Add moveit2 tutorials

Author: light-tech

ROS2Example.xcodeproj/project.pbxproj

@@ -574,6 +574,7 @@
 /* Begin PBXFileReference section */
 		B723B4A328FFA43600301AA2 /* extract_artifacts.sh */ = {isa = PBXFileReference; lastKnownFileType = text.script.sh; path = extract_artifacts.sh; sourceTree = SOURCE_ROOT; };
 		B736E40B28FE8A9000931527 /* release.yaml */ = {isa = PBXFileReference; lastKnownFileType = text.yaml; name = release.yaml; path = .github/workflows/release.yaml; sourceTree = SOURCE_ROOT; };
+		B750E61C292123C300F19E94 /* tutorials.repos */ = {isa = PBXFileReference; lastKnownFileType = file; path = tutorials.repos; sourceTree = SOURCE_ROOT; };
 		B75542FF28B272FF00AAFC17 /* iOS.cmake */ = {isa = PBXFileReference; lastKnownFileType = text; name = iOS.cmake; path = cmake/iOS.cmake; sourceTree = SOURCE_ROOT; };
 		B755430028B272FF00AAFC17 /* iOS_Simulator_M1.cmake */ = {isa = PBXFileReference; lastKnownFileType = text; name = iOS_Simulator_M1.cmake; path = cmake/iOS_Simulator_M1.cmake; sourceTree = SOURCE_ROOT; };
 		B755430128B272FF00AAFC17 /* iOS_Simulator.cmake */ = {isa = PBXFileReference; lastKnownFileType = text; name = iOS_Simulator.cmake; path = cmake/iOS_Simulator.cmake; sourceTree = SOURCE_ROOT; };
@@ -1243,6 +1244,7 @@
 				B7D8E86028DC569D00D2A11E /* ros2_cli.repos */,
 				B76AD78828B4BD920097A296 /* rviz2.repos */,
 				B7BD402E28F85F86001143EE /* moveit2.repos */,
+				B750E61C292123C300F19E94 /* tutorials.repos */,
 			);
 			name = Repos;
 			sourceTree = "<group>";

build_ros2.sh

@@ -163,6 +163,7 @@ buildMoveIt2() {
     mkdir -p moveit2_ws/src
     cd moveit2_ws
     vcs import src < $scriptDir/moveit2.repos
+    vcs import src < $scriptDir/tutorials.repos
 
     # macOS does not have sched_setscheduler and we need to fix the const-ness
     # also need to account for https://stackoverflow.com/questions/65397041/apple-clang-why-can-i-not-create-a-time-point-from-stdchrononanoseconds
@@ -180,6 +181,10 @@ buildMoveIt2() {
     #        pilz_industrial_motion_planner::PlanningContextLoader::PlanningContextLoader() in planning_context_loader.cpp.o
     touch moveit_planners/pilz_industrial_motion_planner/AMENT_IGNORE
 
+    cd $scriptDir/moveit2_ws/src
+    sed -i.bak 's/computeGeneric.*}/}/g' moveit_task_constructor/core/include/moveit/task_constructor/stage.h
+    sed -i.bak 's/rviz::StringProperty/rviz_common::properties::StringProperty/g' moveit_task_constructor/visualization/motion_planning_tasks/properties/property_factory.cpp
+
     # Prepare rviz2 (and base)
     source $scriptDir/ros2_$targetPlatform/rviz2/setup.sh
 

tutorials.repos

@@ -0,0 +1,37 @@
+repositories:
+  moveit2_tutorials:
+    type: git
+    url: https://github.com/ros-planning/moveit2_tutorials.git
+    version: humble
+  moveit_task_constructor:
+    type: git
+    url: https://github.com/ros-planning/moveit_task_constructor.git
+    version: ros2
+  rviz_visual_tools:
+    type: git
+    url: https://github.com/PickNikRobotics/rviz_visual_tools.git
+    version: ros2
+  moveit_visual_tools:
+    type: git
+    url: https://github.com/ros-planning/moveit_visual_tools.git
+    version: ros2
+  xacro:
+    type: git
+    url: https://github.com/ros/xacro.git
+    version: ros2
+  robot_state_publisher:
+    type: git
+    url: https://github.com/ros/robot_state_publisher.git
+    version: ros2
+  launch_param_builder:
+    type: git
+    url: https://github.com/PickNikRobotics/launch_param_builder.git
+    version: main
+  graph_msgs:
+    type: git
+    url: https://github.com/PickNikRobotics/graph_msgs.git
+    version: ros2
+  rosparam_shortcuts:
+    type: git
+    url: https://github.com/PickNikRobotics/rosparam_shortcuts.git
+    version: ros2