Add MoveIt Studio message definitions and basic CI

.github/workflows/ci.yaml

@@ -0,0 +1,26 @@
+name: CI
+
+on:
+  workflow_dispatch:
+  pull_request:
+  push:
+    branches:
+      - main
+
+jobs:
+  build_docker:
+    name: Docker build
+    runs-on: ubuntu-22.04
+    steps:
+      - name: Checkout source
+        uses: actions/checkout@v3
+      - name: Setup Docker Buildx
+        uses: docker/setup-buildx-action@v2
+      - name: Build Dockerfile
+        uses: docker/build-push-action@v3
+        with:
+          context: .
+          push: false
+          tags: picknikrobotics/moveit-studio-sdk
+          cache-from: type=gha
+          cache-to: type=gha,mode=max

Dockerfile

@@ -1,26 +1,31 @@
-from osrf/ros:humble-desktop-full
+FROM osrf/ros:humble-desktop-full
 
 # use cyclone DDS (default is fast DDS)
 # hadolint ignore=DL3008
-RUN apt-get update && apt-get upgrade -y && apt-get install -y --no-install-recommends \
-      ros-humble-rmw-cyclonedds-cpp && \
-    rm -rf /var/lib/apt/lists/*
-ENV RMW_IMPLEMENTATION rmw_cyclonedds_cpp
-ENV CYCLONEDDS_URI /root/.ros/cyclonedds.xml
-COPY .docker/cyclonedds.xml $CYCLONEDDS_URI
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \
+    apt-get update && apt-get upgrade -y && \
+    apt-get install -y --no-install-recommends ros-humble-rmw-cyclonedds-cpp
 
 # set up the MoveIt Studio SDK
 ENV STUDIO_SDK_WS /opt/moveit_studio_sdk_ws
 WORKDIR ${STUDIO_SDK_WS}/src
 # TODO(adlarkin) instead of copying individual folders, clone the repo once it's public?
-COPY moveit_studio_sdk_msgs/ moveit_studio_sdk_msgs/
+COPY moveit_studio_msgs/ moveit_studio_msgs/
 COPY moveit_studio_py/ moveit_studio_py/
 WORKDIR $STUDIO_SDK_WS
-RUN apt-get update && apt-get upgrade -y && rosdep install --from-paths src -y --ignore-src && \
-    rm -rf /var/lib/apt/lists/*
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \
+    apt-get update && apt-get upgrade -y && \
+    rosdep install --from-paths src -y --ignore-src
+
 # hadolint ignore=SC1091
 RUN . /opt/ros/humble/setup.sh && colcon build
 
+ENV RMW_IMPLEMENTATION rmw_cyclonedds_cpp
+ENV CYCLONEDDS_URI /root/.ros/cyclonedds.xml
+COPY .docker/cyclonedds.xml $CYCLONEDDS_URI
+
 # hadolint ignore=SC2016
 RUN echo 'source "${STUDIO_SDK_WS}/install/setup.bash"' >> ~/.bashrc
 

moveit_studio_msgs/moveit_studio_msgs/CMakeLists.txt

@@ -0,0 +1,6 @@
+cmake_minimum_required(VERSION 3.22)
+project(moveit_studio_msgs)
+
+find_package(ament_cmake REQUIRED)
+
+ament_package()

moveit_studio_msgs/moveit_studio_msgs/package.xml

@@ -0,0 +1,18 @@
+<package format="3">
+  <name>moveit_studio_msgs</name>
+  <version>1.0.0</version>
+  <description>Metapackage for MoveIt Studio message definitions</description>
+  <author email="[email protected]">Joe Schornak</author>
+  <maintainer email="[email protected]">Joe Schornak</maintainer>
+
+  <license>BSD-3-Clause</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>moveit_studio_sdk_msgs</depend>
+  <depend>moveit_studio_vision_msgs</depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

