Refactored perception pipeline tutorial from ros1 to ros 2

[CihatAltiparmak]

Description

I have a PR for refactoring perception pipeline tutorial based on ROS 2. But i have several question about my PR.

1. I used some external links for not storing big files such as video, bag file which is created by me. Is it okay to give a link to my google drive for bag file and a link to Youtube video for perception pipeline demonstration or should i change these links?

2. I used Intel's sdf file in the tutorial which the relevant repository has Apache 2.0 License. Does that occur any problem for this organization? Btw, ros2/launch has also Apache 2.0 License. But it is not indicated in this repository. I need a feedback for this situation.

Checklist

• Required by CI: Code is auto formatted using clang-format
• While waiting for someone to review your request, please consider reviewing another open pull request to support the maintainers

[CihatAltiparmak]

Just for friendly pinging, @sjahr

[sjahr]

Nice work, I still need to test it but I left a couple of comments

[sjahr]

I used Intel's sdf file in the tutorial which the relevant repository has Apache 2.0 License. Does that occur any problem for this organization?

Good question 🤔 did you use the sdf or the mesh file or both?

[CihatAltiparmak]

Good question 🤔 did you use the sdf or the mesh file or both?

I had added Intel's license content to mesh file like below. I used their mesh file

The most of the sdf is mine however i just took some camera measurement from them. If it is boring in your perspective, I can remove it.

[sjahr]

I tested it and it works! I've added a bunch of comments and suggestions and once they are addressed we can finally merge this 🚀

[sjahr]

@CihatAltiparmak Maybe this is helpful as a reference: https://github.com/moveit/moveit2_tutorials/pull/700/files

[CihatAltiparmak]

Hello @sjahr , i have added the depth image octomap updater to the perception pipeline tutorial. However i have found some bugs in depth image updater and i have a fix for it. Btw i've also sent PR to moveit_benchmark_resources.

My PR in moveit_benchmark_resources : moveit/moveit_benchmark_resources#3
My PR to fix bug in depth image updater plugin: moveit/moveit2#2963

After merging the above PR's, i believe we can finalize this work.

[CihatAltiparmak]

@sjahr I've applied your suggestion in moveit_benchmark_resources and here. I've added redirection to https://github.com/moveit/moveit_benchmark_resources repository.

[sjahr]

Just some nitpicks. I am testing the tutorial one last time with the new files and then we'll merge it

[sjahr]

Oh and can you fix the broken link CI error? https://github.com/moveit/moveit2_tutorials/actions/runs/10389968570/job/28769302814?pr=906. Looks like you just need to redirect it to moveit_benchmarking_resources

[CihatAltiparmak]

Oh and can you fix the broken link CI error? https://github.com/moveit/moveit2_tutorials/actions/runs/10389968570/job/28769302814?pr=906. Looks like you just need to redirect it to moveit_benchmarking_resources

I know, it's searching for bag_files/depth_camera_bag directory. We need to merge my moveit_benchmark_resources pr first to fix CI

[sjahr]

Oh and can you fix the broken link CI error? https://github.com/moveit/moveit2_tutorials/actions/runs/10389968570/job/28769302814?pr=906. Looks like you just need to redirect it to moveit_benchmarking_resources

I know, it's searching for bag_files/depth_camera_bag directory. We need to merge my moveit_benchmark_resources pr first to fix CI

@CihatAltiparmak I merged it ~1h ago. Can you run formatting and retrigger CI by pushing. Then this should be good to go

[CihatAltiparmak]

All CIes are passed. Let's roll. Btw thank you so much for your effort ❤️

[sjahr]

Thank you for porting this!

[130s]

@sjahr I'm glad a long-standing ticket #25 is finally closed by this PR.
Then, more than a year ago I made basically the same effort #700. You also commented you'd start reviewing #700 (comment). I admit I hadn't kept asking for review recently though, I'm honestly a bit sad. It'd be great in the future if open PRs aren't discarded without any accolade like in this way.

[sjahr]

@130s you're absolutely right and I am very sorry that this happened due to my inattentiveness. As you pointed out I even committed to reviewing your PR last year and then never did it 😞 This should not happen and you're right to be frustrated about my (in)action.
I think we should re-open your PR as this merged version is a simplified version of the ROS 1 tutorial that doesn't include the Detecting and Adding Object as Collision Object section that you ported as well and use your work to enhance and improve the existing version.

[CihatAltiparmak]

I want to write as well. Firstly really apologies for this action @130s, You are absolutely right. I already saw your PR before i didn't open this PR. As a newbie of MoveIt2, i strongly needed to learn perception pipeline application in Moveit and i had limited time. I took a look at MoveIt1's tutorial and it didn't be helpful for me as newbie. When i see your PR has no active works, i decided to continue to my work. I have added depth camera octomap updater and i found 2 bugs in MoveIt2.

But i just want to empathize the maintainer as well. When i open the review page of my PR, i saw a lot of complex works for maintainer side and a lot of PR's to review. Btw @sjahr also suggested your PR (#906 (comment))

If you still want to help us, my PR can have some lack of information, i become glad for this works. @sjahr 's suggestions are also good.

Best for you

[130s]

@sjahr @CihatAltiparmak You guys made my day. Thanks, thanks. I'll see what I can pick up from #700. Another good thing is now we have a new reviewer for perception pipeline :)