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Merge pull request #427 from PickNikRobotics/merge-8.7-8.8
Merge 8.7 into 8.8 and uncore moveit_pro_example_ws
2 parents 3d4f445 + 5b9ef96 commit 0aa8eb7

38 files changed

+188
-190
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‎Dockerfile‎

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@@ -67,7 +67,7 @@ RUN groupadd realtime && \
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# hadolint ignore=SC1091
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RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
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--mount=type=cache,target=/var/lib/apt,sharing=locked \
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--mount=type=bind,target=${USER_WS}/,source=. \
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--mount=type=bind,target=${USER_WS}/src,source=./src \
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. /opt/overlay_ws/install/setup.sh && \
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apt-get update && \
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rosdep install -q -y \
@@ -105,139 +105,11 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
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less \
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gdb \
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nano \
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tmux
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tmux
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# Set up the user's .bashrc file and shell.
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CMD ["/usr/bin/bash"]
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##################################################
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# Starting from the specified MoveIt Pro release with CUDA GPU #
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##################################################
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# The image tag is specified in the argument itself.
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# hadolint ignore=DL3006
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FROM ${MOVEIT_STUDIO_BASE_IMAGE} AS base-gpu
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# Create a non-root user
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ARG USERNAME
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ARG USER_UID
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ARG USER_GID
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# hadolint ignore=DL3008
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RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
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--mount=type=cache,target=/var/lib/apt,sharing=locked \
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apt-get update && apt-get install wget -y -q --no-install-recommends && \
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wget --progress=dot:giga https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2204/x86_64/cuda-keyring_1.1-1_all.deb && \
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dpkg -i cuda-keyring_1.1-1_all.deb && \
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apt-get update && \
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apt-get install -q -y --no-install-recommends \
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libcudnn9-cuda-12 \
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libcudnn9-dev-cuda-12 \
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libcublas-12-6 \
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cuda-cudart-12-6 \
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libcurand-12-6 \
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libcufft-12-6 \
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libnvinfer10 \
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libnvinfer-plugin10 \
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libnvonnxparsers10 \
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libtree
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# Misleading name: onnxruntime_gpu is actually specifically the CUDA package. This is only shipped for x86-64
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RUN if [ "$(uname -m)" = "x86_64" ]; then pip3 install --no-cache-dir onnxruntime_gpu==1.19.0; fi
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# Copy source code from the workspace's ROS 2 packages to a workspace inside the container
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ARG USER_WS=/home/${USERNAME}/user_ws
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ENV USER_WS=${USER_WS}
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# Also mkdir with user permission directories which will be mounted later to avoid docker creating them as root
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WORKDIR $USER_WS
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# hadolint ignore=DL3008
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RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
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--mount=type=cache,target=/var/lib/apt,sharing=locked \
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groupadd --gid $USER_GID ${USERNAME} && \
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useradd --uid $USER_UID --gid $USER_GID --shell /bin/bash --create-home ${USERNAME} && \
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apt-get update && \
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apt-get install -q -y --no-install-recommends sudo && \
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echo ${USERNAME} ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/${USERNAME} && \
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chmod 0440 /etc/sudoers.d/${USERNAME} && \
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cp -r /etc/skel/. /home/${USERNAME} && \
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mkdir -p \
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/home/${USERNAME}/.ccache \
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/home/${USERNAME}/.config \
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/home/${USERNAME}/.ignition \
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/home/${USERNAME}/.colcon \
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/home/${USERNAME}/.ros && \
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chown -R $USER_UID:$USER_GID /home/${USERNAME} /opt/overlay_ws/
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# Install additional dependencies
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# You can also add any necessary apt-get install, pip install, etc. commands at this point.
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# NOTE: The /opt/overlay_ws folder contains MoveIt Pro binary packages and the source file.
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# hadolint ignore=SC1091
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RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
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--mount=type=cache,target=/var/lib/apt,sharing=locked \
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--mount=type=bind,target=${USER_WS}/,source=. \
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. /opt/overlay_ws/install/setup.sh && \
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apt-get update && \
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rosdep install -q -y \
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--from-paths src \
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--ignore-src
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# Set up colcon defaults for the new user
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USER ${USERNAME}
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RUN colcon mixin add default \
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https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml && \
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colcon mixin update && \
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colcon metadata add default \
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https://raw.githubusercontent.com/colcon/colcon-metadata-repository/master/index.yaml && \
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colcon metadata update
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COPY colcon-defaults.yaml /home/${USERNAME}/.colcon/defaults.yaml
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# hadolint ignore=DL3002
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USER root
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# Set up the user's .bashrc file and shell.
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CMD ["/usr/bin/bash"]
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###################################################################
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# Target for the developer build which does not compile any code. #
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###################################################################
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FROM base-gpu AS user-overlay-gpu-dev
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ARG USERNAME
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ARG USER_WS=/home/${USERNAME}/user_ws
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ENV USER_WS=${USER_WS}
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# Install any additional packages for development work
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# hadolint ignore=DL3008
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RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
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--mount=type=cache,target=/var/lib/apt,sharing=locked \
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apt-get update && \
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apt-get install -y --no-install-recommends \
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less \
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gdb \
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nano
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# Set up the user's .bashrc file and shell.
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CMD ["/usr/bin/bash"]
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#########################################
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# Target for compiled, deployable image with GPU support #
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#########################################
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FROM base-gpu AS user-overlay-gpu
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ARG USERNAME
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ARG USER_WS=/home/${USERNAME}/user_ws
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ENV USER_WS=${USER_WS}
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ENV LD_LIBRARY_PATH=/usr/local/lib/python3.10/dist-packages/onnxruntime/capi:/usr/lib/x86_64-linux-gnu:/usr/local/cuda-12.6/targets/x86_64-linux/lib:$LD_LIBRARY_PATH
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# Compile the workspace
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WORKDIR $USER_WS
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# Set up the user's .bashrc file and shell.
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CMD ["/usr/bin/bash"]
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#########################################
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# Target for compiled, deployable image #
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#########################################

