Add demo package for tutorial

.rosinstall

@@ -1,5 +1,5 @@
-# This file is intended for users who want to build MoveIt! from source.
-# Used with wstool, users can download source of all packages of MoveIt!.
+# This file is intended for users who want to build MTC and its demos from source.
+# Using wstool, users can download relevant MTC-related source packages.
 - git:
     local-name: moveit_task_constructor
     uri: https://github.com/ros-planning/moveit_task_constructor.git

demo/CMakeLists.txt

@@ -0,0 +1,47 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(moveit_task_constructor_demo)
+
+add_compile_options(-std=c++14)
+
+find_package(catkin REQUIRED COMPONENTS
+	roscpp
+	moveit_core
+	moveit_task_constructor_core
+	moveit_ros_planning_interface
+	rosparam_shortcuts
+)
+
+catkin_package(
+)
+
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+)
+
+add_library(${PROJECT_NAME}_lib src/pick_place_task.cpp)
+set_target_properties(${PROJECT_NAME}_lib PROPERTIES OUTPUT_NAME moveit_task_constructor_demo_pick_place)
+add_dependencies(${PROJECT_NAME}_lib ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+add_executable(${PROJECT_NAME}_demo src/moveit_task_constructor_demo.cpp)
+target_link_libraries(${PROJECT_NAME}_demo
+  ${PROJECT_NAME}_lib
+  ${catkin_LIBRARIES}
+)
+set_target_properties(${PROJECT_NAME}_demo PROPERTIES OUTPUT_NAME moveit_task_constructor_demo)
+add_dependencies(${PROJECT_NAME}_demo ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+install(TARGETS ${PROJECT_NAME}_lib ${PROJECT_NAME}_demo
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN "*.h"
+)
+
+install(DIRECTORY launch config
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)

demo/README.md

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+# moveit_task_constructor_demo
+
+Description: A simple pick & place demo using MoveIt Task Constructor. This uses the Panda from Franka Emika
+
+Developed by Henning Kayser & Simon Goldstein at [PickNik Consulting](http://picknik.ai/)
+
+## Run
+
+Run demo
+
+    roslaunch moveit_task_constructor_demo demo.launch

demo/config/mtc.rviz

@@ -0,0 +1,215 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 84
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Motion Planning Tasks1
+        - /Motion Planning Tasks1/Markers1
+      Splitter Ratio: 0.5393258333206177
+    Tree Height: 533
+  - Class: rviz/Help
+    Name: Help
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: moveit_task_constructor/Motion Planning Tasks
+    Global Settings:
+      Task View Settings:
+        Task Expansion: All Expanded
+    Name: Motion Planning Tasks
+    Tasks View:
+      property_splitter:
+        - 541
+        - 0
+      solution_sorting:
+        column: 0
+        order: 1
+      solutions_splitter:
+        - 328
+        - 76
+      solutions_view_columns:
+        - 38
+        - 0
+        - 0
+      tasks_view_columns:
+        - 250
+        - 38
+        - 38
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: moveit_task_constructor/Motion Planning Tasks
+      Enabled: true
+      Interrupt Display: false
+      Loop Animation: false
+      Markers:
+        All at once?: false
+        Value: true
+        approach_object: true
+      Name: Motion Planning Tasks
+      Robot:
+        Fixed Robot Color: 150; 50; 150
+        Links:
+          All Links Enabled: true
+          Expand Joint Details: false
+          Expand Link Details: false
+          Expand Tree: false
+          Link Tree Style: Links in Alphabetic Order
+          panda_hand:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_leftfinger:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link0:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link2:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link3:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link4:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link5:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link6:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link7:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link8:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          panda_rightfinger:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+        Robot Alpha: 0.5
+        Show Robot Collision: false
+        Show Robot Visual: true
+        Use Fixed Robot Color: false
+        Value: ""
+      Robot Description: robot_description
+      Scene:
+        Attached Body Color: 150; 50; 150
+        Scene Alpha: 0.8999999761581421
+        Scene Color: 50; 230; 50
+        Value: true
+        Voxel Coloring: Z-Axis
+        Voxel Rendering: Occupied Voxels
+      Show Trail: false
+      State Display Time: 0.05 s
+      Task Solution Topic: /moveit_task_constructor_demo/pick_place_task/solution
+      Tasks:
+        pick_place_task: 10
+      Trail Step Size: 1
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: panda_link0
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+  Value: true
+  Views:
+    Current:
+      Class: rviz/XYOrbit
+      Distance: 1.9269260168075562
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0.8292451500892639
+        Y: -0.2452867180109024
+        Z: 2.2351800055275817e-7
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.3197975158691406
+      Target Frame: panda_link0
+      Value: XYOrbit (rviz)
+      Yaw: 6.239960670471191
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 768
+  Help:
+    collapsed: false
+  Hide Left Dock: false
+  Hide Right Dock: false
+  Motion Planning Tasks:
+    collapsed: false
+  Motion Planning Tasks - Slider:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd000000020000000000000166000002a6fc020000000efb000000100044006900730070006c006100790073010000003d000002a6000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000026d000000b5000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb0000002e004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d00200053006c0069006400650072010000026f000000480000000000000000fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670000000294000002410000000000000000fb00000024005200760069007a00560069007300750061006c0054006f006f006c0073004700750069000000027d0000004b0000000000000000fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000034f000001fb0000000000000000fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000032d000001fb0000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb0000003c005400720061006a006500630074006f007200790020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb000000120020002d00200053006c00690064006500720000000000ffffffff00000000000000000000000100000198000002a6fc0200000002fb0000002a004d006f00740069006f006e00200050006c0061006e006e0069006e00670020005400610073006b0073010000003d00000254000000e500fffffffb0000003c004d006f00740069006f006e00200050006c0061006e006e0069006e00670020005400610073006b00730020002d00200053006c006900640065007201000002970000004c0000004100ffffff0000028f000002a600000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Views:
+    collapsed: false
+  Width: 1433
+  X: 472
+  Y: 25

demo/config/panda_config.yaml

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+# Total planning attempts
+planning_attempts: 10
+
+# Planning group and link names
+arm_group_name: "panda_arm"
+eef_name: "hand"
+hand_group_name: "hand"
+hand_frame: "panda_link8"
+
+# Poses
+hand_open_pose: "open"
+hand_close_pose: "close"
+arm_home_pose: "ready"
+
+# Scene frames
+world_frame: "world"
+table_reference_frame: "world"
+object_reference_frame: "world"
+surface_link: "table"
+
+# Collision object for picking
+# CYLINDER object specifications
+object_name: "object"
+object_dimensions: [0.25, 0.02] # [height, radius]
+object_pose: [0.5, -0.25, 0.0, 0, 0, 0]
+
+# Table model
+spawn_table: true
+table_name: "table"
+table_dimensions: [0.4, 0.5, 0.1]  # [length, width, height]
+table_pose: [0.5, -0.25, 0, 0, 0, 0]
+
+# Gripper grasp frame transform [x,y,z,r,p,y]
+grasp_frame_transform: [0, 0, 0.1, 1.571, 0.785, 1.571]
+
+# Place pose [x,y,z,r,p,y]
+place_pose: [0.6, -0.15, 0, 0, 0, 0]
+place_surface_offset: 0.0001 # place offset from table
+
+# Valid distance range when approaching an object for picking
+approach_object_min_dist: 0.1
+approach_object_max_dist: 0.15
+
+# Valid height range when lifting an object after pick
+lift_object_min_dist: 0.01
+lift_object_max_dist: 0.1