Fix: ros2-ified perception tutorial: Many colcon build errors (not all).

Author: 130s

.github/upstream.repos

@@ -7,6 +7,9 @@ repositories:
     type: git
     url: https://github.com/ros-planning/moveit_visual_tools
     version: ros2
+  panda_moveit_config:
+    type: git
+    url: https://github.com/ros-planning/panda_moveit_config
   rosparam_shortcuts:
     type: git
     url: https://github.com/PickNikRobotics/rosparam_shortcuts

CMakeLists.txt

@@ -59,6 +59,7 @@ add_subdirectory(doc/examples/motion_planning_pipeline)
 add_subdirectory(doc/examples/motion_planning_python_api)
 add_subdirectory(doc/examples/move_group_interface)
 add_subdirectory(doc/examples/moveit_cpp)
+add_subdirectory(doc/examples/perception_pipeline)
 add_subdirectory(doc/examples/planning_scene)
 add_subdirectory(doc/examples/planning_scene_ros_api)
 add_subdirectory(doc/examples/realtime_servo)

doc/examples/perception_pipeline/CMakeLists.txt

@@ -1,13 +1,20 @@
-add_executable(cylinder_segment src/cylinder_segment.cpp)
-target_link_libraries(cylinder_segment ${catkin_LIBRARIES})
+find_package(PCL REQUIRED)
+set(SUBTUTORIAL_DEPENDS
+  geometry_msgs
+  pcl_conversions
+  sensor_msgs
+)
+foreach(dep IN ITEMS ${SUBTUTORIAL_DEPENDS})
+  find_package(${dep} REQUIRED)
+endforeach()
 
-add_executable(bag_publisher_maintain_time src/bag_publisher_maintain_time.cpp)
-target_link_libraries(bag_publisher_maintain_time ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+include_directories(include ${PCL_INCLUDE_DIRS})
 
-install(
-TARGETS
-    bag_publisher_maintain_time
-    cylinder_segment
-DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+add_executable(cylinder_segment src/cylinder_segment.cpp)
+ament_target_dependencies(cylinder_segment
+  ${SUBTUTORIAL_DEPENDS}
+  ${THIS_PACKAGE_INCLUDE_DEPENDS})
 
-install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+install(DIRECTORY bags launch
+    DESTINATION share/${PROJECT_NAME}
+)

doc/examples/perception_pipeline/bags/perception_tutorial.bag

@@ -0,0 +1,27 @@
+rosbag2_bagfile_information:
+  compression_format: ''
+  compression_mode: ''
+  custom_data: {}
+  duration:
+    nanoseconds: 0
+  files:
+  - duration:
+      nanoseconds: 0
+    message_count: 1
+    path: perception_tutorial.db3
+    starting_time:
+      nanoseconds_since_epoch: 1530016169214859695
+  message_count: 1
+  relative_file_paths:
+  - perception_tutorial.db3
+  starting_time:
+    nanoseconds_since_epoch: 1530016169214859695
+  storage_identifier: sqlite3
+  topics_with_message_count:
+  - message_count: 1
+    topic_metadata:
+      name: /camera/depth_registered/points
+      offered_qos_profiles: ''
+      serialization_format: cdr
+      type: sensor_msgs/msg/PointCloud2
+  version: 6

doc/examples/perception_pipeline/bags/perception_tutorial.bag/metadata.yaml

@@ -0,0 +1,15 @@
+<launch>
+  <arg name="bagfile" default="$(find-pkg-share moveit2_tutorials)/bags/perception_tutorial.bag" />
+  <arg name="launchfile_panda"
+       default="$(find-pkg-share moveit_resources_panda_moveit_config)/launch/demo.launch.py" />
+
+  <!-- Play the rosbag that contains the pointcloud data -->
+  <executable cmd="ros2 bag play -l $(var bagfile)" output="screen" />
+
+  <include file="$(var launchfile_panda)" />
+
+  <!-- If needed, broadcast static tf for robot root -->
+  <node pkg="tf2_ros" exec="static_transform_publisher" name="to_panda" args="0 0 0 0 0 0  world panda_link0" />
+  <node pkg="tf2_ros" exec="static_transform_publisher" name="to_camera" args="0.115 0.427 0.570 0 0.2 1.92 camera_rgb_optical_frame world" />
+
+</launch>

doc/examples/perception_pipeline/bags/perception_tutorial.bag/perception_tutorial.db3

@@ -11,6 +11,8 @@ Getting Started
 ---------------
 If you haven't already done so, make sure you've completed the steps in :doc:`Getting Started </doc/tutorials/getting_started/getting_started>`.
 
+Particularly, use ``rolling`` for this tutorial as some dependencies may not be available in ``humble`` or earlier (explained in `moveit2_tutorials!700 <https://github.com/ros-planning/moveit2_tutorials/pull/700#issuecomment-1581411304>`_).
+
 Configuration
 -------------
 
@@ -134,6 +136,16 @@ If you set the initial and the final location of the robot in a way that there i
 .. image:: obstacle_avoidance.gif
    :width: 700px
 
+Before running the software
++++++++++++++++++++++++++++
+This tutorial uses `moveit2_tutorials` that depends on `moveit_task_constructor`, whose installer has not yet been available in ros2 yet (progress tracked in `moveit_task_constructor#400 <https://github.com/ros-planning/moveit_task_constructor/issues/400>`_) so you need to get it via source code. Move into your colcon workspace and pull the MoveIt Task Constructor source: ::
+
+    cd ~/ws_moveit/src
+    git clone git@github.com:ros-planning/moveit_task_constructor.git -b ros2
+    cd ~/ws_moveit
+    colcon build --mixin release
+    source ~/ws_moveit/install/setup.bash
+
 Running the Interface
 +++++++++++++++++++++
 Roslaunch the launch file to run the code directly from moveit_tutorials: ::
@@ -174,9 +186,9 @@ You can follow its status in the `issue tracker <https://github.com/ros-planning
 
 Relevant Code
 +++++++++++++
-The entire code can be seen :codedir:`here<examples/perception_pipeline>` in the moveit_tutorials GitHub project.
+The entire code can be seen :codedir:`here <examples/perception_pipeline>` in the moveit_tutorials GitHub project.
 
-The details regarding the implementation of each of the perception pipeline function have been omitted in this tutorial as they are well documented `here <http://wiki.ros.org/pcl/Tutorials>`_.
+The details regarding the implementation of each of the perception pipeline function have been omitted in this tutorial as they are well documented on `ros1 wiki <http://wiki.ros.org/pcl/Tutorials>`_.
 
 .. |br| raw:: html