12608 remove vfc jtac

.dockerignore

@@ -0,0 +1,4 @@
+.git
+build
+install
+log

.gitattributes

@@ -10,3 +10,11 @@
 *.ply filter=lfs diff=lfs merge=lfs -text
 *.3ds filter=lfs diff=lfs merge=lfs -text
 *.blend filter=lfs diff=lfs merge=lfs -text
+# Add Git LFS support for large yaml files
+src/moveit_pro_franka_configs/franka_arm_sim/objectives/moveitpro_loves_franka.yaml filter=lfs diff=lfs merge=lfs -text
+src/moveit_pro_franka_configs/dual_arm_sim/objectives/loves.yaml filter=lfs diff=lfs merge=lfs -text
+src/moveit_pro_franka_configs/dual_arm_sim/objectives/moveit_pro.yaml filter=lfs diff=lfs merge=lfs -text
+src/moveit_pro_franka_configs/dual_arm_sim/objectives/wipe.yaml filter=lfs diff=lfs merge=lfs -text
+src/moveit_pro_franka_configs/franka_dual_arm_hw/objectives/loves.yaml filter=lfs diff=lfs merge=lfs -text
+src/moveit_pro_franka_configs/franka_dual_arm_hw/objectives/moveit_pro.yaml filter=lfs diff=lfs merge=lfs -text
+src/moveit_pro_franka_configs/franka_dual_arm_hw/objectives/wipe.yaml filter=lfs diff=lfs merge=lfs -text

.github/workflows/ci.yaml

@@ -15,11 +15,12 @@ on:
 
 jobs:
   integration-test-in-studio-container:
-    uses: PickNikRobotics/moveit_pro_ci/.github/workflows/workspace_integration_test.yaml@virtual-buffer
+    uses: PickNikRobotics/moveit_pro_ci/.github/workflows/workspace_integration_test.yaml@v0.0.4
     with:
-      image_tag: ${{ github.event.inputs.image_tag || null }}
+      image_tag: ${{ github.event_name == 'pull_request' && github.event.pull_request.base.ref || github.ref_name }}
       colcon_test_args: "--executor sequential"
-    secrets: inherit
+    secrets:
+      moveit_license_key: ${{ secrets.STUDIO_CI_LICENSE_KEY }}
 
   ensure-no-ssh-in-gitmodules:
     name: Ensure no SSH URLs in .gitmodules
@@ -28,3 +29,9 @@ jobs:
       - uses: actions/checkout@v3
       - name: Check .gitmodules file for Git-over-SSH URLs
         run: "! grep 'git@' .gitmodules"
+
+  validate_objectives:
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v3
+      - uses: PickNikRobotics/moveit_pro_lint@v0.0.1

.gitignore

@@ -0,0 +1,4 @@
+build/
+install/
+log/
+.vscode/

.gitmodules

@@ -0,0 +1,32 @@
+[submodule "src/picknik_accessories"]
+	path = src/picknik_accessories
+	url = https://github.com/PickNikRobotics/picknik_accessories.git
+[submodule "src/external_dependencies/Universal_Robots_ROS2_Description"]
+	path = src/external_dependencies/ur_description
+	url = https://github.com/PickNikRobotics/Universal_Robots_ROS2_Description.git
+[submodule "src/external_dependencies/clearpath_mecanum_drive_controller"]
+	path = src/external_dependencies/clearpath_mecanum_drive_controller
+	url = https://github.com/PickNikRobotics/clearpath_mecanum_drive_controller.git
+[submodule "src/external_dependencies/fanuc"]
+	path = src/external_dependencies/fanuc
+	url = https://github.com/PickNikRobotics/fanuc.git
+[submodule "src/external_dependencies/ros2_kortex_vision"]
+	path = src/external_dependencies/ros2_kortex_vision
+	url = https://github.com/PickNikRobotics/ros2_kortex_vision.git
+[submodule "src/external_dependencies/ros2_kortex"]
+	path = src/external_dependencies/ros2_kortex
+	url = https://github.com/PickNikRobotics/ros2_kortex.git
+[submodule "src/external_dependencies/franka_config/libfranka"]
+	path = src/external_dependencies/franka_config/libfranka
+	url = https://github.com/frankarobotics/libfranka.git
+[submodule "src/external_dependencies/franka_config/franka_ros2"]
+	path = src/external_dependencies/franka_config/franka_ros2
+	url = https://github.com/sjahr/franka_ros2.git
+	branch = automatica_demo
+[submodule "src/external_dependencies/franka_config/franka_description"]
+	path = src/external_dependencies/franka_config/franka_description
+	url = https://github.com/frankarobotics/franka_description.git
+	branch = main
+[submodule "src/moveit_pro_clipseg"]
+	path = src/moveit_pro_clipseg
+	url = https://github.com/PickNikRobotics/moveit_pro_clipseg.git