‎src/lab_sim/objectives/_scan_scene.xml‎

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joint_group_name="manipulator"
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controller_names="joint_trajectory_controller"
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waypoint_name="Park Far Right"
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acceleration_scale_factor="1.0"
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controller_action_server="/joint_trajectory_controller/follow_joint_trajectory"
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keep_orientation="false"
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keep_orientation_tolerance="0.05"
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link_padding="0.01"
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seed="0"
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velocity_scale_factor="1.0"
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/>
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<SubTree ID="Take Scene Camera Snapshot" _collapsed="true" />
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<SubTree
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joint_group_name="manipulator"
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controller_names="joint_trajectory_controller"
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waypoint_name="Look at Table"
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acceleration_scale_factor="1.0"
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controller_action_server="/joint_trajectory_controller/follow_joint_trajectory"
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keep_orientation="false"
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keep_orientation_tolerance="0.05"
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link_padding="0.01"
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seed="0"
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velocity_scale_factor="1.0"
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/>
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</Control>
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</BehaviorTree>

‎src/lab_sim/objectives/close_gripper.xml‎

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<?xml version="1.0" encoding="UTF-8" ?>
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<root BTCPP_format="4" main_tree_to_execute="Close Gripper">
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<BehaviorTree
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ID="Close Gripper"
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_description="Close the gripper"
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_favorite="true"
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_favorite="false"
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>
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<Control ID="Sequence" name="root">
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<Action

‎src/lab_sim/objectives/grasp_pose_using_yaml.xml‎

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<BehaviorTree
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ID="Grasp Pose Using Yaml"
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_description="Reads a YAML file for grasp pose offset and picks up an object that has an AprilTag marker."
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_favorite="true"
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_favorite="false"
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>
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<Control ID="Sequence" name="TopLevelSequence">
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<SubTree ID="Open Gripper" />

