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Add tutorial for warehouse_ros(_sqlite) (#658)
* Add tutorial for warehouse_ros(_sqlite) * Update doc/persistent_scenes_and_states/warehouse.launch * rename tutorial looking through the list of all tutorials I failed to find it for a minute or so... * refer to the launch files to modify in the beginning * do not advertise MongoDB as default Co-authored-by: Bjar Ne <[email protected]> Co-authored-by: Michael Görner <[email protected]>
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‎doc/persistent_scenes_and_states/persistent_scenes_and_states.rst‎

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Warehouse - Persistent Scenes and States
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========================================
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The "MotionPlanning" plugin of RViz offers the possibility to save
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complete planning scenes and robot states persistently.
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Currently, two storage plugins (based on
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`warehouse_ros <https://github.com/ros-planning/warehouse_ros>`_) are available:
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* `warehouse_ros_mongo <https://github.com/ros-planning/warehouse_ros_mongo>`_, which uses MongoDB as backend
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* `warehouse_ros_sqlite <https://github.com/gleichdick/warehouse_ros_sqlite>`_, which uses SQLite as backend
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You can install both of them with your favourite package manager
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(e.g. ``apt-get install ros-noetic-warehouse-ros-mongo``) or
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`build them from source <../getting_started/getting_started.html>`_
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(of course, you'll have to check out the corresponding repository into your ``src`` folder for that).
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Storage plugin selection
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------------------------
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The warehouse plugin and settings have to be specified in the launch files of your MoveIt configuration.
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You should adapt ``warehouse_settings.launch.xml`` and possibly also ``warehouse.launch`` if you do not wish to use the MongoDB plugin.
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The storage plugin is determined by the parameter ``warehouse_plugin``.
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Valid options are ``warehouse_ros_mongo::MongoDatabaseConnection`` for MongoDB and
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``warehouse_ros_sqlite::DatabaseConnection`` for SQLite.
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Furthermore, the parameters ``warehouse_host`` and ``warehouse_port`` configure the connection details.
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In case of the SQLite plugin, ``warehouse_host`` contains the path to the database file,
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and ``warehouse_port`` is unused.
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.. tutorial-formatter:: ./warehouse_settings.launch.xml
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.. tutorial-formatter:: ./warehouse.launch
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Connecting to the storage backend
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---------------------------------
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After choosing the storage plugin and configuring the launch file(s),
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run RViz using ::
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roslaunch moveit_resources_panda_moveit_config demo.launch db:=true
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In RViz, make sure that the "MotionPlanning" plugin is present in the "Displays" view.
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Otherwise add it with the "Add" button below.
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Navigate to the "Context" tab of the "MotionPlanning" window.
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Verify the connection details (host/port for MongoDB, file path for SQLite)
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and click on "Connect".
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.. image:: rviz_connect.png
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:width: 600px
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After that, a dialogue box will appear and ask you whether you'd like to erase all current
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states and scenes in RViz (not in the database, the persistent data is not affected by that).
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As you just started RViz, you can safely select "yes".
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Saving/Loading scenes and states
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--------------------------------
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Now that you connected successfully,
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you can save and restore robot states and planned scenes.
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This can be done in the "Stored Scenes" resp. "Stored States" tab in RViz.
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To save a start state, drag the green manipulator to the correct position and click "Save Start".
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The goal state (orange manipulator) can be saved with the "Save Goal" button.
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To restore a state, select it in the list and click on "Set as Start" resp. "Set as Goal".

‎doc/persistent_scenes_and_states/rviz_connect.png‎

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‎doc/persistent_scenes_and_states/warehouse.launch‎

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<launch>
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<!-- The path to the database must be specified -->
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<arg name="moveit_warehouse_database_path" />
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<!-- Load warehouse parameters -->
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<include file="$(find moveit_resources_panda_moveit_config)/launch/warehouse_settings.launch.xml" />
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## BEGIN_TUTORIAL
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## Optionally, start the MongoDB Server (comment/uncomment the following in ``warehouse.launch``)
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<!-- <node name="$(anon mongo_wrapper_ros)" cwd="ROS_HOME" type="mongo_wrapper_ros.py" pkg="warehouse_ros_mongo">
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<param name="overwrite" value="false"/>
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<param name="database_path" value="$(arg moveit_warehouse_database_path)" />
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</node> -->
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## END_TUTORIAL
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</launch>

‎doc/persistent_scenes_and_states/warehouse_settings.launch.xml‎

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<launch>
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## BEGIN_TUTORIAL
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<!-- Set the parameters for the warehouse. -->
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## Parameters for warehouse_ros_sqlite
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<arg name="moveit_warehouse_host" default="/path/to/your/file.sqlite" />
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<arg name="moveit_warehouse_port" default="0" />
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<param name="warehouse_plugin" value="warehouse_ros_sqlite::DatabaseConnection" />
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## For warehouse_ros_mongodb use the following instead
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<!-- <arg name="moveit_warehouse_port" default="33829" />
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<arg name="moveit_warehouse_host" default="localhost" />
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<param name="warehouse_plugin" value="warehouse_ros_mongo::MongoDatabaseConnection" /> -->
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## END_TUTORIAL
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<!-- Set parameters for the warehouse -->
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<param name="warehouse_port" value="$(arg moveit_warehouse_port)"/>
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<param name="warehouse_host" value="$(arg moveit_warehouse_host)"/>
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</launch>

‎doc/quickstart_in_rviz/quickstart_in_rviz_tutorial.rst‎

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* To easily control your robot using Python, check out the `Move Group Python Interface <../move_group_python_interface/move_group_python_interface_tutorial.html>`_
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* To create your own ``*_moveit_config`` package, check out the `Setup Assistant <../setup_assistant/setup_assistant_tutorial.html>`_
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* Save and restore robot states from a database or from disk using `warehouse_ros <../persistent_scenes_and_states/persistent_scenes_and_states.html>`_

‎index.rst‎

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doc/trajopt_planner/trajopt_planner_tutorial
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doc/pilz_industrial_motion_planner/pilz_industrial_motion_planner
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doc/planning_adapters/planning_adapters_tutorial.rst
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doc/persistent_scenes_and_states/persistent_scenes_and_states
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Miscellaneous
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----------------------------

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