moveit_studio_msgs/moveit_studio_vision_msgs/CMakeLists.txt

@@ -0,0 +1,35 @@
+cmake_minimum_required(VERSION 3.22)
+project(moveit_studio_vision_msgs)
+
+# Disable Wredundant-decls warnings since rosidl generates redundant function declarations
+if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
+  add_compile_options(-Wno-redundant-decls)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(shape_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
+
+set(msg_files
+  "msg/GraspableFace.msg"
+  "msg/GraspableObject.msg"
+  "msg/ObjectDetection.msg"
+  "msg/ObjectDetectionArray.msg"
+  "msg/PointCloudPCD.msg"
+)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+    ${msg_files}
+  DEPENDENCIES
+    builtin_interfaces  
+    geometry_msgs
+    shape_msgs
+    std_msgs
+)
+
+ament_export_dependencies(rosidl_default_runtime)
+
+ament_package()

moveit_studio_msgs/moveit_studio_vision_msgs/msg/GraspableFace.msg

@@ -0,0 +1,10 @@
+# This message describes a flat region on the surface of an object.
+
+# A polygon which represents a flat surface on an object.
+# Only x and y fields of the points are used in the polygon.
+# The points in the polygon are ordered counter-clockwise.
+geometry_msgs/Polygon vertices
+
+# A pose which orients the polygon relative to an externally-defined frame of reference
+# The normal vector of the face points along the Z+ axis.
+geometry_msgs/Pose pose

moveit_studio_msgs/moveit_studio_vision_msgs/msg/GraspableObject.msg

@@ -0,0 +1,30 @@
+# This message describes a solid rigid object which a robot can grasp.
+
+# The header defines the base frame of the object's pose as well as the object's timestamp.
+std_msgs/Header header
+
+# The object's pose relative to the header frame.
+# The poses of the surfaces, meshes, and primitives are defined relative to this pose.
+geometry_msgs/Pose pose
+
+# The id of the object
+string id
+
+# A solid primitive which represents the maximum extent of the object.
+# The origin of this primitive is coincident with the object's pose.
+shape_msgs/SolidPrimitive bounding_volume
+
+# A vector of surfaces which represents flat faces on the object.
+moveit_studio_vision_msgs/GraspableFace[] surfaces
+
+# A vector of solid geometric primitives which describe the shape of the object.
+shape_msgs/SolidPrimitive[] primitives
+# The size of this vector must be equal to the size of the vector of primitives.
+# Each of these poses is relative to the pose defined in the object's `pose` field.
+geometry_msgs/Pose[] primitive_poses
+
+# A vector of meshes which describe the shape of the object.
+shape_msgs/Mesh[] meshes
+# The size of this vector must be equal to the size of the vector of meshes.
+# Each of these poses is relative to the pose defined in the object's `pose` field.
+geometry_msgs/Pose[] mesh_poses

moveit_studio_msgs/moveit_studio_vision_msgs/msg/ObjectDetection.msg

@@ -0,0 +1,5 @@
+# Message structure containing a detected object and its pose.
+
+int32 id
+string label
+geometry_msgs/PoseStamped pose

moveit_studio_msgs/moveit_studio_vision_msgs/msg/ObjectDetectionArray.msg

@@ -0,0 +1,4 @@
+# Message structure containing an array of detected objects and their poses.
+
+# List of detections
+moveit_studio_vision_msgs/ObjectDetection[] detections

moveit_studio_msgs/moveit_studio_vision_msgs/msg/PointCloudPCD.msg

@@ -0,0 +1,5 @@
+# Request identifier
+string uuid
+
+# A pointcloud in ASCII PCD format
+string point_cloud_data

moveit_studio_msgs/moveit_studio_vision_msgs/package.xml

@@ -0,0 +1,25 @@
+<package format="3">
+  <name>moveit_studio_vision_msgs</name>
+  <version>1.0.0</version>
+  <description>Messages, services and actions used by MoveIt Studio vision capabilities.</description>
+  <author email="[email protected]">Sebastian Castro</author>
+  <maintainer email="[email protected]">Sebastian Castro</maintainer>
+
+  <license>BSD-3-Clause</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <build_depend>rosidl_default_generators</build_depend>
+
+  <depend>geometry_msgs</depend>
+  <depend>shape_msgs</depend>
+  <depend>std_msgs</depend>
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>