Add ignore file to ignore on moveit_pro

.clang-format

@@ -0,0 +1,79 @@
+---
+BasedOnStyle:  Google
+ColumnLimit:    120
+MaxEmptyLinesToKeep: 1
+
+# Allow us to adhere to https://google.github.io/styleguide/cppguide.html#Names_and_Order_of_Includes
+IncludeBlocks: Preserve
+SortIncludes: true
+
+Standard:        Auto
+IndentWidth:     2
+TabWidth:        2
+UseTab:          Never
+AccessModifierOffset: -2
+ConstructorInitializerIndentWidth: 2
+NamespaceIndentation: None
+ContinuationIndentWidth: 4
+IndentCaseLabels: true
+IndentFunctionDeclarationAfterType: false
+
+AlignEscapedNewlinesLeft: false
+AlignTrailingComments: true
+
+AllowAllParametersOfDeclarationOnNextLine: false
+ExperimentalAutoDetectBinPacking: false
+ObjCSpaceBeforeProtocolList: true
+Cpp11BracedListStyle: false
+
+AllowShortBlocksOnASingleLine: true
+AllowShortIfStatementsOnASingleLine: false
+AllowShortLoopsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: None
+AllowShortCaseLabelsOnASingleLine: false
+
+AlwaysBreakTemplateDeclarations: true
+AlwaysBreakBeforeMultilineStrings: false
+BreakBeforeBinaryOperators: false
+BreakBeforeTernaryOperators: false
+BreakConstructorInitializersBeforeComma: true
+
+BinPackParameters: true
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+DerivePointerBinding: false
+PointerBindsToType: true
+
+PenaltyExcessCharacter: 50
+PenaltyBreakBeforeFirstCallParameter: 30
+PenaltyBreakComment: 1000
+PenaltyBreakFirstLessLess: 10
+PenaltyBreakString: 100
+PenaltyReturnTypeOnItsOwnLine: 50
+
+SpacesBeforeTrailingComments: 2
+SpacesInParentheses: false
+SpacesInAngles:  false
+SpaceInEmptyParentheses: false
+SpacesInCStyleCastParentheses: false
+SpaceAfterCStyleCast: false
+SpaceAfterControlStatementKeyword: true
+SpaceBeforeAssignmentOperators: true
+
+# Configure each individual brace in BraceWrapping
+BreakBeforeBraces: Custom
+
+# Control of individual brace wrapping cases
+BraceWrapping:
+    AfterCaseLabel: true
+    AfterClass: true
+    AfterControlStatement: true
+    AfterEnum: true
+    AfterFunction: true
+    AfterNamespace: true
+    AfterStruct: true
+    AfterUnion: true
+    BeforeCatch: true
+    BeforeElse: true
+    IndentBraces: false
+IncludeBlocks: Preserve
+...

.gitattributes

@@ -0,0 +1 @@
+*.onnx filter=lfs diff=lfs merge=lfs -text

.gitignore

@@ -0,0 +1,4 @@
+build/
+install/
+log/
+.vscode/

.gitmodules

@@ -0,0 +1,6 @@
+[submodule "src/picknik_accessories"]
+	path = src/picknik_accessories
+	url = https://github.com/PickNikRobotics/picknik_accessories.git
+[submodule "src/external_dependencies/Universal_Robots_ROS2_Description"]
+	path = src/external_dependencies/ur_description
+	url = https://github.com/PickNikRobotics/Universal_Robots_ROS2_Description.git

.pre-commit-config.yaml

@@ -11,6 +11,7 @@
 #     pre-commit autoupdate
 #
 # See https://github.com/pre-commit/pre-commit
+exclude: ^src/external_dependencies/
 repos:
   # Standard hooks
   - repo: https://github.com/pre-commit/pre-commit-hooks

Dockerfile

@@ -49,18 +49,6 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
       /home/${USERNAME}/.ros && \
     chown -R $USER_UID:$USER_GID /home/${USERNAME} /opt/overlay_ws/
 
