Pick & Place Exercise (Gazebo + Console + Rviz) with web-templates #1153

predator4hack · 2021-07-16T04:51:26Z

No description provided.

Rviz is incorporated in the exercise

predator4hack · 2021-07-16T05:03:44Z

solves issue #1133

sixer51 · 2021-07-16T05:16:49Z

scripts/Dockerfile


 # RoboticsAcademy
-RUN git clone https://github.com/JdeRobot/RoboticsAcademy.git -b master
-RUN rsync -a --exclude 'ace-builds' /RoboticsAcademy/exercises/static/exercises/* /RoboticsAcademy/exercises
+RUN git clone https://github.com/predator4hack/RoboticsAcademy.git -b pick_place


This line should not be changed

Hmm, will have to change this

sixer51 · 2021-07-16T05:17:02Z

scripts/Dockerfile-2.4

 ENV LD_LIBRARY_PATH "$LD_LIBRARY_PATH:/usr/lib/x86_64-linux-gnu/gazebo-9/plugins:/Firmware/build/px4_sitl_default/build_gazebo"

 # RoboticsAcademy
-RUN git clone https://github.com/JdeRobot/RoboticsAcademy.git -b master
+RUN git clone https://github.com/predator4hack/RoboticsAcademy.git -b pick_place


This line should not be changed

sixer51 · 2021-07-16T05:18:24Z

scripts/Dockerfile

-RUN git clone https://github.com/JdeRobot/RoboticsAcademy.git -b master
-RUN rsync -a --exclude 'ace-builds' /RoboticsAcademy/exercises/static/exercises/* /RoboticsAcademy/exercises
+RUN git clone https://github.com/predator4hack/RoboticsAcademy.git -b pick_place
+# RUN rsync -a --exclude 'ace-builds' /RoboticsAcademy/exercises/static/exercises/* /RoboticsAcademy/exercises


Why is this line commented in Dockerfile, but kept in Dockerfile-2.4?

Ohh, I forgot to uncomment this, basically, we are using RADI 2.4, so the changes in the dockerfile didn't affect the testing.

scripts/Dockerfile

predator4hack

Yeah,, ig any changes inside the dockerfile is irrelevant because there is no catkin workspace in it. I'll remove all the changes inside dockerfile.q11

predator4hack · 2021-07-16T05:40:03Z

scripts/Dockerfile

-RUN git clone https://github.com/JdeRobot/RoboticsAcademy.git -b master
-RUN rsync -a --exclude 'ace-builds' /RoboticsAcademy/exercises/static/exercises/* /RoboticsAcademy/exercises
+RUN git clone https://github.com/predator4hack/RoboticsAcademy.git -b pick_place
+# RUN rsync -a --exclude 'ace-builds' /RoboticsAcademy/exercises/static/exercises/* /RoboticsAcademy/exercises


Ohh, I forgot to uncomment this, basically, we are using RADI 2.4, so the changes in the dockerfile didn't affect the testing.

predator4hack · 2021-07-16T05:41:38Z

scripts/Dockerfile


 # RoboticsAcademy
-RUN git clone https://github.com/JdeRobot/RoboticsAcademy.git -b master
-RUN rsync -a --exclude 'ace-builds' /RoboticsAcademy/exercises/static/exercises/* /RoboticsAcademy/exercises
+RUN git clone https://github.com/predator4hack/RoboticsAcademy.git -b pick_place


Hmm, will have to change this

pushkalkatara · 2021-07-17T15:16:15Z

scripts/manager.py

@@ -8,7 +8,7 @@
 import time
 import json
 import stat
-
+import manager_utils as m_utils


All specific changes to scripts/manager.py would be a feature accessible to all exercises in JdeRobot Academy.
In this case, it is the addition of the Rviz plugin. I guess other projects would also be making similar changes.

Maybe this should go as a separate feature-issue-pr into JdeRobotAcademy and not part of the pick_place exercise addition PR.

@sixer51 @jmplaza what are your thoughts on the same?

Actually, Siddharth has already created a pull request related to this: https://github.com/trunc8/RoboticsAcademy/commits/issue-801

pushkalkatara · 2021-07-17T15:25:45Z

I reproduced the branch on my system and the exercise works perfectly. Thanks Chandan (@predator4hack) for your contribution.

The number of changes in the current PR (1931) is daunting to review. Probably most of the changes are due to the static files of ace-builds for the website. Keeping those files for new exercise is a necessity I guess.

Maybe we can break the PR and get the raw template merged in JdeRobot:master first, in another PR, we can update changes specific to pick_place exercise. This way no. of changes in files would be less and code-review would be easier.

pushkalkatara · 2021-07-17T15:32:04Z

Also, the current docker build is from scratch, It took around 2 hours on my system for the build to complete.

Can we somehow use RoboticsAcademy current images as our Dockerfile's base image, and have a Dockerfile specifically to build the exercise? this way build time would be shorter I guess.

predator4hack · 2021-07-17T15:33:51Z

I reproduced the branch on my system and the exercise works perfectly. Thanks Chandan (@predator4hack) for your contribution.

