[tutorial_7] Open gripper before approach; rewrite instructions

launch/tutorial_6_launch.py

@@ -8,6 +8,7 @@
 
 import xacro
 from ament_index_python.packages import get_package_share_directory
+from launch import LaunchContext, LaunchDescription
 from launch.actions import (
     DeclareLaunchArgument,
     IncludeLaunchDescription,
@@ -17,8 +18,6 @@
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
 
-from launch import LaunchContext, LaunchDescription
-
 
 def get_robot_description_and_controllers(context: LaunchContext, robot_type):
     robot_type_str = context.perform_substitution(robot_type)

launch/tutorial_7_launch.py

@@ -8,6 +8,7 @@
 
 import xacro
 from ament_index_python.packages import get_package_share_directory
+from launch import LaunchContext, LaunchDescription
 from launch.actions import (
     DeclareLaunchArgument,
     IncludeLaunchDescription,
@@ -17,8 +18,6 @@
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
 
-from launch import LaunchContext, LaunchDescription
-
 
 def get_robot_description_and_controllers(context: LaunchContext, robot_type):
     robot_type_str = context.perform_substitution(robot_type)
@@ -45,6 +44,23 @@ def get_robot_description_and_controllers(context: LaunchContext, robot_type):
         },
     ).toxml()
 
+    detachable_joint_plugin = f"""
+  <gazebo>
+    <plugin filename="gz-sim-detachable-joint-system" name="gz::sim::systems::DetachableJoint">
+      <parent_link>{robot_type_str}_hand</parent_link>
+      <child_model>box</child_model>
+      <child_link>base_link</child_link>
+      <attach_topic>/box/attach</attach_topic>
+      <detach_topic>/box/detach</detach_topic>
+      <suppress_child_warning>true</suppress_child_warning>
+    </plugin>
+  </gazebo>
+</robot>
+"""
+    robot_description_xml = robot_description_xml.replace(
+        "</robot>", detachable_joint_plugin
+    )
+
     # Replace the Franka default controllers YAML with our tutorial controllers
     franka_controllers = os.path.join(
         get_package_share_directory("franka_gazebo_bringup"),
@@ -88,6 +104,9 @@ def get_robot_description_and_controllers(context: LaunchContext, robot_type):
 
 def generate_launch_description():
     robot_type = LaunchConfiguration("robot_type")
+    tutorial_share = get_package_share_directory("hpp_tutorial")
+    box_urdf = os.path.join(tutorial_share, "urdf", "box.urdf")
+    ground_urdf = os.path.join(tutorial_share, "urdf", "ground.urdf")
 
     # Gazebo Sim
     os.environ["GZ_SIM_RESOURCE_PATH"] = os.path.dirname(
@@ -111,10 +130,51 @@ def generate_launch_description():
         output="screen",
     )
 
+    spawn_box = Node(
+        package="ros_gz_sim",
+        executable="create",
+        arguments=[
+            "-name",
+            "box",
+            "-file",
+            box_urdf,
+            "-x",
+            "0.4",
+            "-y",
+            "-0.2",
+            "-z",
+            "0.0251",
+        ],
+        output="screen",
+    )
+
+    spawn_ground = Node(
+        package="ros_gz_sim",
+        executable="create",
+        arguments=[
+            "-name",
+            "ground",
+            "-file",
+            ground_urdf,
+            "-x",
+            "0.0",
+            "-y",
+            "0.0",
+            "-z",
+            "0.0",
+        ],
+        output="screen",
+    )
+
     bridge = Node(
         package="ros_gz_bridge",
         executable="parameter_bridge",
-        arguments=["/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock"],
+        arguments=[
+            "/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock",
+            "/box/attach@std_msgs/msg/Empty]gz.msgs.Empty",
+            "/box/detach@std_msgs/msg/Empty]gz.msgs.Empty",
+            "/world/empty/set_pose@ros_gz_interfaces/srv/SetEntityPose",
+        ],
         output="screen",
     )
 
@@ -126,6 +186,8 @@ def generate_launch_description():
                 function=get_robot_description_and_controllers, args=[robot_type]
             ),
             spawn,
+            spawn_ground,
+            spawn_box,
             bridge,
         ]
     )

pyproject.toml

@@ -4,5 +4,8 @@ extend-exclude = ["cmake"]
 [tool.ruff.lint]
 extend-select = ["I", "NPY", "RUF", "UP", "W"]
 
+[tool.ruff.lint.isort]
+known-third-party = ["launch", "launch_ros"]
+
 [tool.tomlsort]
 all = true

tutorial_6/Dockerfile

@@ -1,11 +1,14 @@
 # Extends the base tutorial image with ROS2 control + Gazebo + Franka packages
 # for executing planned trajectories on a simulated Panda/FR3 robot.
 #
-# Build:  docker build --build-arg DOCKER_USER=`id -u` --build-arg DOCKER_GROUP=`id -g` -t hpp-tutorial-ros2 .
+# Build:  docker build --build-arg DOCKER_USER=`id -u` --build-arg DOCKER_GROUP=`id -g` -t hpp-ros2:tuto .
 # Run:    See tutorial_6/README.md for docker run instructions.
 
 FROM hpp:tuto
 
+ARG FRANKA_DESCRIPTION_VERSION=2.6.0
+ARG FRANKA_ROS2_VERSION=v3.2.2
+
 USER root
 
 # ROS2 control packages
@@ -24,33 +27,30 @@ RUN apt-get update -y && DEBIAN_FRONTEND=noninteractive apt-get install -qqy \
     ros-jazzy-sdformat-urdf \
     ros-jazzy-gz-ros2-control \
     ros-jazzy-ros-gz-sim \
+    ros-jazzy-ros-gz-bridge \
     ros-jazzy-joint-state-publisher-gui \
     ros-jazzy-xacro \
     && apt-get clean && rm -rf /var/lib/apt/lists/*
 
-# Franka Panda packages (description + Gazebo bringup)
+# Franka packages used by the tutorial. Pin the source versions because the
+# upstream jazzy branch can add runtime dependencies for hardware controllers
+# that are not needed for this Gazebo-only example.
 WORKDIR /opt/franka_ws
 RUN mkdir -p src \
     && cd src \
-    && git clone --depth 1 https://github.com/frankarobotics/franka_description.git \
-    && git clone --branch jazzy --depth 1 https://github.com/frankarobotics/franka_ros2.git
-
-RUN apt-get update && apt-get install -y python3-rosdep \
-    && (rosdep init 2>/dev/null || true) \
-    && rosdep update \
-    && . /opt/ros/jazzy/setup.sh \
-    && rosdep install --from-paths src --ignore-src -r -y \
-    && apt-get clean && rm -rf /var/lib/apt/lists/*
+    && git clone --branch ${FRANKA_DESCRIPTION_VERSION} --depth 1 https://github.com/frankarobotics/franka_description.git \
+    && git clone --branch ${FRANKA_ROS2_VERSION} --depth 1 https://github.com/frankarobotics/franka_ros2.git
 
 RUN chown -R user:user /opt/franka_ws
 
 USER user
 
 RUN . /opt/ros/jazzy/setup.sh \
-    && colcon build --packages-up-to \
+    && colcon build --packages-select \
         franka_description \
+        franka_mobile_sensors \
         franka_gazebo_bringup \
-    --cmake-args -DCMAKE_BUILD_TYPE=Release
+    --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF
 
 RUN echo 'source /opt/franka_ws/install/setup.bash 2>/dev/null' >> /home/user/.bashrc