December 29, 2021

PickNik's Getting Started With MoveIt 2 YouTube Series episode 1

by Tyler Weaver

Transcript: Hello, this is Tyler. This is the rust developer notes, and this is the beginning of a series on tutorials and move it to, um, move it to has tutorials page. It is under the URL. It’s the company I work for. We do all sorts of awesome robotic X development. If you are using move it and you’re looking for a job, you should look, uh, you should contact us also, if you’re using move it and you need help on your project, you should contact us all these awesome companies we’ve worked for. Um, we’re solving cool problems with the robotic arms and other forms of manipulators requiring planning and move it. So we go back to the tutorials. The point of this video series before we get started is to walk through the tutorials, but also to find issues with the tutorials and fix them. And I’ll show you that process.

It should be educational and helpful to show you how to contribute and how you can be part of this community and get started using move it. So before we get started, it, uh, bring Irma. Panda is the go-to robot for tutorials. You’ll see a lot of that. Um, and we need to get started. Uh, one of one thing to point out, right? Uh, the tutorial website is a GI repo itself. Click on this link right here. It takes you to read me this GI Topo builds into this website. It also has a bunch of code examples in it, and it is a Ross package in of itself, um, to get started. We’re gonna use Foxy, which is the latest long term support release of Ross. And also there’s a Foxy release of move it. There are two other versions we’ll get into why you might use those, um, and follow on videos.

There’s a gala galactic release and there’s a rolling release right now. Foxy is about out a year old and it has some like pretty major known bugs. Uh, and for that reason, you might want to use a newer version of Ross, but for our purposes, it’ll work fine. So we’re gonna get started. We are gonna go to the getting started page and we gotta all a bunch of stuff. So first thing you gotta do is install Ross to Foxy. Um, oh, my browser crashed, restart my browser, restore the session. Okay. First thing you gotta do is install Ross to Foxy. Um, just walk you through how to do it. Uh, the shared story is that you wanna be on U Buntu 20 or four. Like I am right here focal. And it’s a version of you Buntu. You wanna be on for all versions of us too right now.

Um, they’re all targeting that and you walk through this and basically you just copy a bunch of the stuff into your browser and get set up. But, um, I already have a set up on my machine. If you have issues with this, then reach out to the authors of this. This is another one of these, uh, tutorial websites that is a GI repo. So you can click on this and you can contribute to it. You can ask questions of the authors. So that is how you get Foxy installed. All right. So we’re gonna install these various tools from my browser right here, or my terminal window. A’s kitty. I really like kitty. Um, it’s my favorite journal and, um, it’s got a lot of cool features. I also really like ZSH and that’s so that’s what I’m using. So, uh, we gotta install some stuff with APPT, uh, Python three raw step two.

So raw step is all right already installed. Raw step is this tool that, uh, helps find Ross dependencies and install them using the, um, packaging system that Ross uses. So raw step needs to be updated, um, updating raw step. We need to date AFT, uh, all right, apt this up, uh, just to make sure we’re really up to date, we’re gonna do a, this upgrade. It looks like there’s three packages. Those are a whole bunch of supposedly unused packages anymore, and I should clean that up at somewhat. All right. We need to install the common extensions, uh, have installed pipe on three on common extensions already installed, and then we need VCs tool.

All right. Now I’m gonna take a little bit of a diversion, right? We just installed the co common extensions, and I’m gonna show you a power user tip and it’s it’s co mix it. So how do you get co mixing setup? So you go over here, uh, just Google for it. Um, and this is the repo I think you want, and you’re gonna copy and paste these two things and I’ll show you how awesome some mixing a bit after we get set up. All right. That one’s already set up and then we’re gonna copy the update. Default.

Um, mixing is a way of adding, um, think of ‘em like alias for commands in later in the tutorials, you’ll see this Naly long Coke, uh, build line. You don’t need that. You really don’t. All right. Uh, we need to set a workspace and this is where we need to talk about something. Uh, after I do it, you’ll see that I do something a little different. So, um, I have this directory in my home directory called code. I like the use. I like to put all my code there. I’m working on, uh, we’re just gonna call this and I need to use the, the tech P option makes that it’ll make like multiple levels of directories. So the tutorials and the source, um, all right, uh, right, this next thing, we’re gonna clone move it two and move it to tutorials, except for, we’re not gonna clone move it two, cause we don’t have to, it’s released into Foxy.

