estebancosserat/tiago_dual_tutorial repository overview

⁠Align MoveIt Version for Tiago Dual Simulation

⁠Goal

This repository aims to fix an issue frequently encountered with the moveit_msgs version and the MD5sum hash.

• MD5sum error: Client [/rostopic...] wants topic /...⁠
• [/moveit_publisher] wants topic ...⁠
• [rwt_moveit] datatype/md5sum error⁠

These issues occur when trying to use the MoveIt package in a container that uses a different version of MoveIt. Ideally, this situation should be avoided by upgrading all environments to the same stable version. However, in some cases, the target version cannot be chosen, such as when using a real robot with limited ability to update the software version. In such cases, this Docker image provides a solution by downgrading the environment to use the MoveIt package with RViz⁠.

This image⁠ downgrades Ubuntu and ROS to use the MoveIt package without the Tiago tutorial base.

⁠Solution

The chosen solution is based on the official Tiago Dual Tutorial Docker image⁠. The moveit_msgs package is removed, and the MoveIt package repository is cloned and built from scratch. To achieve this, three repositories need to be cloned with specific branches:

• MoveIt v-1.1.9⁠
• moveit_msgs v-0.11.2⁠
• moveit_resources v-master⁠

⁠Script

# Base Image
FROM palroboticssl/tiago_dual_tutorials:noetic

# Install vim and terminator
RUN apt-get -y update && \
    apt-get install -y vim terminator sudo && \
    rm -rf /var/lib/apt/lists/*

# Setup MoveIt! packages
WORKDIR /tiago_dual_public_ws/src
RUN apt update && \
    apt remove -y ros-noetic-moveit-msgs && \
    git clone -b 1.1.9 https://github.com/moveit/moveit.git && \
    git clone -b 0.11.2 https://github.com/moveit/moveit_msgs.git && \
    git clone -b master https://github.com/moveit/moveit_resources.git

# Install rosparam-shortcuts
RUN apt-get update && \
    apt-get -y install ros-noetic-rosparam-shortcuts && \
    rm -rf /var/lib/apt/lists/*

# Build the workspace
WORKDIR /tiago_dual_public_ws
RUN . /opt/ros/noetic/setup.sh && \
    catkin build -DCATKIN_ENABLE_TESTING=0 -j$(expr `nproc` / 2)

# Export necessary environment variables
ENV PATH="/opt/ros/noetic/bin:${PATH}"