remove reference to ompl planner and servo planner

Author: suchkristenwow

Dockerfile

@@ -124,3 +124,129 @@ WORKDIR $USER_WS
 
 # Set up the user's .bashrc file and shell.
 CMD ["/usr/bin/bash"]
+
+##################################################
+# Starting from the specified MoveIt Pro release with CUDA GPU #
+##################################################
+# The image tag is specified in the argument itself.
+# hadolint ignore=DL3006
+FROM ${MOVEIT_STUDIO_BASE_IMAGE} AS base-gpu
+
+# Create a non-root user
+ARG USERNAME
+ARG USER_UID
+ARG USER_GID
+
+# hadolint ignore=DL3008
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \
+    apt-get update && apt-get install wget -y -q --no-install-recommends && \
+    wget --progress=dot:giga https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2204/x86_64/cuda-keyring_1.1-1_all.deb && \
+    dpkg -i cuda-keyring_1.1-1_all.deb && \
+    apt-get update && \
+    apt-get install -q -y --no-install-recommends \
+      libcudnn9-cuda-12 \
+      libcudnn9-dev-cuda-12 \
+      libcublas-12-6 \
+      cuda-cudart-12-6 \
+      libcurand-12-6 \
+      libcufft-12-6 \
+      libnvinfer10 \
+      libnvinfer-plugin10 \
+      libnvonnxparsers10 \
+      libtree
+
+# Misleading name: onnxruntime_gpu is actually specifically the CUDA package. This is only shipped for x86-64
+RUN if [ "$(uname -m)" = "x86_64" ]; then pip3 install --no-cache-dir onnxruntime_gpu==1.19.0; fi
+
+# Copy source code from the workspace's ROS 2 packages to a workspace inside the container
+ARG USER_WS=/home/${USERNAME}/user_ws
+ENV USER_WS=${USER_WS}
+
+# Also mkdir with user permission directories which will be mounted later to avoid docker creating them as root
+WORKDIR $USER_WS
+# hadolint ignore=DL3008
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \
+    groupadd --gid $USER_GID ${USERNAME} && \
+    useradd --uid $USER_UID --gid $USER_GID --shell /bin/bash --create-home ${USERNAME} && \
+    apt-get update && \
+    apt-get install -q -y --no-install-recommends sudo && \
+    echo ${USERNAME} ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/${USERNAME} && \
+    chmod 0440 /etc/sudoers.d/${USERNAME} && \
+    cp -r /etc/skel/. /home/${USERNAME} && \
+    mkdir -p \
+      /home/${USERNAME}/.ccache \
+      /home/${USERNAME}/.config \
+      /home/${USERNAME}/.ignition \
+      /home/${USERNAME}/.colcon \
+      /home/${USERNAME}/.ros && \
+    chown -R $USER_UID:$USER_GID /home/${USERNAME} /opt/overlay_ws/
+
+# Install additional dependencies
+# You can also add any necessary apt-get install, pip install, etc. commands at this point.
+# NOTE: The /opt/overlay_ws folder contains MoveIt Pro binary packages and the source file.
+# hadolint ignore=SC1091
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \
+    --mount=type=bind,target=${USER_WS}/,source=. \
+    . /opt/overlay_ws/install/setup.sh && \
+    apt-get update && \
+    rosdep install -q -y \
+      --from-paths src \
+      --ignore-src
+
+# Set up colcon defaults for the new user
+USER ${USERNAME}
+RUN colcon mixin add default \
+    https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml && \
+    colcon mixin update && \
+    colcon metadata add default \
+    https://raw.githubusercontent.com/colcon/colcon-metadata-repository/master/index.yaml && \
+    colcon metadata update
+COPY colcon-defaults.yaml /home/${USERNAME}/.colcon/defaults.yaml
+
+# hadolint ignore=DL3002
+USER root
+
+# Set up the user's .bashrc file and shell.
+CMD ["/usr/bin/bash"]
+
+###################################################################
+# Target for the developer build which does not compile any code. #
+###################################################################
+FROM base-gpu  AS user-overlay-gpu-dev
+
+ARG USERNAME
+ARG USER_WS=/home/${USERNAME}/user_ws
+ENV USER_WS=${USER_WS}
+
+# Install any additional packages for development work
+# hadolint ignore=DL3008
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \
+    apt-get update && \
+    apt-get install -y --no-install-recommends \
+        less \
+        gdb \
+        nano
+
+# Set up the user's .bashrc file and shell.
+CMD ["/usr/bin/bash"]
+
+#########################################
+# Target for compiled, deployable image with GPU support #
+#########################################
+FROM base-gpu AS user-overlay-gpu
+
+ARG USERNAME
+ARG USER_WS=/home/${USERNAME}/user_ws
+ENV USER_WS=${USER_WS}
+
+ENV LD_LIBRARY_PATH=/usr/local/lib/python3.10/dist-packages/onnxruntime/capi:/usr/lib/x86_64-linux-gnu:/usr/local/cuda-12.6/targets/x86_64-linux/lib:$LD_LIBRARY_PATH
+
+# Compile the workspace
+WORKDIR $USER_WS
+
+# Set up the user's .bashrc file and shell.
+CMD ["/usr/bin/bash"]