-# IMPORTANT: Optionally install Nvidia drivers for improved simulator performance with Nvidia GPUs.
-# To do this you must
-# 1. Uncomment the ENV and RUN entries below
-# 2. Replace the 'nvidia-driver-555' apt package with the Nvidia driver version on your host, e.g. nvidia-driver-535, nvidia-driver-555. Use nvidia-smi on your host to determine the driver version.
-# After rebuilding via `moveit_pro build` verify the drivers are active in your container by running `nvidia_smi` inside of `moveit_pro shell`.
-# ENV DEBIAN_FRONTEND=noninteractive
-# RUN apt update && apt install -y software-properties-common
-# RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
-#     --mount=type=cache,target=/var/lib/apt,sharing=locked \ 
-#    add-apt-repository ppa:graphics-drivers/ppa && \
-#    apt update && apt upgrade -y && apt install -y nvidia-driver-555
-
 # 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.

README.md

@@ -1,7 +1,64 @@
-# MoveIt Pro Workspace
+# MoveIt Pro Example Workspace
 
-This is a minimal user workspace that can be used to build customized MoveIt Pro workspaces.
+This is fork of the [MoveIt Pro Empty Workspace](https://github.com/PickNikRobotics/moveit_pro_empty_ws).
+This workspace contains reference materials for using MoveIt Pro, including:
+- [Example base UR5e configuration](src/moveit_pro_ur_configs/picknik_ur_base_config)
+- [A physics based simulation environment with a robot on a linear rail](src/lab_sim)
+- [Mobile manipulation configuration](src/moveit_pro_mobile_manipulation/picknik_ur_mobile_config)
+- [Example behaviors](src/example_behaviors)
 
-You may fork this repository and add the MoveIt Pro configurations and ROS 2 packages of your choosing to the `src` folder.
+Since the [picknik_accessories](https://github.com/PickNikRobotics/picknik_accessories) package uses git LFS, [it cannot be added as a subtree](https://github.com/git-lfs/git-lfs/issues/854).
+Please ensure you have the submodule up to date using:
+```bash
+git submodule update --recursive --init
+```
 
-For more information, refer to the [MoveIt Pro Documentation](https://docs.picknik.ai/).
+## Working with Git Subtrees
+
+This repository was created through the combination of multiple repositories using git subtree.
+If you have no interest in manually pulling or pushing upstream changes, you can ignore the following section and treat this repository as a single repository.
+
+### Repository Structure
+
+
+The structure of this repository is as follows:
+
+<pre>
+.
+├── <a href="README.md">README.md</a>
+└── src
+    ├── <a href="https://github.com/PickNikRobotics/example_behaviors">example_behaviors</a>
+    ├── <a href="https://github.com/PickNikRobotics/lab_sim">lab_sim</a>
+    ├── <a href="https://github.com/PickNikRobotics/moveit_pro_ur_configs">moveit_pro_ur_configs</a>
+    │   ├── picknik_ur_base_config
+    │   ├── picknik_ur_mock_hw_config
+    │   ├── picknik_ur_multi_arm_config
+    │   ├── picknik_ur_sim_config
+    │   └── picknik_ur_site_config
+    ├── <a href="https://github.com/PickNikRobotics/moveit_pro_kinova_configs">moveit_pro_kinova_configs</a>
+    │   ├── kinova_gen3_base_config
+    │   ├── kinova_gen3_mujoco_config
+    │   └── moveit_studio_kinova_pstop_manager
+    ├── <a href="https://github.com/PickNikRobotics/moveit_pro_mobile_manipulation">moveit_pro_mobile_manipulation</a>
+    │   ├── mobile_manipulation_config
+    │   └── picknik_ur_mobile_config
+    ├── <a href="https://github.com/PickNikRobotics/fanuc_sim">fanuc_sim</a>
+    ├── <a href="https://github.com/PickNikRobotics/picknik_accessories">picknik_accessories</a> (submodule)
+    └── external_dependencies
+        ├── <a href="https://github.com/sjahr/ridgeback/tree/ros2">ridgeback</a>
+        ├── <a href="https://github.com/PickNikRobotics/ros2_robotiq_gripper">ros2_robotiq_gripper</a>
+        └── <a href="https://github.com/tylerjw/serial/tree/ros2">serial</a>
+</pre>
+
+This repository contains a **copy** of the git repositories that were added as subtrees.
+File changes and commits are treated as if they happen only in this repository.
+If you update the contents of a subtree, you can merge the latest `main` branch of [lab_sim](https://github.com/PickNikRobotics/lab_sim) using the following command:
+```bash
+git subtree pull --prefix src/lab_sim https://github.com/PickNikRobotics/lab_sim main --squash
+```
+
+To pull the upstream changes to all subtrees and submodules, a convenience script is provided.
+From the top level, you can execute:
+```bash
+./sync_subtrees.sh
+```

