Update the displayed tutorial robot (#720)

* Update Quickstart Guide

* Update your first c++ project

* Update Visualizing in rviz

* Update Planning Around Objects tutorial

* missed a couple updates

* pre-commit

* Needs to be demo.launch.py

* add kinova 7dof moveit config dependency

* update unit test

* pre-commit again

* update test pose

* update trajectory_execution param

doc/tutorials/planning_around_objects/hello_moveit_kinova.cpp

@@ -0,0 +1,125 @@
+#include <moveit/move_group_interface/move_group_interface.h>
+#include <moveit/planning_scene_interface/planning_scene_interface.h>
+#include <moveit_visual_tools/moveit_visual_tools.h>
+
+#include <memory>
+#include <rclcpp/rclcpp.hpp>
+#include <thread>
+
+int main(int argc, char* argv[])
+{
+  // Initialize ROS and create the Node
+  rclcpp::init(argc, argv);
+  auto const node = std::make_shared<rclcpp::Node>(
+      "hello_moveit", rclcpp::NodeOptions().automatically_declare_parameters_from_overrides(true));
+
+  // Create a ROS logger
+  auto const logger = rclcpp::get_logger("hello_moveit");
+
+  // We spin up a SingleThreadedExecutor for the current state monitor to get
+  // information about the robot's state.
+  rclcpp::executors::SingleThreadedExecutor executor;
+  executor.add_node(node);
+  auto spinner = std::thread([&executor]() { executor.spin(); });
+
+  // Create the MoveIt MoveGroup Interface
+  using moveit::planning_interface::MoveGroupInterface;
+  auto move_group_interface = MoveGroupInterface(node, "manipulator");
+
+  // Construct and initialize MoveItVisualTools
+  auto moveit_visual_tools =
+      moveit_visual_tools::MoveItVisualTools{ node, "base_link", rviz_visual_tools::RVIZ_MARKER_TOPIC,
+                                              move_group_interface.getRobotModel() };
+  moveit_visual_tools.deleteAllMarkers();
+  moveit_visual_tools.loadRemoteControl();
+
+  // Create a closure for updating the text in rviz
+  auto const draw_title = [&moveit_visual_tools](auto text) {
+    auto const text_pose = [] {
+      auto msg = Eigen::Isometry3d::Identity();
+      msg.translation().z() = 1.0;
+      return msg;
+    }();
+    moveit_visual_tools.publishText(text_pose, text, rviz_visual_tools::WHITE, rviz_visual_tools::XLARGE);
+  };
+  auto const prompt = [&moveit_visual_tools](auto text) { moveit_visual_tools.prompt(text); };
+  auto const draw_trajectory_tool_path =
+      [&moveit_visual_tools, jmg = move_group_interface.getRobotModel()->getJointModelGroup("manipulator")](
+          auto const trajectory) { moveit_visual_tools.publishTrajectoryLine(trajectory, jmg); };
+
+  // Set a target Pose with updated values !!!
+  auto const target_pose = [] {
+    geometry_msgs::msg::Pose msg;
+    msg.orientation.y = 0.8;
+    msg.orientation.w = 0.6;
+    msg.position.x = 0.1;
+    msg.position.y = 0.4;
+    msg.position.z = 0.4;
+    return msg;
+  }();
+  move_group_interface.setPoseTarget(target_pose);
+
+  // Create collision object for the robot to avoid
+  auto const collision_object = [frame_id = move_group_interface.getPlanningFrame()] {
+    moveit_msgs::msg::CollisionObject collision_object;
+    collision_object.header.frame_id = frame_id;
+    collision_object.id = "box1";
+    shape_msgs::msg::SolidPrimitive primitive;
+
+    // Define the size of the box in meters
+    primitive.type = primitive.BOX;
+    primitive.dimensions.resize(3);
+    primitive.dimensions[primitive.BOX_X] = 0.5;
+    primitive.dimensions[primitive.BOX_Y] = 0.1;
+    primitive.dimensions[primitive.BOX_Z] = 0.5;
+
+    // Define the pose of the box (relative to the frame_id)
+    geometry_msgs::msg::Pose box_pose;
+    box_pose.orientation.w = 1.0;
+    box_pose.position.x = 0.2;
+    box_pose.position.y = 0.2;
+    box_pose.position.z = 0.25;
+
+    collision_object.primitives.push_back(primitive);
+    collision_object.primitive_poses.push_back(box_pose);
+    collision_object.operation = collision_object.ADD;
+
+    return collision_object;
+  }();
+
+  // Add the collision object to the scene
+  moveit::planning_interface::PlanningSceneInterface planning_scene_interface;
+  planning_scene_interface.applyCollisionObject(collision_object);
+
+  // Create a plan to that target pose
+  prompt("Press 'next' in the RvizVisualToolsGui window to plan");
+  draw_title("Planning");
+  moveit_visual_tools.trigger();
+  auto const [success, plan] = [&move_group_interface] {
+    moveit::planning_interface::MoveGroupInterface::Plan msg;
+    auto const ok = static_cast<bool>(move_group_interface.plan(msg));
+    return std::make_pair(ok, msg);
+  }();
+
+  // Execute the plan
+  if (success)
+  {
+    draw_trajectory_tool_path(plan.trajectory);
+    moveit_visual_tools.trigger();
+    prompt("Press 'next' in the RvizVisualToolsGui window to execute");
+    draw_title("Executing");
+    moveit_visual_tools.trigger();
+    move_group_interface.execute(plan);
+  }
+  else
+  {
+    draw_title("Planning Failed!");
+    moveit_visual_tools.trigger();
+    RCLCPP_ERROR(logger, "Planning failed!");
+  }
+
+  // Shutdown ROS
+  rclcpp::shutdown();
+  spinner.join();
+  return 0;
+}

