-4focal.20220106.235702 \ @@ -369,12 +368,9 @@ RUN pip3 install pyquaternion==0.9.9 # Utilities RUN apt-get update && apt-get install -y --no-install-recommends \ htop=2.2.0-2build1 \ - ros-noetic-rqt-multiplot=0.0.12-1focal.20220107.000756 \ - ros-noetic-trac-ik-python=1.6.6-1focal.20220107.012731 \ - ros-noetic-trac-ik-kinematics-plugin=1.6.6-1focal.20220307.024843 \ + ros-noetic-rqt-multiplot=0.0.12-1focal.20220328.224855 \ ros-noetic-flexbe-behavior-engine=1.3.1-1focal.20220107.004342 \ ros-noetic-gripper-action-controller=0.19.0-1focal.20220221.104848 \ - ros-noetic-jsk-rviz-plugins=2.1.8-1focal.20220221.111745 \ ros-noetic-ros-numpy=0.0.5-2focal.20220107.003648 \ python3-rosinstall=0.7.8-4 \ && rm -rf /var/lib/apt/lists/* @@ -428,3 +424,5 @@ ENTRYPOINT [] # Enter the container with a Bash shell. CMD ["/bin/bash"] + +# RUN apt update && apt install -y aptitude diff --git a/underlay_ws/src/.rosinstall b/underlay_ws/src/.rosinstall index d86daed4..61df39cb 100644 --- a/underlay_ws/src/.rosinstall +++ b/underlay_ws/src/.rosinstall @@ -50,3 +50,7 @@ local-name: third_party/universal_robot uri: https://github.com/fmauch/universal_robot.git version: calibration_devel +# - git: +# local-name: third_party/jsk_visualization +# uri: https://github.com/jsk-ros-pkg/jsk_visualization.git +# version: master