docker-compose.yaml

@@ -6,20 +6,18 @@
 services:
   # The base image that all MoveIt Pro services extend off of. Builds the user workspace.
   base:
-    build:
-      # List any arguments for building the user workspace here.
-      args:
-        # IMPORTANT: Optionally install Nvidia drivers for improved simulator performance with Nvidia GPUs.
-        # To do this you must
-        # 1. Uncomment the BASE and NVIDIA_DRIVER_PACKAGE build args below
-        # 2. Replace the 'nvidia-driver-555' apt package with the Nvidia driver version on your host, e.g. nvidia-driver-535, nvidia-driver-555. Use nvidia-smi on your host to determine the driver version.
-        # After rebuilding via `moveit_pro build` verify the drivers are active in your container by running `nvidia_smi` inside of `moveit_pro shell`.
-        # - BASE=nvidia
-        # - NVIDIA_DRIVER_PACKAGE=nvidia-driver-555
-
   # Starts the MoveIt Pro Agent and the Bridge between the Agent and the Web UI.
   agent_bridge:
 
+    # IMPORTANT: Enable Nvidia GPUs by uncommenting the lines below:
+    # deploy:
+    #   resources:
+    #     reservations:
+    #       devices:
+    #         - driver: nvidia
+    #           count: 1
+    #           capabilities: [gpu]
+
   # Starts the robot drivers.
   drivers:
 

src/example_behaviors/CMakeLists.txt

@@ -0,0 +1,69 @@
+cmake_minimum_required(VERSION 3.22)
+project(example_behaviors CXX)
+
+find_package(moveit_studio_common REQUIRED)
+find_package(example_interfaces REQUIRED)
+moveit_studio_package()
+
+set(THIS_PACKAGE_INCLUDE_DEPENDS moveit_studio_behavior moveit_studio_behavior_interface pluginlib 
+moveit_studio_vision
+moveit_studio_vision_msgs
+PCL
+pcl_conversions
+pcl_ros
+example_interfaces)
+foreach(package IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
+  find_package(${package} REQUIRED)
+endforeach()
+
+add_library(
+  example_behaviors
+  SHARED 
+  src/example_add_two_ints_service_client.cpp
+  src/example_convert_mtc_solution_to_joint_trajectory.cpp
+  src/example_delayed_message.cpp
+  src/example_get_string_from_topic.cpp
+  src/example_fibonacci_action_client.cpp
+  src/example_hello_world.cpp
+  src/example_publish_color_rgba.cpp
+  src/example_setup_mtc_pick_from_pose.cpp
+  src/example_setup_mtc_place_from_pose.cpp
+  src/example_setup_mtc_wave_hand.cpp
+  src/example_ndt_registration.cpp
+  src/example_ransac_registration.cpp
+  src/example_sam2_segmentation.cpp
+  src/register_behaviors.cpp)
+target_include_directories(
+  example_behaviors
+  PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>
+  PRIVATE ${PCL_INCLUDE_DIRS})
+ament_target_dependencies(example_behaviors
+                          ${THIS_PACKAGE_INCLUDE_DEPENDS})
+target_link_libraries(example_behaviors onnx_sam2)
+
+# Install Libraries
+install(
+  TARGETS example_behaviors
+  EXPORT example_behaviorsTargets
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+  INCLUDES
+  DESTINATION include)
+
+install(DIRECTORY config models DESTINATION share/${PROJECT_NAME})
+
+if(BUILD_TESTING)
+  moveit_pro_behavior_test(example_behaviors)
+endif()
+
+# Export the behavior plugins defined in this package so they are available to
+# plugin loaders that load the behavior base class library from the
+# moveit_studio_behavior package.
+pluginlib_export_plugin_description_file(
+  moveit_studio_behavior_interface example_behaviors_plugin_description.xml)
+
+ament_export_targets(example_behaviorsTargets HAS_LIBRARY_TARGET)
+ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
+ament_package()

