Update canadarm_demo to the changes

related to space-ros/space-ros#178
 - Cleaned up canadarm launch file for the demo
 - Updated comments for demo node
 - Strip Moveit Redundant Node
 - Cleanup packages.xml
 - Remove ros control parameters for gazebo

canadarm2/.defaults.yaml

@@ -0,0 +1,7 @@
+{
+  "build":
+    {
+      "symlink-install": true,
+      "cmake_args": "-DCMAKE_BUILD_TYPE=Release -Wno-dev",
+    },
+}

canadarm2/Dockerfile

@@ -0,0 +1,23 @@
+FROM osrf/space-ros:core
+
+ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+
+# Install dependencies
+RUN sudo apt update && sudo apt install -y ros-${ROS_DISTRO}-control-msgs \
+    ros-${ROS_DISTRO}-rmw-cyclonedds-cpp
+
+# Prepare the workspace
+SHELL ["bash", "-c"]
+RUN mkdir -p ${HOME}/canadarm_ws/src
+WORKDIR ${HOME}/canadarm_ws
+
+COPY ./canadarm_demo src/canadarm_demo
+COPY .defaults.yaml .defaults.yaml
+
+# Build the workspace
+RUN source /opt/ros/${ROS_DISTRO}/setup.bash \
+    && source /opt/spaceros/setup.bash \
+    && colcon build
+
+# Source the workspace
+RUN echo "source ${HOME}/canadarm_ws/install/setup.bash" >> ${HOME}/.bashrc

canadarm2/Makefile

@@ -0,0 +1,60 @@
+# Define variables
+DOCKER_IMAGE = osrf/space-ros:canadarm_demo
+WORKSPACE = ${HOME}/canadarm_ws
+LOCAL_WORKSPACE = $(shell pwd)
+SHELL := /bin/bash
+XTERM_CONFIG = -bg black -fg white -fa 'Monospace' -fs 11
+
+# Help target to describe each target
+.PHONY: help
+help:
+	@echo "CanadArm2 Makefile"
+	@echo "  make build          - Build the Docker image and the Gazebo workspace locally"
+	@echo "  make build-docker   - Build the Docker image"
+	@echo "  make build-gazebo   - Build the Gazebo workspace locally"
+	@echo "  make run-gazebo     - Run the CanadArm2 Gazebo simulation locally"
+	@echo "  make run-demo       - Run the CanadArm2 demo within Docker"
+	@echo "  make clean          - Clean the local workspace"
+	@echo "  make all            - Build and run everything"
+
+# Build all
+.PHONY: build
+build: build-docker build-gazebo
+
+# Build the Docker image
+.PHONY: build-docker
+build-docker:
+	docker build -t $(DOCKER_IMAGE) .
+
+# Run the CanadArm Gazebo simulation locally
+.PHONY: run-gazebo
+run-gazebo:
+	xterm $(XTERM_CONFIG) -T 'CanadArm2 Gazebo' -e 'source /opt/ros/${ROS_DISTRO}/setup.bash \
+		&& source $(LOCAL_WORKSPACE)/install/setup.bash \
+		&& ros2 launch canadarm_gazebo canadarm.launch.py' &
+
+# Build the Gazebo workspace locally
+.PHONY: build-gazebo
+build-gazebo:
+	@source /opt/ros/${ROS_DISTRO}/setup.bash && \
+	rosdep install --from-paths canadarm_gazebo --ignore-src -r -y && \
+	rosdep install --from-paths canadarm_description --ignore-src -r -y && \
+	colcon build --symlink-install --base-paths $(LOCAL_WORKSPACE) --install-base $(LOCAL_WORKSPACE)/install \
+        --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \
+        --packages-select canadarm_description canadarm_gazebo
+
+# Run the CanadArm demo within Docker
+.PHONY: run-docker
+run-docker:
+	xterm $(XTERM_CONFIG) -T 'CanadArm2 Demo' -e "docker run -it --rm \
+		-e RMW_IMPLEMENTATION=rmw_cyclonedds_cpp \
+		$(DOCKER_IMAGE) \
+		bash -c 'source ~/.bashrc && ros2 launch canadarm_demo canadarm.launch.py'" &
+
+.PHONY: clean
+clean:
+	rm -rf $(LOCAL_WORKSPACE)/install $(LOCAL_WORKSPACE)/log $(LOCAL_WORKSPACE)/build
+
+# Build and run everything
+.PHONY: run
+run: build run-gazebo run-docker

