WMD Track: Tutorial cleanup

[AndyZe]

This track will be about tutorial cleanup (https://github.com/ros-planning/moveit2_tutorials).

I'll help people select and scope their work, and guide them to get contributions finished and merged.

There are tons of things to clean up. Here are a few that come to mind:

• Finish and merge PR's that are already open (https://github.com/ros-planning/moveit2_tutorials/pulls)

• There are two MoveIt Task Constructor tutorials. We should consolidate to one. Suggest deleting this one: https://moveit.picknik.ai/humble/doc/examples/moveit_task_constructor/moveit_task_constructor_tutorial.html

• A dual-arm tutorial. There was one started here and I can give excellent guidance on this task.

Anybody (@tylerjw) please feel free to add more ideas.

[AndrejOrsula]

Hello!

If it is alright and available, I would take a look at moveit_calibration.
Primary objectives:

1. See what is missing from moveit_calibration#101 ([WIP] ROS2 Port) and attempt to finalise it. Last messages under the related issue#99 claim that it is not currently functional.
2. [If deemed relevant] Setup simulation environments in Ignition Gazebo (target fortress) to provide a simplified method of testing/demonstrating/developing both eye-in-hand and eye-to-hand scenarios, without having to hassle with real robot setups. I am not sure if something like that already exists, so please correct me if I am wrong.
3. Update Hand-Eye Calibration tutorial for ROS 2

Please, let me know what you think. Thank you.

PS: I am not sure what WMD Track this would belong to, but this issue seemed like the best place for it. 😄

---

Also, if you think there is anything relevant for tutorials / MSA in any of these repositories (and not already present/planned in moveit2 repos), then I would be happy to work on that as well.

• pymoveit2
• ign_moveit2_examples
• panda_ign_moveit2

[vatanaksoytezer]

Hey @AndrejOrsula thanks for all the work so far!

Also, if you think there is anything relevant for tutorials / MSA in any of these repositories (and not already present/planned in moveit2 repos), then I would be happy to work on that as well.

Although I think calibration would be a higher priority, eventually, a tutorial that demonstrates how to use Ignition Gazebo with MoveIt 2 and ros2_control would be very valuable.

[AndyZe]

Small warning: the author of moveit_calibration has moved on, so we aren't really familiar with that codebase and might not be able to offer as much support as we could in other areas. But if you feel confident to debug moveit_calibration yourself, we will definitely support testing and merging.

[AndyZe]

Is anybody interested in taking on a dual-arm tutorial? I can give guidance and I have example code to refer to. That seems like a high priority

[pabloinigoblasco]

We tried to make work any demo of ros2_control, moveit and multiple arms a few times in these last months. We didnt success and I think that is not currently possible. I will try to explain our conclusions:

• There are like a few possible strategies:
  • using namespaces for ros2_control/move_group/move_group_interface client
  • putting everything in the same root namespace using topic/action remapping
  • using one single robot with a description with two arms and one single moveit_interface_client for the whole robot

General conclusions:

• ros2_control likes topic/action remapping for multiple arms (over controllers in separated namespaces)
• moveit likes namespaces for multiple arms (over multiple nodes in the same level and remapping)

Specific details:

• It is not possible to work with a mixture solution. if movegroup works in a namespace it looks like it cant connect with controllers in the root level (this would have been a solution). I would say the names of the controllers are relative to the move_group namespace.

• moveit does not work well with topic/actions remapping in the same root namespace, there are collisions on topics and actions you cant remap. We found this is specially clear when you work with multiple moveit_client_interfaces. We didnt find a way of avoid this collisions only with remapping (and without using namespaces)

The only potential solution we did not test is something like having one single robot description with two arms. In our case we wanted to use ur5, and that would have been implied to do a lot of work on ur5_description to work well in the same robot. This same solution would imply to use one single move_group_interface client with multiple groups.

That's it.

@AndyZe @bmagyar may this be a more detailed description that could help on finding a solution?

[davetcoleman]

I'll be working through and cleaning up tutorials now!

[AndyZe]

I'm planning to consolidate the two MTC tutorials now unless somebody is already doing that.

[AndyZe]

^scratch that, i'll work on landing the integration test PR instead: moveit/moveit2_tutorials#389

[tiffanyec]

I'll consolidate the task constructor tutorials. The one we want to keep is this one right? https://moveit.picknik.ai/main/doc/tutorials/pick_and_place_with_moveit_task_constructor/pick_and_place_with_moveit_task_constructor.html

[AndyZe]

Correct! Thank you 👍

[AndyZe]

Closing because World MoveIt Day is over. Thanks everybody.