From ed722b04d8569e8f52f76620f0db3fc58eb4da65 Mon Sep 17 00:00:00 2001 From: Maciej Majek <46171033+maciejmajek@users.noreply.github.com> Date: Wed, 14 Aug 2024 18:39:46 +0200 Subject: [PATCH] chore: cleanup (#132) Co-authored-by: Bartek Boczek <22739059+boczekbartek@users.noreply.github.com> --- docs/demos.md | 2 +- docs/imgs/actions_flow.png | Bin 111578 -> 0 bytes docs/ros2_actions.md | 96 ------------------ .../rosbot-xl-generic-node-demo.py | 0 4 files changed, 1 insertion(+), 97 deletions(-) delete mode 100644 docs/imgs/actions_flow.png delete mode 100644 docs/ros2_actions.md rename {src/examples => examples}/rosbot-xl-generic-node-demo.py (100%) diff --git a/docs/demos.md b/docs/demos.md index 0b0fc75c5..3bfd0c9d7 100644 --- a/docs/demos.md +++ b/docs/demos.md @@ -38,7 +38,7 @@ By looking at the example code in `src/examples/rosbot-xl-generic-node-demo.py` ```bash source setup_shell.sh -python src/examples/rosbot-xl-generic-node-demo.py +python examples/rosbot-xl-generic-node-demo.py ``` 3. 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ROS2 Actions - -This tutorial describes how `RAI` can run and check status of ros2 actions. - -## Flow diagram - -![](./imgs/actions_flow.png) - -## Fibonacci action example - -### Installation - -```bash -. /opt/ros/${ROS_DISTRO}/setup.bash -mkdir tmp -cd tmp -git clone --branch ${ROS_DISTRO} https://github.com/ros2/demos -cp -r demos/action_tutorials/action_tutorials_py ../examples -cd .. -rm -rdf tmp #TODO(boczekbartek): refactor installation of examples -``` - -### Build - -```bash -colcon build --symlink-install --cmake-args -D CMAKE_BUILD_TYPE=Release -poetry install -``` - -### Running - -This will require opening 2 terminals and running the following commands - -1. Run the action server - - ```bash - . /opt/ros/${ROS_DISTRO}/setup.bash # for e.g. ROS_DISTRO=jazzy - . ./install/setup.bash - ros2 run action_tutorials_py fibonacci_action_server - ``` - -2. Run the action `RAI` example - - ```bash - . /opt/ros/${ROS_DISTRO}/setup.bash - . ./install/setup.bash - poetry shell - python examples/simple_example_ros_actions.py - ``` - -## Nav2 Gazebo + Turtlebot - -### Installation - -Please refer to [Nav2 Installation][nav2 installation] - -```bash -. /opt/ros/${ROS_DISTRO}/setup.bash # for e.g. ROS_DISTRO=jazzy -. ./install/setup.bash -poetry shell -python simple_example_ros_actions.py -``` - -### Running - -To Run Gazebo and Navigation2 stack refer to [Nav2 Running The Example][nav2 running the example] - -To run the `RAI` example: - -```bash -. /opt/ros/${ROS_DISTRO}/setup.bash # for e.g. ROS_DISTRO=jazzy -. ./install/setup.bash -poetry shell -python examples/nav2_example_ros_actions.py -``` - -## Husarion ROSBot XL O3DE example - -### Installation - -Please refer to [rai rosbot xl demo][rai rosbot xl demo] to run the simulation. - -### Running - -You can set the task for the agent in the `examples/nav2_example_ros_actions.py` file. - -```bash -. /opt/ros/${ROS_DISTRO}/setup.bash # for e.g. ROS_DISTRO=jazzy -. ./install/setup.bash -poetry shell -python examples/nav2_example_ros_actions.py -``` - -[nav2 installation]: https://docs.nav2.org/getting_started/index.html#installation -[nav2 running the example]: https://docs.nav2.org/getting_started/index.html#running-the-example -[rai rosbot xl demo]: https://github.com/RobotecAI/rai-rosbot-xl-demo diff --git a/src/examples/rosbot-xl-generic-node-demo.py b/examples/rosbot-xl-generic-node-demo.py similarity index 100% rename from src/examples/rosbot-xl-generic-node-demo.py rename to examples/rosbot-xl-generic-node-demo.py