Um, you don’t actually have to clone it. It’s really useful to have a copy of it so that you can dig through the code as you’re doing, um, tutorials and writing your own code against it. It’s uh, but you don’t necessarily have to build, move it two. It’s a pretty big package. It’ll take a long time to build. Um, the real advantage to having it around though, is you can, uh, go dig into the header files and stuff and, and figure out what the interfaces are and, and contribute back to it. But for the sake of today, we are not going to clone it. Uh, one other thing I wanna point out is there’s now a Foxy branch. We have released for rolling in gala galactic. And to do that, we had to make some breaking changes, support the breaking changes and Ross and those newer versions of Ross.

And so there’s a Foxy branch. This right here, doesn’t direct you to a Foxy branch, that’s wrong. Um, I made a PR to fix this and then this other guy, Baton like cleaned this page all up and there’s an open PR about it. And so this will be cleaned up soon, but watch what I do, not what it’s on the tutorial page. So I do, uh, oh, this other thing, I’m gonna show you GitHub command line, uh, client, you should be using it. So, uh, there’s just get a, a repo clone. Uh, we wanna clone the, move it two tutorials that’s in Ross planning, move it to tutorials. Um, the next thing it has you do is using these visa import things. Um, let’s look at what’s in those files. Uh we’re we didn’t clone move it to, we just own those tutorials, ICAT the, uh, move it to tutorials, move it to that.

Our visual tools is here and it’s important that we clone this and the reason it’s important, we clone this is this isn’t released for Foxy yet. So we can’t install it through raw step or app. Um, it’ll eventually be released for Foxy. There are just some issues that we’re still working through. So you can do a BCS import, uh, move it to tutorials, move it to tutorials dot repos, and that’ll clone this Arvis visual tools into it. So right now, right, we have move two tutorials and Arvi visual tools. All right, now we need to make sure we’ve, um, installed all the dependencies. So we use raw step to install the dependencies, um, right there on under build your co the workspace. You see what the command is, but here, I’m sure I can use control R to search for it. Um, cause it always seems to be a history and there’s like basically one command you need, all right, all the raw steps are installed successfully.

That means we’re good to go to pill. So the next thing is, make sure you’re in the workspace directory when you’re in Coke, on like cat and tools, doesn’t do any like searching for what the workspace directory is. And there’s no profiles either. So, uh, Coke build. Now we have to use that mix in thing. All right, well you’re one. What are the mixing? So first thing you can do is Coke mix in, and then you can do help here, just see what you can use. Um, but specifically what you want is show. And this is a list, all the different mix ins that you can use. And that two that I wanna point out that I care about are this one C cash right here. It uses this thing called compiler cash. It’ll speed up your builds. And then the second thing I’m gonna do is I’m gonna build debug.

And I like having debug symbols around build, you know, you can build a release if you have to, but when you’re learning, build it debug when you’re developing, it makes it really easy to go. And, uh, when you have AEG or something to the backtrack, you can do re with Deb info. If you, you have a performance reason to do re with dev info or release, if you actually do have performance issues where you need release to test that, but SoCon build mix in C cash, the bug, um, oh, it’s complaining. Um, it shouldn’t do that to you. It’s complaining because I walked through this once before and it’s still my path. It’s no big deal. All right. It finished. Um, then the next thing I need to do is I need a source. I scroll down here, you’ll see, that’s the next step I have to source locally. So I install set up. ZSH um, I’m using, ZSH the tutorials. There’s a batch one. If you want. Uh, that last thing I wouldn’t do that. Um, that’s gonna put the tutorials in your, uh, environment. Every time you start a, um, terminal, uh, I dunno, do what you want, but I wouldn’t do that. So, uh, here we are at the end of this video, this video is just on getting started in the next video. I’m gonna show you the

PRS that are open for changing this page. Like we’re gonna talk about contributing to move it to tutorials. And in that you’ll learn how, um, when you find something wrong, there were some stuff wrong on this, how you can, you can fix it and you make it right. So, uh, onto the next one, if this has raised your Ross IQ, please like subscribe, share. We need more contributors. We need, uh, more users. Um, thank you for watching this. Have a great day.