Merge remote-tracking branch 'origin/v4.0' into merge-4.0.1-to-main

PickNikRobotics · Feb 20, 2024 · 532211f · 532211f
2 parents c9400c5 + 3226f3d
commit 532211f
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Showing 13 changed files with 20 additions and 19 deletions.
diff --git a/.env b/.env
@@ -10,7 +10,8 @@ STUDIO_DOCKER_TAG=main
 # Licensing -- enter your MoveIt Pro license below
 STUDIO_LICENSE_KEY=
 
-# User name and UID to use when building the container
+# User name, UID, and GID to use when building the container
 # Ensure these settings match your host environment for mounted file permissions.
-USERNAME=
+STUDIO_USERNAME=
 STUDIO_USER_UID=
+STUDIO_USER_GID=
diff --git a/docker-compose.yaml b/docker-compose.yaml
@@ -8,9 +8,9 @@ services:
     # 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: ${HOME}/moveit_studio/docker-compose.yaml
+      file: ${HOME}/moveit_pro/docker-compose.yaml
       service: base
-    image: moveit-studio-overlay
+    image: moveit-pro-overlay
     build:
       context: .
       target: user-overlay
@@ -96,10 +96,10 @@ services:
     privileged: true
     volumes:
       # Mount the source code, colcon generated artifacts, and ccache
-      - ./src/:/home/${STUDIO_USERNAME:-studio-user}/user_overlay_ws/src:rw
-      - ./build/:/home/${STUDIO_USERNAME:-studio-user}/user_overlay_ws/build:rw
-      - ./install/:/home/${STUDIO_USERNAME:-studio-user}/user_overlay_ws/install:rw
-      - ./log/:/home/${STUDIO_USERNAME:-studio-user}/user_overlay_ws/log:rw
+      - ./src/:/home/${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

diff --git a/src/moveit_studio_ur_pstop_manager/package.xml b/src/moveit_studio_ur_pstop_manager/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>moveit_studio_ur_pstop_manager</name>
-  <version>4.0.0</version>
+  <version>4.0.1</version>
   <description>Provides a node to monitor the protective stop state of the UR5, and reset protective
     stops when necessary.</description>
   <maintainer email="[email protected]">MoveIt Pro Maintainer</maintainer>

diff --git a/src/picknik_ur_base_config/package.xml b/src/picknik_ur_base_config/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>picknik_ur_base_config</name>
-  <version>4.0.0</version>
+  <version>4.0.1</version>
 
   <description>Base configuration package for Picknik's UR robot arms</description>
 

diff --git a/src/picknik_ur_gazebo_config/objectives/force_exceeds_threshold.xml b/src/picknik_ur_gazebo_config/objectives/force_exceeds_threshold.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <root BTCPP_format="4" main_tree_to_execute="Force Exceeds Threshold">
-    <BehaviorTree ID="Force Exceeds Threshold" _description="Uses a Force Torque Sensor topic to check if input End Effector force exceeds threshold. This subtree is used to overwrite these values for each package." _favorite="true">
+    <BehaviorTree ID="Force Exceeds Threshold" _description="Uses a Force Torque Sensor topic to check if input End Effector force exceeds threshold. This subtree is used to overwrite these values for each package." _favorite="false">
         <Control ID="Sequence">
             <Action ID="ForceExceedsThreshold" wrench_topic_name="/force_torque_sensor_broadcaster/wrench" hand_frame_name="grasp_link" wrench_frame_name="tool0" minimum_consecutive_wrench_values="10" force_threshold="10.0"/>
         </Control>

diff --git a/src/picknik_ur_gazebo_config/package.xml b/src/picknik_ur_gazebo_config/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>picknik_ur_gazebo_config</name>
-  <version>4.0.0</version>
+  <version>4.0.1</version>
 
