Update dependencies and submodules

.gitignore

@@ -58,9 +58,10 @@ 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/ur_drivers
 underlay_ws/src/third_party/robotiq
 underlay_ws/src/third_party/aruco_ros
 underlay_ws/src/third_party/gazebo_ros_link_attacher
+underlay_ws/src/third_party/trac-ik
 
 catkin_ws/src/o2ac_vision/log/

.gitmodules

@@ -27,7 +27,4 @@
 	url = http://gitlab+deploy-token-440735:[email protected]/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:[email protected]/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
+	url = http://gitlab+deploy-token-440688:[email protected]/o2ac/third-party/ur_python_utilities.git

BUILD-DOCKER-IMAGE.sh

@@ -36,20 +36,20 @@ fi
 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
+# 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 ${DOCKER_PROJECT} -f ./docker/docker-compose.yml build
-  fi
-fi
+# if [[ "$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
+docker-compose -p ${DOCKER_PROJECT} -f ./docker/docker-compose.yml build

docker/o2ac-dev/Dockerfile

@@ -37,7 +37,7 @@ RUN apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E
 
 # Install ROS-desktop-full packages (including ROS, rqt, rviz, and more).
 RUN apt-get update && apt-get install -y --no-install-recommends \
-    ros-melodic-desktop-full=1.4.1-0bionic.20210921.232208 \
+    ros-melodic-desktop-full=1.4.1-0bionic.20211104.025752 \
     python-rosdep=0.21.0-1 \
 	&& rm -rf /var/lib/apt/lists/*
 
@@ -85,7 +85,7 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     python-catkin-tools=0.6.1-1 \
     python-tk=2.7.17-1~18.04 \
     unzip=6.0-21ubuntu1.1 \
-    vim=2:8.0.1453-1ubuntu1.6 \
+    vim=2:8.0.1453-1ubuntu1.7 \
     less=487-0.1 \
     usbutils=1:007-4build1 \
 	&& rm -rf /var/lib/apt/lists/*
@@ -100,15 +100,6 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
 
 ################################################################################
 
-# Install MoveIt dependencies because we build it from source.
-# Also install the binaries to pull in the dependencies.
-RUN apt-get update && apt-get install -y --no-install-recommends \ 
-    ros-melodic-moveit-resources=0.7.3-1bionic.20210921.221050 \
-    ros-melodic-moveit=1.0.8-1bionic.20210922.000107 \
-	&& rm -rf /var/lib/apt/lists/*
-
-################################################################################
-
 # Install wstool to use .rosinstall file in the underlay workspace
 RUN apt-get update && apt-get install -y --no-install-recommends \
     python-wstool=0.1.17-1 \
@@ -119,7 +110,7 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
 
 # Install other dependencies of our workspace
 RUN apt-get update && apt-get install -y --no-install-recommends \
-    ros-melodic-effort-controllers=0.17.2-1bionic.20210921.221828 \
+    ros-melodic-effort-controllers=0.17.2-1bionic.20211005.001446 \
     ros-melodic-industrial-robot-status-controller=0.1.2-1bionic.20210921.221524 \
     ros-melodic-socketcan-interface=0.8.5-1bionic.20210921.180404 \
     ros-melodic-industrial-robot-status-interface=0.1.2-1bionic.20210921.203234 \
@@ -128,7 +119,7 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     ros-melodic-spacenav-node=1.14.0-1bionic.20210921.210836 \
     ros-melodic-joy-teleop=0.3.1-1bionic.20210921.205844 \
     ros-melodic-code-coverage=0.4.3-1bionic.20200803.132715 \
-    ros-melodic-panda-moveit-config=0.7.4-1bionic.20210921.234706 \
+    ros-melodic-panda-moveit-config=0.7.4-1bionic.20211104.025015 \
     socat=1.7.3.2-2ubuntu2 \
     libqt5x11extras5-dev=5.9.5-0ubuntu1 \
 	&& rm -rf /var/lib/apt/lists/*	
@@ -137,7 +128,7 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
 
 # Install JSK tools for visualization in Rviz
 RUN apt-get update && apt-get install -y --no-install-recommends \
-    ros-melodic-jsk-visualization=2.1.7-2bionic.20210922.000226 \
+    ros-melodic-jsk-visualization=2.1.7-2bionic.20211104.032006 \
 	&& rm -rf /var/lib/apt/lists/*
 
 ################################################################################
@@ -159,15 +150,15 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     ros-melodic-ros-control=0.18.4-1bionic.20210921.220930 \
     ros-melodic-robot-controllers=0.6.0-0bionic.20210921.222303 \
     ros-melodic-velocity-controllers=0.17.2-1bionic.20210921.221837 \
-    ros-melodic-joint-trajectory-controller=0.17.2-1bionic.20210921.220639 \
+    ros-melodic-joint-trajectory-controller=0.17.2-1bionic.20211005.001439 \
     ros-melodic-force-torque-sensor-controller=0.17.2-1bionic.20210921.221513 \
 	&& rm -rf /var/lib/apt/lists/*
 