canadarm2/canadarm_demo/CMakeLists.txt

@@ -10,9 +10,6 @@ find_package(ament_cmake REQUIRED)
 find_package(ament_cmake_python REQUIRED)
 find_package(rclpy REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
-# uncomment the following section in order to fill in
-# further dependencies manually.
-# find_package(<dependency> REQUIRED)
 
 rosidl_generate_interfaces(${PROJECT_NAME}
   "action/MoveJoint.action"
@@ -34,9 +31,7 @@ endif()
 
 install(DIRECTORY
   action
-  config
   launch
-  worlds
   DESTINATION share/${PROJECT_NAME}
 )
 

canadarm2/canadarm_demo/launch/canadarm.launch.py

@@ -1,109 +1,24 @@
-from http.server import executable
-from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, ExecuteProcess, RegisterEventHandler
-from launch.substitutions import TextSubstitution, PathJoinSubstitution, LaunchConfiguration, Command
-from launch_ros.actions import Node
-from launch_ros.substitutions import FindPackageShare
-from launch.event_handlers import OnProcessExit, OnExecutionComplete
-import os
-from os import environ
+"""Canadarm2 demo launch file."""
 
-from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription  # type: ignore
 
-import xacro
+from launch_ros.actions import Node  # type: ignore
 
 
 def generate_launch_description():
-    # ld = LaunchDescription()
+    """Generate launch description with multiple components."""
 
-    canadarm_demos_path = get_package_share_directory('canadarm')
-    simulation_models_path = get_package_share_directory('simulation')
-
-    env = {'IGN_GAZEBO_SYSTEM_PLUGIN_PATH':
-           ':'.join([environ.get('IGN_GAZEBO_SYSTEM_PLUGIN_PATH', default=''),
-                     environ.get('LD_LIBRARY_PATH', default='')]),
-           'IGN_GAZEBO_RESOURCE_PATH':
-           ':'.join([environ.get('IGN_GAZEBO_RESOURCE_PATH', default=''), canadarm_demos_path])}
-
-
-    urdf_model_path = os.path.join(simulation_models_path, 'models', 'canadarm', 'urdf', 'SSRMS_Canadarm2.urdf.xacro')
-    leo_model = os.path.join(canadarm_demos_path, 'worlds', 'simple.world')
-
-
-    doc = xacro.process_file(urdf_model_path, mappings={'xyz' : '1.0 0.0 1.5', 'rpy': '3.1416 0.0 0.0'})
-    robot_description = {'robot_description': doc.toxml()}
-
-
-    #run_node = Node(
+    # run_node = Node(
     #    package="canadarm",
     #    executable="move_joint_server",
     #    output='screen'
-    #)
-
-    run_move_arm = Node(
-        package="canadarm",
-        executable="move_arm",
-        output='screen'
-    )
-
-
-    start_world = ExecuteProcess(
-        cmd=['ign gazebo', leo_model, '-r'],
-        output='screen',
-        additional_env=env,
-        shell=True
-    )
-
-
-    robot_state_publisher = Node(
-            package='robot_state_publisher',
-            executable='robot_state_publisher',
-            name='robot_state_publisher',
-            output='screen',
-            parameters=[robot_description])
-
-    spawn = Node(
-        package='ros_ign_gazebo', executable='create',
-        arguments=[
-            '-name', 'canadarm',
-            '-topic', robot_description,
-        ],
-        output='screen'
-    )
+    # )
 
+    run_move_arm = Node(package="canadarm_demo", executable="move_arm", output="screen")
 
-    # Control
-    load_joint_state_broadcaster = ExecuteProcess(
-        cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
-             'joint_state_broadcaster'],
-        output='screen'
+    return LaunchDescription(
+        [
+            # run_node,
+            run_move_arm,
+        ]
     )
-
-    load_canadarm_joint_controller = ExecuteProcess(
-        cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
-             'canadarm_joint_trajectory_controller'],
-        output='screen'
-    )
-
-
-
-    return LaunchDescription([
-        start_world,
-        robot_state_publisher,
-        spawn,
-        #run_node,
-        run_move_arm,
-
-        RegisterEventHandler(
-            OnProcessExit(
-                target_action=spawn,
-                on_exit=[load_joint_state_broadcaster],
-            )
-        ),
-        RegisterEventHandler(
-            OnProcessExit(
-                target_action=load_joint_state_broadcaster,
-                on_exit=[load_canadarm_joint_controller],
-            )
-        ),
-    ])