   <description>Site configuration package for the UR5e in PickNik's space station world simulated by Gazebo.</description>
 

diff --git a/src/picknik_ur_gazebo_scan_and_plan_config/package.xml b/src/picknik_ur_gazebo_scan_and_plan_config/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>picknik_ur_gazebo_scan_and_plan_config</name>
-  <version>4.0.0</version>
+  <version>4.0.1</version>
 
   <description>Site configuration package for the UR5e simulated in Gazebo to show "scan and plan" applications.</description>
 

diff --git a/src/picknik_ur_mock_hw_config/package.xml b/src/picknik_ur_mock_hw_config/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>picknik_ur_mock_hw_config</name>
-  <version>4.0.0</version>
+  <version>4.0.1</version>
 
   <description>Configuration package for a UR arm that can be simulated with mock hardware</description>
 

diff --git a/src/picknik_ur_site_config/objectives/open_door_fixed_handle_ml.xml b/src/picknik_ur_site_config/objectives/open_door_fixed_handle_ml.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <root BTCPP_format="4" main_tree_to_execute="Open Door Fixed Handle ML">
   <!-- ////////// -->
-  <BehaviorTree ID="Open Door Fixed Handle ML" _description="Attempts to open a door with a fixed handle (such as cabinet doors) using machine learning." _favorite="true" _hardcoded="true">
+  <BehaviorTree ID="Open Door Fixed Handle ML" _description="Attempts to open a door with a fixed handle (such as cabinet doors) using machine learning." _favorite="false" _hardcoded="true">
     <Control ID="Sequence" name="TopLevelSequence">
       <!-- Load the parameters needed for this Objective -->
       <Action ID="LoadObjectiveParameters" config_file_name="open_door_fixed_handle_MTC_config.yaml" parameters="{parameters}"/>

diff --git a/src/picknik_ur_site_config/objectives/open_lever_handle_door.xml b/src/picknik_ur_site_config/objectives/open_lever_handle_door.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <root BTCPP_format="4" main_tree_to_execute="Open Lever Handle Door">
-  <BehaviorTree ID="Open Lever Handle Door" _description="Open a lever handle door by turning the handle and pushing the door" _favorite="true">
+  <BehaviorTree ID="Open Lever Handle Door" _description="Open a lever handle door by turning the handle and pushing the door" _favorite="false">
     <Control ID="Sequence" name="Setup">
       <Action ID="LoadObjectiveParameters" config_file_name="open_door_lever_handle_MTC_config.yaml" parameters="{parameters}"/>
       <SubTree ID="Re-Zero Force-Torque Sensors" _collapsed="true"/>

diff --git a/src/picknik_ur_site_config/objectives/push_button_ml.xml b/src/picknik_ur_site_config/objectives/push_button_ml.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <root BTCPP_format="4" main_tree_to_execute="Push Button ML">
-  <BehaviorTree ID="Push Button ML" _description="Move to a waypoint, and then push a button detected by a image segmentation network with the end effector" _favorite="true">
+  <BehaviorTree ID="Push Button ML" _description="Move to a waypoint, and then push a button detected by a image segmentation network with the end effector" _favorite="false">
     <Control ID="Sequence">
       <Action ID="LoadObjectiveParameters" config_file_name="push_along_axis_config.yaml" parameters="{parameters}"/>
       <SubTree ID="Re-Zero Force-Torque Sensors" _collapsed="true"/>

diff --git a/src/picknik_ur_site_config/package.xml b/src/picknik_ur_site_config/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>picknik_ur_site_config</name>
-  <version>4.0.0</version>
+  <version>4.0.1</version>
 
   <description>Site configuration package for a UR arm that can be simulated with mock hardware</description>
 

diff --git a/src/picknik_ur_studio_integration_testing/package.xml b/src/picknik_ur_studio_integration_testing/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>picknik_ur_studio_integration_testing</name>
-  <version>4.0.0</version>
+  <version>4.0.1</version>
   <description>Integration tests for UR with MoveIt Pro.</description>
   <maintainer email="[email protected]">MoveIt Pro Maintainer</maintainer>