The number of changes in the current PR (1931) is daunting to review. Probably most of the changes are due to the static files of ace-builds for the website. Keeping those files for new exercise is a necessity I guess.

Maybe we can break the PR and get the raw template merged in JdeRobot:master first, in another PR, we can update changes specific to pick_place exercise. This way no. of changes in files would be less and code-review would be easier.

Yeah, I guess we can do that

predator4hack · 2021-07-17T15:36:52Z

Also, the current docker build is from scratch, It took around 2 hours on my system for the build to complete.

Can we somehow use RoboticsAcademy current images as our Dockerfile's base image, and have a Dockerfile specifically to build the exercise? this way build time would be shorter I guess.

Yeah, we have multi-stage build for this. Once you create the base image for any version, you can build again on top of it. And you don't need to build the base image again and again, which takes most of the time.

Industrial Robot exercise doesn't work with RADI2.3 because of the unavailability of the catkin_ws. So the changes for the Dockerfile(RADI2.3) are unnecessary.

predator4hack added 30 commits June 20, 2021 16:38

commented the rsync command to create a docker image

fd66e0b

Docker Mount is working

56de72b

Created an entry for pic and place in db.sqlite3

7d1a128

Added exercise.py and assets

36a85fb

exercise.html

ed90aa4

Added teaser png

06265b3

Added ace-builds

300bf5a

Added Code, exercise and launch files

c5e1c4e

added kinematic widget in html page

db624b8

Updated HAL and created env functions

cfd4a7f

Added GAZEBO_RESOURCE_PATH in manager

a283024

Updated launcher.js

1981801

configured repo for IndustrialRobots

5864bd7

updated dockerfile

f1c2137

replaced my repo in dockerfile

cde3e34

removed rsync

671c487

Merge branch 'JdeRobot:master' into pick_place

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Learn about vigilant mode

a037953

Made changes for new Image

f14d614

Updated ROS_PACKAGE_PATH in dockerfile

74fdb57

updated dockerfile

5564991

Updated world path

955d817

added rospkg library

c4d0034

Added Comments

32e77da

Added widget

f826ed3

Connection Resolved

9c59456

Connection Working

db21771

Added child css

671480d

connections are working and hal and env APIs are created

f92135e

Css Working Now

5c59cb1

Fixed merge conflicts

f42e733

predator4hack added 14 commits July 2, 2021 17:28

Added rviz display

3769b61

fixed some bug

cc92c88

Rviz is working nowpwd

35a1fd5

Merge branch 'Rviztesting' into pick_place

511fda4

Rviz is incorporated in the exercise

HAL apis

4fb5a6d

Rviz objects spawned properly

51d1236

Added kinematic perspective

9f003e5

Added start.sh for the config of workspace

6089da4

Fixed simulation bugs

eb743a8

Updated the dockerfile

840f816

Fixed issues with reset button

22f9dc5

Fixed the templates issue with other exercises

05c1f54

Removed redundant exercises

288f4d0

Added plugin path for acceleration enabled containers

96e34ba

sixer51 reviewed Jul 16, 2021

View reviewed changes

Delete settings.json for vscode

094b540

sixer51 reviewed Jul 16, 2021

View reviewed changes

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predator4hack commented Jul 16, 2021

View reviewed changes

pushkalkatara reviewed Jul 17, 2021

View reviewed changes

predator4hack added 2 commits July 17, 2021 21:25

Removed the changes made for RADI2.3

592183a

Industrial Robot exercise doesn't work with RADI2.3 because of the unavailability of the catkin_ws. So the changes for the Dockerfile(RADI2.3) are unnecessary.

Updated the repo from personal fork to JdeRobot

1fd0fbc

predator4hack changed the title ~~Pick & Place Exercise with web-templates~~ Pick & Place Exercise (Gazebo + Console + Rviz) with web-templates Aug 21, 2021

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Pick & Place Exercise (Gazebo + Console + Rviz) with web-templates #1153

Pick & Place Exercise (Gazebo + Console + Rviz) with web-templates #1153

predator4hack commented Jul 16, 2021

predator4hack commented Jul 16, 2021

sixer51 Jul 16, 2021

predator4hack Jul 16, 2021

sixer51 Jul 16, 2021 •

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pushkalkatara commented Jul 17, 2021

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predator4hack commented Jul 17, 2021

Pick & Place Exercise (Gazebo + Console + Rviz) with web-templates #1153

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Pick & Place Exercise (Gazebo + Console + Rviz) with web-templates #1153

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predator4hack commented Jul 16, 2021

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sixer51 Jul 16, 2021 • edited Loading

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pushkalkatara commented Jul 17, 2021

pushkalkatara commented Jul 17, 2021

predator4hack commented Jul 17, 2021

predator4hack commented Jul 17, 2021

sixer51 Jul 16, 2021 •

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