doc/tutorials/planning_around_objects/planning_around_objects.rst

@@ -100,15 +100,15 @@ This code block should directly follow the code block that creates the collision
 
 Just as we did in the last tutorial, start RViz using the ``demo.launch.py`` script and run our program. If you're using one of the Docker tutorial containers, you can specify a different RViz configuration that already has the RvizVisualToolsGui panel added using: ::
 
-   ros2 launch moveit2_tutorials demo.launch.py rviz_config:=panda_hello_moveit.rviz
+   ros2 launch moveit2_tutorials demo.launch.py rviz_config:=kinova_hello_moveit.rviz
 
 .. image:: planning_around_object.png
 
 Summary
 -------
 
 - You extended the program you wrote with MoveIt to plan around an object in the scene.
-- :codedir:`Here is a copy of the full hello_moveit.cpp source<tutorials/planning_around_objects/hello_moveit.cpp>`.
+- :codedir:`Here is a copy of the full hello_moveit.cpp source<tutorials/planning_around_objects/hello_moveit_kinova.cpp>`.
 
 Further Reading
 ---------------

doc/tutorials/quickstart_in_rviz/launch/demo.launch.py

@@ -16,7 +16,7 @@ def generate_launch_description():
     declared_arguments.append(
         DeclareLaunchArgument(
             "rviz_config",
-            default_value="panda_moveit_config_demo.rviz",
+            default_value="kinova_moveit_config_demo.rviz",
             description="RViz configuration file",
         )
     )
@@ -28,15 +28,24 @@ def generate_launch_description():
 
 def launch_setup(context, *args, **kwargs):
 
+    launch_arguments = {
+        "robot_ip": "xxx.yyy.zzz.www",
+        "use_fake_hardware": "true",
+        "gripper": "robotiq_2f_85",
+        "dof": "7",
+    }
+
     moveit_config = (
-        MoveItConfigsBuilder("moveit_resources_panda")
-        .robot_description(file_path="config/panda.urdf.xacro")
-        .trajectory_execution(file_path="config/gripper_moveit_controllers.yaml")
+        MoveItConfigsBuilder(
+            "gen3", package_name="kinova_gen3_7dof_robotiq_2f_85_moveit_config"
+        )
+        .robot_description(mappings=launch_arguments)
+        .trajectory_execution(file_path="config/moveit_controllers.yaml")
         .planning_scene_monitor(
             publish_robot_description=True, publish_robot_description_semantic=True
         )
         .planning_pipelines(
-            pipelines=["ompl", "chomp", "pilz_industrial_motion_planner"]
+            pipelines=["ompl", "stomp", "pilz_industrial_motion_planner"]
         )
         .to_moveit_configs()
     )
@@ -76,7 +85,7 @@ def launch_setup(context, *args, **kwargs):
         executable="static_transform_publisher",
         name="static_transform_publisher",
         output="log",
-        arguments=["0.0", "0.0", "0.0", "0.0", "0.0", "0.0", "world", "panda_link0"],
+        arguments=["0.0", "0.0", "0.0", "0.0", "0.0", "0.0", "world", "base_link"],
     )
 
     # Publish TF
@@ -90,7 +99,7 @@ def launch_setup(context, *args, **kwargs):
 
     # ros2_control using FakeSystem as hardware
     ros2_controllers_path = os.path.join(
-        get_package_share_directory("moveit_resources_panda_moveit_config"),
+        get_package_share_directory("kinova_gen3_7dof_robotiq_2f_85_moveit_config"),
         "config",
         "ros2_controllers.yaml",
     )
@@ -106,8 +115,6 @@ def launch_setup(context, *args, **kwargs):
         executable="spawner",
         arguments=[
             "joint_state_broadcaster",
-            "--controller-manager-timeout",
-            "300",
             "--controller-manager",
             "/controller_manager",
         ],
@@ -116,13 +123,13 @@ def launch_setup(context, *args, **kwargs):
     arm_controller_spawner = Node(
         package="controller_manager",
         executable="spawner",
-        arguments=["panda_arm_controller", "-c", "/controller_manager"],
+        arguments=["joint_trajectory_controller", "-c", "/controller_manager"],
     )
 
     hand_controller_spawner = Node(
         package="controller_manager",
         executable="spawner",
-        arguments=["panda_hand_controller", "-c", "/controller_manager"],
+        arguments=["robotiq_gripper_controller", "-c", "/controller_manager"],
     )
     nodes_to_start = [
         rviz_node,