.pre-commit-config.yaml

@@ -11,10 +11,11 @@
 #     pre-commit autoupdate
 #
 # See https://github.com/pre-commit/pre-commit
+exclude: ^src/external_dependencies/
 repos:
   # Standard hooks
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v3.4.0
+    rev: v6.0.0
     hooks:
       - id: check-ast
       - id: check-case-conflict
@@ -30,12 +31,12 @@ repos:
       - id: fix-byte-order-marker
 
   - repo: https://github.com/psf/black
-    rev: 22.3.0
+    rev: 25.9.0
     hooks:
       - id: black
 
   - repo: https://github.com/codespell-project/codespell
-    rev: v2.0.0
+    rev: v2.4.1
     hooks:
       - id: codespell
         args: ["--write-changes", "-L", "atleast,inout,ether"] # Provide a comma-separated list of misspelled words that codespell should ignore (for example: '-L', 'word1,word2,word3').
@@ -50,31 +51,35 @@ repos:
         args: ["-fallback-style=none"]
 
   - repo: https://github.com/adrienverge/yamllint
-    rev: v1.27.1
+    rev: v1.37.1
     hooks:
       - id: yamllint
         args:
           [
             "--no-warnings",
             "--config-data",
-            "{extends: default, rules: {line-length: disable, braces: {max-spaces-inside: 1}}}",
+            "{extends: default, rules: {line-length: disable, braces: {max-spaces-inside: 1}, indentation: disable, empty-lines: {max-end: 0, max-start: 1}}}",
           ]
         types: [text]
         files: \.(yml|yaml)$
 
   - repo: https://github.com/tcort/markdown-link-check
-    rev: v3.10.3
+    rev: v3.14.1
     hooks:
       - id: markdown-link-check
 
   # NOTE: Broken on arm64. Will need to bump once https://github.com/hadolint/hadolint/issues/840 is fixed.
   - repo: https://github.com/hadolint/hadolint
-    rev: v2.10.0
+    rev: v2.14.0
     hooks:
-      - id: hadolint-docker
+      - id: hadolint
+        name: "Lint Dockerfiles"
+        language: docker_image
+        types: ["dockerfile"]
+        entry: hadolint/hadolint:2.11.0 hadolint
 
   - repo: https://github.com/pre-commit/mirrors-prettier
-    rev: "v3.1.0"
+    rev: "v4.0.0-alpha.8"
     hooks:
       # Use Prettier to lint XML files because, well.. its rules are prettier than most linters, as the name implies.
       # Also we use it in the UI, so it's familiar.

Dockerfile

@@ -6,8 +6,8 @@
 #
 
 # Specify the MoveIt Pro release to build on top of.
-ARG MOVEIT_STUDIO_BASE_IMAGE
-ARG USERNAME=studio-user
+ARG MOVEIT_PRO_BASE_IMAGE=picknikciuser/moveit-studio:${MOVEIT_DOCKER_TAG:-main}
+ARG USERNAME=moveit-pro-user
 ARG USER_UID=1000
 ARG USER_GID=1000
 