 ################################################################################
 
 # Add industrial_core submodule
 RUN apt-get update && apt-get install -y --no-install-recommends \
-    ros-melodic-industrial-core=0.7.3-1bionic.20210921.231521 \
+    ros-melodic-industrial-core=0.7.3-1bionic.20211005.010652 \
 	&& rm -rf /var/lib/apt/lists/*
 
 ################################################################################
@@ -208,7 +199,7 @@ RUN curl https://packages.microsoft.com/keys/microsoft.asc | gpg --dearmor > mic
 
 # Update cache and install VS Code as a package.
 RUN apt-get update && apt-get install -y --no-install-recommends \
-    code=1.61.1-1634175470 \
+    code=1.62.3-1637137107 \
 	&& rm -rf /var/lib/apt/lists/*
 
 # Set VS Code as the default text editor.
@@ -262,8 +253,8 @@ RUN echo 'deb http://librealsense.intel.com/Debian/apt-repo bionic main' | tee /
 RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C8B3A55A6F3EFCDE
 RUN apt-get update && apt-get install -y --no-install-recommends \
     librealsense2-dkms=1.3.18-0ubuntu1 \
-    librealsense2-utils=2.49.0-0~realsense0.5306 \
-    librealsense2-dev=2.49.0-0~realsense0.5306 \
+    librealsense2-utils=2.50.0-0~realsense0.6127 \
+    librealsense2-dev=2.50.0-0~realsense0.6127 \
 	&& rm -rf /var/lib/apt/lists/*
 
 ################################################################################
@@ -294,7 +285,7 @@ RUN pip install gym
 
 # Install eigenpy 
 RUN apt-get update && apt-get install -y --no-install-recommends \
-    ros-melodic-eigenpy=2.6.8-1bionic.20210907.141314 \
+    ros-melodic-eigenpy=2.6.9-1bionic.20211101.110130 \
 	&& rm -rf /var/lib/apt/lists/*
 
 ################################################################################
@@ -352,11 +343,9 @@ RUN pip2 install pyquaternion==0.9.9
 RUN apt-get update && apt-get install -y --no-install-recommends \
     htop=2.1.0-3 \
     ros-melodic-rqt-multiplot=0.0.10-0bionic.20210921.205109 \
-    ros-melodic-trac-ik-python=1.5.1-1bionic.20210921.222641 \
-    ros-melodic-trac-ik-kinematics-plugin=1.5.1-1bionic.20210921.224102 \
     ros-melodic-flexbe-behavior-engine=1.3.1-1bionic.20210921.221501 \
-    ros-melodic-gripper-action-controller=0.17.2-1bionic.20210921.220651 \
-    ros-melodic-jsk-rviz-plugins=2.1.7-2bionic.20210921.230839 \
+    ros-melodic-gripper-action-controller=0.17.2-1bionic.20211005.001411 \
+    ros-melodic-jsk-rviz-plugins=2.1.7-2bionic.20211104.020651 \
     python-rosinstall=0.7.8-1 \
 	&& rm -rf /var/lib/apt/lists/*
 

docker/o2ac-dev/scripts/initialize-catkin-workspace.sh

@@ -63,8 +63,6 @@ fi
 # Blacklist packages that we do not use but that are part of metapackages we need
 cd /root/o2ac-ur/underlay_ws/ && catkin config -init --blacklist robotiq_3f_gripper_articulated_gazebo robotiq_3f_gripper_articulated_gazebo_plugins robotiq_3f_rviz \
                           robotiq_3f_gripper_control robotiq_3f_gripper_rviz robotiq_3f_gripper_joint_state_publisher robotiq_3f_gripper_visualization \
-                          moveit_ros_warehouse moveit_ros_benchmarks moveit_servo moveit_resources_prbt_ikfast_manipulator_plugin \
-                          moveit_resources_fanuc_moveit_config moveit_resources_panda_moveit_config moveit_resources_pr2_moveit_config \
                           ur3_e_moveit_config ur10_e_moveit_config
 catkin build
 source /root/o2ac-ur/underlay_ws/devel/setup.bash

underlay_ws/src/.rosinstall

@@ -37,8 +37,12 @@
 - git:
     local-name: third_party/ur_drivers
     uri: https://github.com/UniversalRobots/Universal_Robots_ROS_Driver.git
-    version: 13db13e33702866f230614a6d0bfe583794d8d04
+    version: 9bd11c497cc32a65e922c6dca3eb52dfa3ae6e4e
 - git:
     local-name: third_party/gazebo_ros_link_attacher
     uri: https://github.com/pal-robotics/gazebo_ros_link_attacher.git
     version: melodic-devel
+- git:
+    local-name: third_party/trac-ik
+    uri: https://bitbucket.org/traclabs/trac_ik.git
+    version: master