Add drake_ros_examples package #39

aaronchongth · 2022-02-05T09:19:06Z

Spin off from #2. Built on top of #24.

This change is

aaronchongth · 2022-04-04T18:12:12Z

Per VC,

The iiwa_manipulator example is currently broken, a working example can be found in a separate branch, the issue could possibly be the changes in the header::frame_id, ns and id of the marker messages,

ros2 run drake_ros_examples iiwa_manipulator
ros2 topic echo /scene_marker/visual

frame_id: in order to support similar MbPs, the transform names will need to be namespaced with their relevant frame IDs, while the previous implementation does not include any frame IDs

before:

after:

marker ns and id: geometry IDs are not necessarily always in the same order between instances, therefore marker namespaces are generated using sources of the geometry IDs while marker IDs are only incremented when there are clashing namespaces

Signed-off-by: Michel Hidalgo <[email protected]>

Signed-off-by: Aaron Chong <[email protected]>

… markers Signed-off-by: Aaron Chong <[email protected]>

Signed-off-by: Michel Hidalgo <[email protected]>

Signed-off-by: Aaron Chong <[email protected]>

gbiggs

I tested the iiwa_manipulator example and it worked for me. I'll keep prodding it in case I've missed something, but for now I think the first item can be checked off.

Reviewable status: 0 of 21 files reviewed, all discussions resolved

gbiggs

I tried out the multirobot example to see how the frame IDs turned out. Below is the result. It looks like each individual robot is namespaced already to me.

Reviewable status: 0 of 21 files reviewed, all discussions resolved

gbiggs

I have confirmed with @aaronchongth that the third point is a general note, not something that requires fixing. This PR is ready for review.

Reviewable status: 0 of 21 files reviewed, all discussions resolved

sloretz

Reviewed 1 of 1 files at r1, 20 of 20 files at r4, all commit messages.
Reviewable status: all files reviewed, 9 unresolved discussions (waiting on @aaronchongth)

drake_ros_core/package.xml line 13 at r4 (raw file):

  <buildtool_depend>ament_cmake_ros</buildtool_depend>

  <depend>pybind11-dev</depend>

I think this can be removed since we use pybind11 from drake.

drake_ros_examples/README.md line 28 at r4 (raw file):

## Running

* If you built with `colcon`, then source your workspace.

Nit, this sentence can be deleted because there's now only instructions on building with Colcon.

drake_ros_examples/examples/CMakeLists.txt line 2 at r4 (raw file):

add_subdirectory(iiwa_manipulator)
add_subdirectory(rs_flip_flop)

Nit, subjectively I'd prefer these add_subdirectories where in the main CMakeListst.txt instead of a separate file. Feel free to ignore if you feel differently.

add_subdirectory(examples/iiwa_manipulator)
add_subdirectory(examples/rs_flip_flop)

drake_ros_examples/examples/iiwa_manipulator/iiwa_manipulator.py line 38 at r4 (raw file):

    manipulation_station.SetupClutterClearingStation()
    manipulation_station.Finalize()
    pdb.set_trace()

This debug statement should be removed.

drake_ros_examples/examples/iiwa_manipulator/README.md line 13 at r4 (raw file):

## How To

Run either the C++ `iiwa_manipulator` executable or the Python `iiwa_manipulator.py` script as explained [here](../../README.md#running).

I'd recommend including the commands to run this example in this file too.

ros2 run drake_ros_examples iiwa_manipulator
ros2 run drake_ros_examples iiwa_manipulator.py

drake_ros_examples/examples/rs_flip_flop/README.md line 18 at r4 (raw file):

## How To

Run either the C++ `rs_flip_flop` executable or the Python `rs_flip_flop.py` script as explained [here](../../README.md#running).

I'd recommend pasting the commands to run the examples here

ros2 run drake_ros_examples rs_flip_flop
ros2 run drake_ros_examples rs_flip_flop.py

drake_ros_examples/examples/rs_flip_flop/README.md line 34 at r4 (raw file):

ros2 topic pub /S std_msgs/msg/Bool "data: false"
ros2 topic pub /S std_msgs/msg/Bool "data: true"

I'd recommend regrouping the commands so that Q actually changes. As it is, if I copy past these commands from top to bottom Q will always be `false. Something like

Make Q true with

ros2 topic pub /S std_msgs/msg/Bool "data: false"
ros2 topic pub /R std_msgs/msg/Bool "data: true"

Make Q false again with

ros2 topic pub /R std_msgs/msg/Bool "data: false"
ros2 topic pub /S std_msgs/msg/Bool "data: true"

drake_ros_examples/examples/rs_flip_flop/rs_flip_flop.py line 1 at r4 (raw file):

# Copyright 2020 Open Source Robotics Foundation, Inc.

I think this needs a #!/usr/bin/env python3

$ ros2 run drake_ros_examples rs_flip_flop.py 
Traceback (most recent call last):
  File "/opt/ros/rolling/bin/ros2", line 11, in <module>
    load_entry_point('ros2cli==0.17.1', 'console_scripts', 'ros2')()
  File "/opt/ros/rolling/lib/python3.8/site-packages/ros2cli/cli.py", line 89, in main
    rc = extension.main(parser=parser, args=args)
  File "/opt/ros/rolling/lib/python3.8/site-packages/ros2run/command/run.py", line 70, in main
    return run_executable(path=path, argv=args.argv, prefix=prefix)
  File "/opt/ros/rolling/lib/python3.8/site-packages/ros2run/api/__init__.py", line 64, in run_executable
    process = subprocess.Popen(cmd)
  File "/usr/lib/python3.8/subprocess.py", line 858, in __init__
    self._execute_child(args, executable, preexec_fn, close_fds,
  File "/usr/lib/python3.8/subprocess.py", line 1704, in _execute_child
    raise child_exception_type(errno_num, err_msg, err_filename)
OSError: [Errno 8] Exec format error: '/home/osrf/ws/drake/install/lib/drake_ros_examples/rs_flip_flop.py'

drake_ros_examples/examples/rs_flip_flop/rs_flip_flop.py line 145 at r4 (raw file):

    while True:
        simulator.AdvanceTo(simulator_context.get_time() + 0.1)

Need an

if __name__ == '__main__':
    main()

Signed-off-by: Geoffrey Biggs <[email protected]>

gbiggs

Reviewable status: all files reviewed, 8 unresolved discussions (waiting on @sloretz)

drake_ros_core/package.xml line 13 at r4 (raw file):