Merge pull request #68 from PickNikRobotics/v7.0

Sync V7.0

Dockerfile

@@ -10,13 +10,14 @@ ARG MOVEIT_STUDIO_BASE_IMAGE
 ARG USERNAME=studio-user
 ARG USER_UID=1000
 ARG USER_GID=1000
+ARG BASE=base
 
 ##################################################
 # 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
+FROM ${MOVEIT_STUDIO_BASE_IMAGE} AS base-base
 
 # Create a non-root user
 ARG USERNAME
@@ -49,18 +50,20 @@ 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
+FROM base-base AS base-nvidia
+ARG NVIDIA_DRIVER_PACKAGE
+ENV DEBIAN_FRONTEND=noninteractive
+# hadolint ignore=DL3008
+RUN apt-get update && apt-get install -y --no-install-recommends software-properties-common
+# hadolint ignore=DL3008
+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-get update && apt-get upgrade -y && apt-get install -y --no-install-recommends "${NVIDIA_DRIVER_PACKAGE}"
 
+ARG BASE
+# hadolint ignore=DL3006
+FROM base-${BASE} AS 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.

docker-compose.yaml

@@ -1,106 +1,30 @@
-# Docker Compose file for user overlays of the MoveIt Pro images.
+# Docker Compose file that will be merged with /opt/moveit_pro/docker-compose.yaml.
+# For more details on how merging works, see https://docs.docker.com/compose/how-tos/multiple-compose-files/merge/#merging-rules.
 
+# Services that are listed under `/opt/moveit_pro/docker-compose.yaml` are mirrored here for merging.
+# Feel free to remove services here that are unmodified.
 services:
-  # Sets common properties for other services. Should not be instantiated directly.
+  # The base image that all MoveIt Pro services extend off of. Builds the user workspace.
   base:
-    # Extend the installed MoveIt Pro docker compose file.
-    # Change this to match your environment, if MoveIt Pro was installed to a different location.
-    extends:
-      file: /opt/moveit_pro/docker-compose.yaml
-      service: base
-    image: moveit-pro-overlay
     build:
-      context: .
-      target: user-overlay
+      # List any arguments for building the user workspace here.
       args:
-        - USER_UID=${STUDIO_USER_UID:-1000}
-        - USER_GID=${STUDIO_USER_GID:-1000}
-        - USERNAME=${STUDIO_USERNAME:-studio-user}
-        - MOVEIT_STUDIO_BASE_IMAGE=picknikciuser/moveit-studio:${STUDIO_DOCKER_TAG:-main}
-
-  # Starts the MoveIt Pro Agent and the Bridge between the Agent and the Web UI
+        # 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:
-    extends: base
-    privileged: true
-    # This service relies on cgroup_rules defined in base which allow the user to use the host's network video4linux and usb_device devices.
-    depends_on:
-      rest_api:
-        condition: service_healthy
-    volumes:
-      # Allow the user to run graphical programs from within the docker container.
-      - /tmp/.X11-unix:/tmp/.X11-unix:ro
-      # Allow access to host hardware e.g. RealSense cameras
-      - /dev:/dev
-    deploy:
-      restart_policy:
-        condition: any
-        delay: 2s
-    command: agent_bridge.app
-
-  # Starts the REST API for the Web UI.
-  rest_api:
-    extends: base
-    healthcheck:
-      test: "curl -f http://localhost:3200/objectives"
-      interval: 5s
-      timeout: 1m
-    command: rest_api.app
 
   # Starts the robot drivers.
   drivers:
-    extends: base
-    privileged: true
-    # Ensures the drivers container has RT priority
-    ulimits:
-      rtprio: 99
-    devices:
-      - "/dev/ttyUSB0:/dev/ttyUSB0"  # Allow access to the gripper.
-    command: robot.app
 
   # Starts the web UI frontend.
   web_ui:
-    image: picknikciuser/moveit-studio-frontend:${STUDIO_DOCKER_TAG:-main}
-    ports:
-      - "80:80"
-    network_mode: host
-
-  # Starts RViz for visualization.
-  rviz:
-    extends: base
-    profiles:
-      - rviz
-    command: bash -c "ros2 launch moveit_studio_agent developer_rviz.launch.py"
 
-  # Starts MoveIt Setup Assistant for creating MoveIt configurations.
-  setup_assistant:
-    extends: base
-    profiles:
-      - setup_assistant
-    command: bash -c "ros2 launch moveit_setup_assistant setup_assistant.launch.py"
-
-  # Developer specific configuration
+  # Developer specific configuration when running `moveit_pro dev`.
   dev:
-    extends: base
-    build:
-      target: user-overlay-dev
-    image: moveit-studio-overlay-dev
-    stdin_open: true
-    tty: true
-    privileged: true
-    volumes:
-      # Mount the source code, colcon generated artifacts, and ccache
-      - ./src/:/home/${STUDIO_USERNAME:-studio-user}/user_ws/src:rw
-      - ./build/:/home/${STUDIO_USERNAME:-studio-user}/user_ws/build:rw
-      - ./install/:/home/${STUDIO_USERNAME:-studio-user}/user_ws/install:rw
-      - ./log/:/home/${STUDIO_USERNAME:-studio-user}/user_ws/log:rw
-      - ./.ccache/:/home/${STUDIO_USERNAME:-studio-user}/.ccache:rw
-      - ${HOME}/.ros/log_moveit_pro:/home/${STUDIO_USERNAME:-studio-user}/.ros/log
-      # Allow access to host hardware e.g. RealSense cameras
-      - /dev:/dev
-    command: sleep infinity
-    # Making a separate profile prevents this service from being built when using `docker compose build`
-    # and launched when using `docker compose up`.
-    profiles: ["dev"]
-
-volumes:
-  ignition_resources:

src/moveit_pro_ur_configs/picknik_ur_site_config/objectives/looping_pick_and_place_object.xml

@@ -42,7 +42,7 @@
         <Control ID="Fallback" name="TryGraspOuter">
           <Decorator ID="KeepRunningUntilFailure">
             <Decorator
-              ID="ForEachString"
+              ID="ForEach"
               name="IterateThroughPlaceWaypoints"
               vector_in="Place Right;Place Left"
               out="{place_waypoint}"