Add MoveIt and ros-controller dependencies to noetic Dockerfile#21
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This was referenced Feb 18, 2022
bsb808
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Feb 19, 2022
| ros-${DIST}-kdl-parser-py \ | ||
| ros-${DIST}-key-teleop \ | ||
| ros-${DIST}-move-base \ | ||
| ros-${DIST}-moveit* \ |
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I'm assuming that the * is a wildcard and will install all packages that start with moveit. If so, I think we should be more selective. It looks like there are many packages (587 MB of additional disk space) that would meet this pattern:
bsb@8f03a1eebd5f:~$ apt list | grep noetic-moveit
WARNING: apt does not have a stable CLI interface. Use with caution in scripts.
ros-noetic-moveit-chomp-optimizer-adapter-dbgsym/focal 1.1.8-1focal.20220212.170918 amd64
ros-noetic-moveit-chomp-optimizer-adapter/focal 1.1.8-1focal.20220212.170918 amd64
ros-noetic-moveit-commander/focal 1.1.8-1focal.20220212.175350 amd64
ros-noetic-moveit-core-dbgsym/focal 1.1.8-1focal.20220212.164344 amd64
ros-noetic-moveit-core/focal 1.1.8-1focal.20220212.164344 amd64
ros-noetic-moveit-fake-controller-manager-dbgsym/focal 1.1.8-1focal.20220212.172940 amd64
ros-noetic-moveit-fake-controller-manager/focal 1.1.8-1focal.20220212.172940 amd64
ros-noetic-moveit-kinematics-dbgsym/focal 1.1.8-1focal.20220212.172940 amd64
ros-noetic-moveit-kinematics/focal 1.1.8-1focal.20220212.172940 amd64
ros-noetic-moveit-msgs/focal 0.11.2-1focal.20220107.005220 amd64
ros-noetic-moveit-opw-kinematics-plugin-dbgsym/focal 0.4.0-3focal.20220212.172939 amd64
ros-noetic-moveit-opw-kinematics-plugin/focal 0.4.0-3focal.20220212.172939 amd64
ros-noetic-moveit-planners-chomp-dbgsym/focal 1.1.8-1focal.20220212.175350 amd64
ros-noetic-moveit-planners-chomp/focal 1.1.8-1focal.20220212.175350 amd64
ros-noetic-moveit-planners-ompl-dbgsym/focal 1.1.8-1focal.20220212.172940 amd64
ros-noetic-moveit-planners-ompl/focal 1.1.8-1focal.20220212.172940 amd64
ros-noetic-moveit-planners/focal 1.1.8-1focal.20220212.180803 amd64
ros-noetic-moveit-plugins/focal 1.1.8-1focal.20220212.173224 amd64
ros-noetic-moveit-python/focal 0.4.3-1focal.20220114.185413 amd64
ros-noetic-moveit-resources-fanuc-description/focal 0.8.2-1focal.20211118.225917 amd64
ros-noetic-moveit-resources-fanuc-moveit-config/focal 0.8.2-1focal.20220212.161046 amd64
ros-noetic-moveit-resources-panda-description/focal 0.8.2-1focal.20211118.225920 amd64
ros-noetic-moveit-resources-panda-moveit-config/focal 0.8.2-1focal.20220212.163709 amd64
ros-noetic-moveit-resources-pr2-description/focal 0.8.2-1focal.20211118.225922 amd64
ros-noetic-moveit-resources-prbt-ikfast-manipulator-plugin-dbgsym/focal 0.8.2-1focal.20220212.170358 amd64
ros-noetic-moveit-resources-prbt-ikfast-manipulator-plugin/focal 0.8.2-1focal.20220212.170358 amd64
ros-noetic-moveit-resources-prbt-moveit-config/focal 0.8.2-1focal.20220212.170702 amd64
ros-noetic-moveit-resources-prbt-pg70-support/focal 0.8.2-1focal.20220212.170727 amd64
ros-noetic-moveit-resources-prbt-support/focal 0.8.2-1focal.20220212.161327 amd64
ros-noetic-moveit-resources/focal 0.8.2-1focal.20220212.163739 amd64
ros-noetic-moveit-ros-benchmarks-dbgsym/focal 1.1.8-1focal.20220212.173412 amd64
ros-noetic-moveit-ros-benchmarks/focal 1.1.8-1focal.20220212.173412 amd64
ros-noetic-moveit-ros-control-interface-dbgsym/focal 1.1.8-1focal.20220212.170843 amd64
ros-noetic-moveit-ros-control-interface/focal 1.1.8-1focal.20220212.170843 amd64
ros-noetic-moveit-ros-manipulation-dbgsym/focal 1.1.8-1focal.20220212.174219 amd64
ros-noetic-moveit-ros-manipulation/focal 1.1.8-1focal.20220212.174219 amd64
ros-noetic-moveit-ros-move-group-dbgsym/focal 1.1.8-1focal.20220212.173452 amd64
ros-noetic-moveit-ros-move-group/focal 1.1.8-1focal.20220212.173452 amd64