‎src/lab_sim/objectives/joint_diagnostic.xml‎

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<?xml version="1.0" encoding="UTF-8" ?>
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<root BTCPP_format="4" main_tree_to_execute="Joint Diagnostic">
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<!--//////////-->
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<BehaviorTree
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ID="Joint Diagnostic"
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_description="Example of cycling through the min and max limits of a single joint, for hardware testing"
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_favorite="true"
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_favorite="false"
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>
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<Control ID="Sequence" name="TopLevelSequence">
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<!--Setup by moving home-->

‎src/lab_sim/objectives/load_and_execute_joint_trajectory.xml‎

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<?xml version="1.0" encoding="utf-8" ?>
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<?xml version="1.0" encoding="UTF-8" ?>
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<root BTCPP_format="4" main_tree_to_execute="Load and Execute Joint Trajectory">
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<!--//////////-->
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<BehaviorTree
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ID="Load and Execute Joint Trajectory"
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_description="Load a trajectory that was saved as a YAML file"
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_favorite="true"
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_favorite="false"
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>
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<Control ID="Sequence" name="TopLevelSequence">
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<!--Make sure to move the robot to the same starting position as the saved trajectory starts, otherwise the joint_trajectory_controller will use joint interpolation to align the robot with the path-->

‎src/lab_sim/objectives/load_mesh_as_red_pointcloud.xml‎

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<TreeNodesModel>
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<SubTree ID="Load Mesh as Red Point Cloud">
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<output_port name="point_cloud" default="{red_cloud}" />
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<input_port name="_collapsed" default="false" />
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<input_port name="initial_pose" default="{stamped_pose}" />
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<MetadataFields>
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<Metadata subcategory="Perception - 3D Point Cloud" />

src/lab_sim/objectives/ml_segment_image_from_text_prompt.xml renamed to src/lab_sim/objectives/ml_segment_image.xml

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<?xml version="1.0" encoding="UTF-8" ?>
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<root BTCPP_format="4" main_tree_to_execute="ML Segment Image from Text Prompt">
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<root BTCPP_format="4" main_tree_to_execute="ML Segment Image">
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<!--//////////-->
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<BehaviorTree
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ID="ML Segment Image from Text Prompt"
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_description="Run an ML model to find all objects and visualize the masks with bounding boxes."
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ID="ML Segment Image"
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_description="Run an ML model to find all objects and visualize the masks with bounding boxes, from a text prompt."
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_favorite="true"
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>
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<Control ID="Sequence">
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</Control>
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</BehaviorTree>
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<TreeNodesModel>
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<SubTree ID="ML Segment Image from Text Prompt">
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<SubTree ID="ML Segment Image">
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<MetadataFields>
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<Metadata runnable="true" />
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<Metadata subcategory="Application - ML (GPU Recommended)" />

src/lab_sim/objectives/ml_segment_point_cloud_from_text_prompt.xml renamed to src/lab_sim/objectives/ml_segment_point_cloud.xml

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<?xml version="1.0" encoding="UTF-8" ?>
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<root
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BTCPP_format="4"
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main_tree_to_execute="ML Segment Point Cloud from Text Prompt"
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>
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<root BTCPP_format="4" main_tree_to_execute="ML Segment Point Cloud">
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<!--//////////-->
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<BehaviorTree
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ID="ML Segment Point Cloud from Text Prompt"
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_description="Captures a point cloud and segments out all possible objects."
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ID="ML Segment Point Cloud"
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_description="Captures a point cloud and segments out all possible objects from a text prompt"
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_favorite="true"
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>
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<Control ID="Sequence">
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</Control>
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</BehaviorTree>
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<TreeNodesModel>
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<SubTree ID="ML Segment Point Cloud from Text Prompt">
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<SubTree ID="ML Segment Point Cloud">
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<MetadataFields>
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<Metadata runnable="true" />
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<Metadata subcategory="Application - ML (GPU Recommended)" />

‎src/lab_sim/objectives/ml_segment_point_cloud_from_clicked_point.xml‎

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<BehaviorTree
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ID="ML Segment Point Cloud from Clicked Point"
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_description="Captures a point cloud and requests the user to click on three objects in the image to be segmented. The point cloud is then filtered to only include the selected objects."
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_favorite="true"
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_favorite="false"
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>
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<Control ID="Sequence">
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<SubTree

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