@@ -16,7 +16,7 @@ ARG USER_GID=1000
 ##################################################
 # The image tag is specified in the argument itself.
 # hadolint ignore=DL3006
-FROM ${MOVEIT_STUDIO_BASE_IMAGE} AS base
+FROM ${MOVEIT_PRO_BASE_IMAGE} AS base
 
 # Create a non-root user
 ARG USERNAME
@@ -26,8 +26,12 @@ ARG USER_GID
 # Copy source code from the workspace's ROS 2 packages to a workspace inside the container
 ARG USER_WS=/home/${USERNAME}/user_ws
 ENV USER_WS=${USER_WS}
-RUN mkdir -p ${USER_WS}/src ${USER_WS}/build ${USER_WS}/install ${USER_WS}/log
-COPY ./src ${USER_WS}/src
+
+# Set real time limits
+# Ensure the directory exists
+RUN mkdir -p /etc/security
+# Copy the custom limits configuration into the container
+COPY src/moveit_pro_franka_configs/franka_arm_hw/config/rt_limits.conf /etc/security/limits.conf
 
 # Also mkdir with user permission directories which will be mounted later to avoid docker creating them as root
 WORKDIR $USER_WS
@@ -49,24 +53,21 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
       /home/${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
+# Add user to dialout group to enable communication with serial USB devices (gripper, FTS, ...)
+# Add user to video group to enable communication with cameras
+RUN usermod -aG dialout,video ${USERNAME}
+
+# Add user to the realtime group to enable RT limits
+RUN groupadd realtime && \
+    usermod -a -G realtime ${USERNAME}
 
 # 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.
 # hadolint ignore=SC1091
 RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
     --mount=type=cache,target=/var/lib/apt,sharing=locked \
+    --mount=type=bind,target=${USER_WS}/src,source=./src \
     . /opt/overlay_ws/install/setup.sh && \
     apt-get update && \
     rosdep install -q -y \
@@ -103,7 +104,8 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
     apt-get install -y --no-install-recommends \
         less \
         gdb \
-        nano
+        nano \
+        tmux
 
 # Set up the user's .bashrc file and shell.
 CMD ["/usr/bin/bash"]

README.md

@@ -1,7 +1,64 @@
-# MoveIt Pro Workspace
+# MoveIt Pro Example Workspace
 
-This is a minimal user workspace that can be used to build customized MoveIt Pro workspaces.
+This is fork of the [MoveIt Pro Empty Workspace](https://github.com/PickNikRobotics/moveit_pro_empty_ws).
+This workspace contains reference materials for using MoveIt Pro, including:
+- [Example base UR5e configuration](src/moveit_pro_ur_configs/picknik_ur_base_config)
+- [A physics based simulation environment with a robot on a linear rail](src/lab_sim)
+- [Mobile manipulation configuration](src/hangar_sim)
+- [Example behaviors](src/example_behaviors)
 
-You may fork this repository and add the MoveIt Pro configurations and ROS 2 packages of your choosing to the `src` folder.
+Since the [picknik_accessories](https://github.com/PickNikRobotics/picknik_accessories) package uses git LFS, [it cannot be added as a subtree](https://github.com/git-lfs/git-lfs/issues/854).
+Please ensure you have the submodule up to date using:
+```bash
+git submodule update --recursive --init
+```
 