ros-noetic-moveit-ros-occupancy-map-monitor-dbgsym/focal 1.1.8-1focal.20220212.170355 amd64
ros-noetic-moveit-ros-occupancy-map-monitor/focal 1.1.8-1focal.20220212.170355 amd64
ros-noetic-moveit-ros-perception-dbgsym/focal 1.1.8-1focal.20220212.172941 amd64
ros-noetic-moveit-ros-perception/focal 1.1.8-1focal.20220212.172941 amd64
ros-noetic-moveit-ros-planning-dbgsym/focal 1.1.8-1focal.20220212.171723 amd64
ros-noetic-moveit-ros-planning-interface-dbgsym/focal 1.1.8-1focal.20220212.174701 amd64
ros-noetic-moveit-ros-planning-interface/focal 1.1.8-1focal.20220212.174701 amd64
ros-noetic-moveit-ros-planning/focal 1.1.8-1focal.20220212.171723 amd64
ros-noetic-moveit-ros-robot-interaction-dbgsym/focal 1.1.8-1focal.20220212.172940 amd64
ros-noetic-moveit-ros-robot-interaction/focal 1.1.8-1focal.20220212.172940 amd64
ros-noetic-moveit-ros-visualization-dbgsym/focal 1.1.8-1focal.20220212.175351 amd64
ros-noetic-moveit-ros-visualization/focal 1.1.8-1focal.20220212.175351 amd64
ros-noetic-moveit-ros-warehouse-dbgsym/focal 1.1.8-1focal.20220212.172940 amd64
ros-noetic-moveit-ros-warehouse/focal 1.1.8-1focal.20220212.172940 amd64
ros-noetic-moveit-ros/focal 1.1.8-1focal.20220212.180559 amd64
ros-noetic-moveit-runtime/focal 1.1.8-1focal.20220212.180828 amd64
ros-noetic-moveit-servo-dbgsym/focal 1.1.8-1focal.20220212.175351 amd64
ros-noetic-moveit-servo/focal 1.1.8-1focal.20220212.175351 amd64
ros-noetic-moveit-setup-assistant-dbgsym/focal 1.1.8-1focal.20220212.180558 amd64
ros-noetic-moveit-setup-assistant/focal 1.1.8-1focal.20220212.180558 amd64
ros-noetic-moveit-sim-controller-dbgsym/focal 0.3.0-1focal.20220212.172943 amd64
ros-noetic-moveit-sim-controller/focal 0.3.0-1focal.20220212.172943 amd64
ros-noetic-moveit-simple-controller-manager-dbgsym/focal 1.1.8-1focal.20220212.170354 amd64
ros-noetic-moveit-simple-controller-manager/focal 1.1.8-1focal.20220212.170354 amd64
ros-noetic-moveit-visual-tools-dbgsym/focal 3.6.0-1focal.20220212.172943 amd64
ros-noetic-moveit-visual-tools/focal 3.6.0-1focal.20220212.172943 amd64
ros-noetic-moveit/focal 1.1.8-1focal.20220212.181457 amd64
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The ros-noetic-moveit package includes a number of these subpackages, but not all, and adds 108MB to the image.
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Lastly, I think including a wildcard like this is overkill. Having a more specific list of dependencies in the form of the Dockerfile would be more helpful.
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@bsb808 Probably should have set as draft. I only considered it this morning in terms of testing the other PRs.
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ros-noetic-moveit alone is giving me errors based on missing some of the rviz functionality. ros-noetic-moveit-ros-visualization should be installed as part of the metapackage, but it looks like that's what might be missing. ros-noetic-moveit-visual-tools could also be the problem.
j-herman
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Feb 23, 2022
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Tested in docker with all of Moveit uninstalled from my base system - minimal install provides functionality via the RViz interface as described in Field-Robotics-Lab/dave#206
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To test, run
roslaunch dave_demo_launch dave_two_arm_demo.launchOnce the Gazebo window has opened and controllers loaded, run
roslaunch oberon7_moveit_config oberon7_multi_planning_execution.launchThis should bring up two RViz windows which can be used to control the two arms in the Gazebo environment.
OLD:
Required by Field-Robotics-Lab/dave#206 and Field-Robotics-Lab/uuv_manipulators#8.
Quick way to get MoveIt requirements, though possibly overkill.