src/.gitkeep

@@ -59,24 +59,15 @@ moveit_params:
   # Used by the Waypoint Manager to save joint states from this joint group.
   joint_group_name: "manipulator"
 
-  ompl_planning:
-    package: "factory_sim"
-    path: "config/moveit/ompl_planning.yaml"
   stomp_planning:
     package: "factory_sim"
     path: "config/moveit/stomp_planning.yaml"
   kinematics:
     package: "factory_sim"
     path: "config/moveit/pose_ik_distance.yaml"
-  servo:
-    package: "factory_sim"
-    path: "config/moveit/servo.yaml"
   joint_limits:
     package: "factory_sim"
     path: "config/moveit/joint_limits.yaml"
-  servo_joint_limits:
-    package: "factory_sim"
-    path: "config/moveit/joint_limits.yaml"
   pose_jog:
     package: "factory_sim"
     path: "config/moveit/pose_jog.yaml"
@@ -113,7 +104,6 @@ ros2_control:
   # Load but do not start these controllers so they can be activated later if needed.
   # [Optional, default=[]]
   controllers_inactive_at_startup:
-    - "servo_controller"
     - "velocity_force_controller"
     - "joint_velocity_controller"
   # Any controllers here will not be spawned by MoveIt Pro.

src/factory_sim/config/config.yaml

@@ -5,8 +5,6 @@ controller_manager:
       type: joint_state_broadcaster/JointStateBroadcaster
     joint_trajectory_controller:
       type: joint_trajectory_controller/JointTrajectoryController
-    servo_controller:
-      type: joint_trajectory_controller/JointTrajectoryController
     # A controller to enable/disable the tool attachment interface at the robot flange.
     # In sim, this is modeled as a weld constraint in Mujoco.
     # In a real robot, this controller would activate a mechanism to attach/detach the tool at the robot flange.
@@ -65,46 +63,6 @@ joint_trajectory_controller:
       - position
       - velocity
 
-servo_controller:
-  ros__parameters:
-    joints:
-      - joint_1
-      - joint_2
-      - joint_3
-      - joint_4
-      - joint_5
-      - joint_6
-    command_interfaces:
-      - position
-    state_interfaces:
-      - position
-      - velocity
-    command_joints:
-      - joint_1
-      - joint_2
-      - joint_3
-      - joint_4
-      - joint_5
-      - joint_6
-    state_publish_rate: 100.0
-    action_monitor_rate: 20.0
-    allow_partial_joints_goal: false
-    constraints:
-      stopped_velocity_tolerance: 0.0
-      goal_time: 0.0
-      joint_1:
-        goal: 0.05
-      joint_2:
-        goal: 0.05
-      joint_3:
-        goal: 0.05
-      joint_4:
-        goal: 0.05
-      joint_5:
-        goal: 0.05
-      joint_6:
-        goal: 0.05
-
 velocity_force_controller:
   ros__parameters:
     # Joint group to control.