-For more information, refer to the [MoveIt Pro Documentation](https://docs.picknik.ai/).
+## Working with Git Subtrees
+
+This repository was created through the combination of multiple repositories using git subtree.
+If you have no interest in manually pulling or pushing upstream changes, you can ignore the following section and treat this repository as a single repository.
+
+### Repository Structure
+
+
+The structure of this repository is as follows:
+
+<pre>
+.
+├── <a href="README.md">README.md</a>
+└── src
+    ├── <a href="https://github.com/PickNikRobotics/example_behaviors">example_behaviors</a>
+    ├── <a href="https://github.com/PickNikRobotics/lab_sim">lab_sim</a>
+    ├── <a href="https://github.com/PickNikRobotics/moveit_pro_ur_configs">moveit_pro_ur_configs</a>
+    │   ├── picknik_ur_base_config
+    │   ├── mock_sim
+    │   ├── multi_arm_sim
+    │   ├── picknik_ur_sim_config
+    │   └── picknik_ur_site_config
+    ├── <a href="https://github.com/PickNikRobotics/moveit_pro_kinova_configs">moveit_pro_kinova_configs</a>
+    │   ├── kinova_gen3_base_config
+    │   ├── kinova_sim
+    │   └── moveit_studio_kinova_pstop_manager
+    ├── <a href="https://github.com/PickNikRobotics/moveit_pro_mobile_manipulation">moveit_pro_mobile_manipulation</a>
+    │   ├── mobile_manipulation_config
+    │   └── picknik_ur_mobile_config
+    ├── <a href="https://github.com/PickNikRobotics/fanuc_sim">fanuc_sim</a>
+    ├── <a href="https://github.com/PickNikRobotics/picknik_accessories">picknik_accessories</a> (submodule)
+    └── external_dependencies
+        ├── <a href="https://github.com/sjahr/ridgeback/tree/ros2">ridgeback</a>
+        ├── <a href="https://github.com/PickNikRobotics/ros2_robotiq_gripper">ros2_robotiq_gripper</a>
+        └── <a href="https://github.com/tylerjw/serial/tree/ros2">serial</a>
+</pre>
+
+This repository contains a **copy** of the git repositories that were added as subtrees.
+File changes and commits are treated as if they happen only in this repository.
+If you update the contents of a subtree, you can merge the latest `main` branch of [lab_sim](https://github.com/PickNikRobotics/lab_sim) using the following command:
+```bash
+git subtree pull --prefix src/lab_sim https://github.com/PickNikRobotics/lab_sim main --squash
+```
+
+To pull the upstream changes to all subtrees and submodules, a convenience script is provided.
+From the top level, you can execute:
+```bash
+./sync_subtrees.sh
+```

colcon-defaults.yaml

@@ -2,6 +2,9 @@
 build:
   # Enable this for bidirectional syncing from the UI
   symlink-install: true
+  allow-overriding:
+    - robotiq_description
+    - ur_description
   mixin:
     # Enable ccache support
     - ccache
@@ -13,7 +16,33 @@ build:
     - build-testing-on
     - coverage-gcc
     - coverage-pytest
+  packages-skip:
+    - libfranka
+    - franka_bringup
+    - franka_example_controllers
+    - franka_fr3_moveit_config
+    - franka_gazebo_bringup
+    - franka_ign_ros2_control
+    - franka_gripper
+    - franka_hardware
+    - franka_robot_state_broadcaster
+    - franka_ros2
+    - franka_semantic_components
+    - integration_launch_testing
 test:
   event-handlers:
     - console_direct+
     - desktop_notification+
+  packages-skip:
+    - libfranka
+    - franka_bringup
+    - franka_example_controllers
+    - franka_fr3_moveit_config
+    - franka_gazebo_bringup
+    - franka_ign_ros2_control
+    - franka_gripper
+    - franka_hardware
+    - franka_robot_state_broadcaster
+    - franka_ros2
+    - franka_semantic_components
+    - integration_launch_testing

docker-compose.yaml

@@ -3,28 +3,26 @@
 
 # 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:
+
   # The base image that all MoveIt Pro services extend off of. Builds the user workspace.
-  base:
-    build:
-      # List any arguments for building the user workspace here.
-      args:
-        # 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
+  base: {}
 
   # Starts the MoveIt Pro Agent and the Bridge between the Agent and the Web UI.
-  agent_bridge:
+  agent_bridge: {}
 
   # Starts the robot drivers.
   drivers:
+    volumes:
+      # Allow access to host hardware e.g. RealSense cameras
+      - /dev:/dev
 
   # Starts the web UI frontend.
-  web_ui:
+  web_ui: {}
 
   # Developer specific configuration when running `moveit_pro dev`.
   dev:
+    volumes:
+      # Allow access to host hardware e.g. RealSense cameras
+      - /dev:/dev