src/example_behaviors/README.md

@@ -0,0 +1 @@
+# example_behaviors

src/example_behaviors/behavior_plugin.yaml

@@ -0,0 +1,4 @@
+objectives:
+  behavior_loader_plugins:
+    example_behaviors:
+      - "example_behaviors::ExampleBehaviorsLoader"

src/example_behaviors/config/tree_nodes_model.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="utf-8" ?>
+<root>
+  <TreeNodesModel>
+    <!-- Include additional SubTree metadata in this file. -->
+  </TreeNodesModel>
+</root>

src/example_behaviors/example_behaviors_plugin_description.xml

@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="utf-8" ?>
+<library path="example_behaviors">
+  <class
+    type="example_behaviors::ExampleBehaviorsLoader"
+    base_class_type="moveit_studio::behaviors::SharedResourcesNodeLoaderBase"
+  />
+</library>

src/example_behaviors/include/example_behaviors/example_add_two_ints_service_client.hpp

@@ -0,0 +1,51 @@
+#pragma once
+
+#include <example_interfaces/srv/add_two_ints.hpp>
+#include <moveit_studio_behavior_interface/service_client_behavior_base.hpp>
+
+using moveit_studio::behaviors::BehaviorContext;
+using moveit_studio::behaviors::ServiceClientBehaviorBase;
+using AddTwoInts = example_interfaces::srv::AddTwoInts;
+
+namespace example_behaviors
+{
+class ExampleAddTwoIntsServiceClient final : public ServiceClientBehaviorBase<AddTwoInts>
+{
+public:
+  ExampleAddTwoIntsServiceClient(const std::string& name, const BT::NodeConfiguration& config,
+                                 const std::shared_ptr<BehaviorContext>& shared_resources);
+
+  /** @brief Implementation of the required providedPorts() function for the hello_world Behavior. */
+  static BT::PortsList providedPorts();
+
+  /**
+   * @brief Implementation of the metadata() function for displaying metadata, such as Behavior description and
+   * subcategory, in the MoveIt Studio Developer Tool.
+   * @return A BT::KeyValueVector containing the Behavior metadata.
+   */
+  static BT::KeyValueVector metadata();
+
+private:
+  /** @brief User-provided function to get the name of the service when initializing the service client. */
+  tl::expected<std::string, std::string> getServiceName() override;
+
+  /**
+   * @brief User-provided function to create the service request.
+   * @return Returns a service request message. If not successful, returns an error message. Note that the criteria for
+   * success or failure is defined by the user's implementation of this function.
+   */
+  tl::expected<AddTwoInts::Request, std::string> createRequest() override;
+
+  /** @brief Optional user-provided function to process the service response after the service has finished. */
+  tl::expected<bool, std::string> processResponse(const AddTwoInts::Response& response) override;
+
+  /** @brief Classes derived from AsyncBehaviorBase must implement getFuture() so that it returns a shared_future class member */
+  std::shared_future<tl::expected<bool, std::string>>& getFuture() override
+  {
+    return future_;
+  }
+
+  /** @brief Classes derived from AsyncBehaviorBase must have this shared_future as a class member */
+  std::shared_future<tl::expected<bool, std::string>> future_;
+};
+}  // namespace example_behaviors