Merge pull request #26 from PickNikRobotics/v4.0

v4.0 updates

.gitmodules

@@ -9,3 +9,6 @@
 	path = src/external_dependencies/picknik_accessories
 	url = [email protected]:PickNikRobotics/picknik_accessories.git
 	branch = kinova-main
+[submodule "src/external_dependencies/serial"]
+	path = src/external_dependencies/serial
+	url = [email protected]:PickNikRobotics/serial.git

src/Dockerfile

@@ -0,0 +1,119 @@
+# Docker image for extending MoveIt Pro with a custom overlay.
+#
+# Example build command (with defaults):
+#
+# docker build -f ./Dockerfile .
+#
+
+# Specify the MoveIt Pro release to build on top of.
+ARG MOVEIT_STUDIO_BASE_IMAGE
+ARG USERNAME=studio-user
+ARG USER_UID=1000
+ARG USER_GID=1000
+
+##################################################
+# Starting from the specified MoveIt Pro release #
+##################################################
+# The image tag is specified in the argument itself.
+# hadolint ignore=DL3006
+FROM ${MOVEIT_STUDIO_BASE_IMAGE} as base
+
+# Create a non-root user
+ARG USERNAME
+ARG USER_UID
+ARG USER_GID
+
+# Copy source code from the workspace's ROS 2 packages to a workspace inside the container
+ARG USER_WS=/home/${USERNAME}/user_ws
+ENV USER_WS=${USER_WS}
+RUN mkdir -p ${USER_WS}/src ${USER_WS}/build ${USER_WS}/install ${USER_WS}/log
+COPY ./src ${USER_WS}/src
+
+# Also mkdir with user permission directories which will be mounted later to avoid docker creating them as root
+WORKDIR $USER_WS
+# hadolint ignore=DL3008
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \
+    groupadd --gid $USER_GID ${USERNAME} && \
+    useradd --uid $USER_UID --gid $USER_GID --shell /bin/bash --create-home ${USERNAME} && \
+    apt-get update && \
+    apt-get install -q -y --no-install-recommends sudo && \
+    echo ${USERNAME} ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/${USERNAME} && \
+    chmod 0440 /etc/sudoers.d/${USERNAME} && \
+    cp -r /etc/skel/. /home/${USERNAME} && \
+    mkdir -p \
+      /home/${USERNAME}/.ccache \
+      /home/${USERNAME}/.config \
+      /home/${USERNAME}/.ignition \
+      /home/${USERNAME}/.colcon \
+      /home/${USERNAME}/.ros && \
+    chown -R $USER_UID:$USER_GID /home/${USERNAME} /opt/overlay_ws/
+
+# Install additional Kortex Vision dependencies
+# NOTE: The /opt/overlay_ws folder contains MoveIt Pro binary packages and the source file.
+# hadolint ignore=DL3008, SC1091
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \
+    . /opt/overlay_ws/install/setup.sh && \
+    apt-get update && \
+    apt-get install -y --no-install-recommends \
+      gstreamer1.0-tools \
+      gstreamer1.0-libav \
+      libgstreamer1.0-dev \
+      libgstreamer-plugins-base1.0-dev \
+      libgstreamer-plugins-good1.0-dev \
+      gstreamer1.0-plugins-good \
+      gstreamer1.0-plugins-base
+
+# Install additional dependencies
+# You can also add any necessary apt-get install, pip install, etc. commands at this point.
+# NOTE: The /opt/overlay_ws folder contains MoveIt Pro binary packages and the source file.
+# hadolint ignore=SC1091
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \
+    . /opt/overlay_ws/install/setup.sh && \
+    apt-get update && \
+    rosdep install -q -y \
+      --from-paths src \
+      --ignore-src
+
+###################################################################
+# Target for the developer build which does not compile any code. #
+###################################################################
+FROM base as user-overlay-dev
+
+ARG USERNAME
+ARG USER_WS=/home/${USERNAME}/user_ws
+ENV USER_WS=${USER_WS}
+
+# Install any additional packages for development work
+# hadolint ignore=DL3008
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \
+    apt-get update && \
+    apt-get install -y --no-install-recommends \
+        less \
+        gdb \
+        nano
+
+# Set up the user's .bashrc file and shell.
+CMD ["/usr/bin/bash"]
+
+#########################################
+# Target for compiled, deployable image #
+#########################################
+FROM base as user-overlay
+
+ARG USERNAME
+ARG USER_WS=/home/${USERNAME}/user_ws
+ENV USER_WS=${USER_WS}
+
+# Compile the workspace
+WORKDIR $USER_WS
+# hadolint ignore=SC1091
+RUN --mount=type=cache,target=/home/${USERNAME}/.ccache \
+    . /opt/overlay_ws/install/setup.sh && \
+    colcon build
+
+# Set up the user's .bashrc file and shell.
+CMD ["/usr/bin/bash"]

src/kinova_gen3_base_config/config/control/picknik_kinova_gen3.ros2_control.yaml

@@ -8,8 +8,8 @@ controller_manager:
     joint_trajectory_controller:
       type: joint_trajectory_controller/JointTrajectoryController
 
-    servo_controller:
-      type: joint_trajectory_controller/JointTrajectoryController
+    twist_controller:
+      type: picknik_twist_controller/PicknikTwistController
 
     # The gripper controller just relays position commands
     robotiq_gripper_controller:
@@ -18,6 +18,9 @@ controller_manager:
     fault_controller:
       type: picknik_reset_fault_controller/PicknikResetFaultController
 
+    servo_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
 joint_trajectory_controller:
   ros__parameters:
     joints:
@@ -38,7 +41,7 @@ joint_trajectory_controller:
     allow_partial_joints_goal: false
     constraints:
       stopped_velocity_tolerance: 0.0
-      goal_time: 0.0
+      goal_time: 10.0
       joint_1:
         goal: 0.05
       joint_2:
@@ -54,6 +57,23 @@ joint_trajectory_controller:
       joint_7:
         goal: 0.05
 
+twist_controller:
+  ros__parameters:
+    joint: tcp
+    interface_names:
+      - twist.linear.x
+      - twist.linear.y
+      - twist.linear.z
+      - twist.angular.x
+      - twist.angular.y
+      - twist.angular.z
+
+robotiq_gripper_controller:
+  ros__parameters:
+    default: true
+    joint: robotiq_85_left_knuckle_joint
+    allow_stalling: true
+
 servo_controller:
   ros__parameters:
     joints:
@@ -69,6 +89,14 @@ servo_controller:
     state_interfaces:
       - position
       - velocity
+    command_joints:
+      - joint_1
+      - joint_2
+      - joint_3
+      - joint_4
+      - joint_5
+      - joint_6
+      - joint_7
     state_publish_rate: 100.0
     action_monitor_rate: 20.0
     allow_partial_joints_goal: false
@@ -89,9 +117,3 @@ servo_controller:
         goal: 0.05
       joint_7:
         goal: 0.05
-
-robotiq_gripper_controller:
-  ros__parameters:
-    default: true
-    joint: robotiq_85_left_knuckle_joint
-    allow_stalling: true