Add database for warehouse tutorial and bump CMake version (#509)

* Add example database to persistant_scene_demo

* Bump CMake versions

* Update launch file name in rst file

* Update wrong launch file name

Author: sjahr

CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2)
+cmake_minimum_required(VERSION 3.22)
 project(moveit2_tutorials)
 
 # Common cmake code applied to all moveit packages
@@ -57,6 +57,7 @@ add_subdirectory(doc/examples/motion_planning_api)
 add_subdirectory(doc/examples/motion_planning_pipeline)
 add_subdirectory(doc/examples/move_group_interface)
 add_subdirectory(doc/examples/moveit_cpp)
+add_subdirectory(doc/examples/persistent_scenes_and_states)
 add_subdirectory(doc/examples/planning_scene_ros_api)
 add_subdirectory(doc/examples/planning_scene)
 add_subdirectory(doc/examples/realtime_servo)

doc/examples/dual_arms/dual_arm_panda_moveit_config/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2)
+cmake_minimum_required(VERSION 3.22)
 project(dual_arm_panda_moveit_config)
 find_package(ament_cmake REQUIRED)
 

doc/examples/persistent_scenes_and_states/CMakeLists.txt

@@ -0,0 +1,6 @@
+install(DIRECTORY launch
+  DESTINATION share/${PROJECT_NAME}
+)
+install(DIRECTORY data
+  DESTINATION share/${PROJECT_NAME}
+)

doc/examples/persistent_scenes_and_states/data/kitchen_panda_db.sqlite

@@ -14,12 +14,19 @@ def generate_launch_description():
         .to_moveit_configs()
     )
 
+    sqlite_database = (
+        get_package_share_directory("moveit2_tutorials")
+        + "/data/kitchen_panda_db.sqlite"
+    )
+
+    print(sqlite_database)
+
     ## BEGIN_SUB_TUTORIAL add_config
     ## * Add a dictionary with the warehouse_ros options
     warehouse_ros_config = {
         # For warehouse_ros_sqlite
         "warehouse_plugin": "warehouse_ros_sqlite::DatabaseConnection",
-        "warehouse_host": "/path/to/my/warehouse_db.sqlite",
+        "warehouse_host": sqlite_database,
         # For warehouse_ros_mongodb use the following instead
         # "warehouse_port": 33829,
         # "warehouse_host": "localhost",
@@ -133,7 +140,7 @@ def generate_launch_description():
             robot_state_publisher,
             run_move_group_node,
             ros2_control_node,
-            mongodb_server_node,
+            # mongodb_server_node,
         ]
         + load_controllers
     )

doc/examples/persistent_scenes_and_states/move_group.launch.py renamed to doc/examples/persistent_scenes_and_states/launch/persistent_scenes_demo.launch.py

@@ -18,7 +18,7 @@ Storage plugin selection
 ------------------------
 
 The warehouse plugin and settings have to be specified in the launch files of your MoveIt configuration.
-You should adapt ``move_group.launch.py`` if you do not wish to use the MongoDB plugin.
+You should adapt ``persistent_scenes_demo.launch.py`` if you do not wish to use the MongoDB plugin.
 The storage plugin is determined by the parameter ``warehouse_plugin``.
 Valid options are ``warehouse_ros_mongo::MongoDatabaseConnection`` for MongoDB and
 ``warehouse_ros_sqlite::DatabaseConnection`` for SQLite.
@@ -27,15 +27,15 @@ In case of the SQLite plugin, ``warehouse_host`` contains the path to the databa
 and ``warehouse_port`` is unused.
 If the database file does not exist yet, an empty database will be created.
 
-.. tutorial-formatter:: ./move_group.launch.py
+.. tutorial-formatter:: ./launch/persistent_scenes_demo.launch.py
 
 Connecting to the storage backend
 ---------------------------------
 
 After choosing the storage plugin and configuring the launch.py file,
 run RViz using ::
 
-   ros2 launch moveit2_tutorials demo.launch.py
+   ros2 launch moveit2_tutorials persistent_scenes_demo.launch.py
 
 In RViz, navigate to the "Context" tab of the "MotionPlanning" window.
 Verify the connection details (host/port for MongoDB, file path for SQLite)