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Merge branch 'add-demo-documentation' into rolling. Close #34.
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‎source/Demos.rst‎

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=====
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There are currently two Space ROS demonstration applications.
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The first demo uses `MoveIt2 <https://moveit.ros.org/>`_ and a model of the `Canadarm manipulator <https://en.wikipedia.org/wiki/Canadarm>`_ along with the Space ROS base image.
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Both demos uses the `MoveIt2 <https://moveit.ros.org/>`_ docker image. The Canadarm demo uses a model of the `Canadarm manipulator <https://en.wikipedia.org/wiki/Canadarm>`_ along with the Space ROS base image.
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In this demo, MoveIt2 is used to plan the motion for the Canadarm, which is running in simulation.
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The second demo shows the `Mars Curiosity rover <https://mars.nasa.gov/msl/home/>`_ in simulation, presenting multiple ROS 2 services to allow the user to directly control the rover.
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The following pages go into detail to show you how to run these demo applications.
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:titlesonly:
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:maxdepth: 2
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Demos/MoveIt2
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Demos/Canadarm
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Demos/Mars-Rover

‎source/Demos/Canadarm.rst‎

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Canadarm Demo
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=============
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TODO:
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Build the Space ROS & MoveIt2 Docker Images
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-------------------------------------------
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If you haven't already, follow `the MoveIt2 instructions <https://space-ros.github.io/docs/rolling/Demos/MoveIt2.html>`_, and `the Space ROS image instructions <https://space-ros.github.io/docs/rolling/Tutorials/First-Time-Building.html>`_. These are the base images for the Canadarm and Curiosity Mars rover demos. The Dockerfile installs all of the prerequisite system dependencies along with the demos source code, then builds the Space ROS Space Robots Demo.
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Space ROS Space Robots Demo Docker Image
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----------------------------------------
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Build the ``space_robots`` image:
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.. code-block:: console
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cd ../space_robots
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./build.sh
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Running the Demo Docker
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-----------------------
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Run the following to allow GUI passthrough:
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.. code-block:: console
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xhost +local:docker
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Then run:
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.. code-block:: console
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./run.sh
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Depending on the host computer, you might need to remove the ``--gpus all`` flag in ``run.sh``, which uses your GPUs.
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Running the Canadarm Demo
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-------------------------
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Run the following command:
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.. code-block:: console
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ros2 launch canadarm canadarm.launch.py
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545
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Describe how to run the Canadarm demo.
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This may be simply a link to the demo repo that provides the instructions.

‎source/Demos/Mars-Rover.rst‎

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Mars Rover Demo
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===============
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TODO:
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Build the Space ROS & MoveIt2 Docker Images
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-------------------------------------------
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If you haven't already, follow `these instructions <https://space-ros.github.io/docs/rolling/Demos/MoveIt2.html>`_ for building the MoveIt2 docker image, `and these instructions <https://space-ros.github.io/docs/rolling/Tutorials/First-Time-Building.html>`_ for the spaceros image. These are the base images for the Canadarm and Curiosity Mars rover demos. The Dockerfile installs all of the prerequisite system dependencies along with the demos source code, then builds the Space ROS Space Robots Demo.
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Space ROS Space Robots Demo Docker Image
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----------------------------------------
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Build the ``space_robots`` image:
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.. code-block:: console
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cd ../space_robots
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./build.sh
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Running the Demo Docker
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-----------------------
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Run the following to allow GUI passthrough:
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.. code-block:: console
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xhost +local:docker
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Then run:
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.. code-block:: console
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./run.sh
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Depending on the host computer, you might need to remove the ``--gpus all`` flag in ``run.sh``, which uses your GPUs.
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Running the Mars Rover Demo
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---------------------------
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Launch the demo:
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.. code-block:: console
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ros2 launch mars_rover mars_rover.launch.py
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On the top left corner, click on the refresh button to show camera feed.
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Perform Tasks
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^^^^^^^^^^^^^
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Setup
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~~~~~
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Open a new terminal and attach it to the currently running container:
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.. code-block:: console
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docker exec -it <container-name> bash
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Make sure packages are sourced:
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.. code-block:: console
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source ~/spaceros/install/setup.bash
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.. code-block:: console
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source ~/demos_ws/install/setup.bash
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Available Commands
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~~~~~~~~~~~~~~~~~~
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Drive the rover forward:
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.. code-block:: console
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ros2 service call /move_forward std_srvs/srv/Empty
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Stop the rover:
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.. code-block:: console
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ros2 service call /move_stop std_srvs/srv/Empty
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Turn left:
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.. code-block:: console
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ros2 service call /turn_left std_srvs/srv/Empty
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Turn right:
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.. code-block:: console
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ros2 service call /turn_right std_srvs/srv/Empty
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Open the tool arm:
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.. code-block:: console
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ros2 service call /open_arm std_srvs/srv/Empty
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Cloes the tool arm:
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.. code-block:: console
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ros2 service call /close_arm std_srvs/srv/Empty
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Open the mast (camera arm):
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.. code-block:: console
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ros2 service call /mast_open std_srvs/srv/Empty
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Close the mast (camera arm):
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.. code-block:: console
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ros2 service call /mast_close std_srvs/srv/Empty
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Describe how to run the Mars rover demo.
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This may be simply a link to the demo repo that provides the instructions

‎source/Demos/MoveIt2.rst‎

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Moveit2 Image
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=============
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The MoveIt2 Docker image uses the Space ROS docker image (openrobotics/spaceros:latest) as its base image, which you can build, following `this <https://space-ros.github.io/docs/rolling/Tutorials/First-Time-Building.html>`_ tutorial. The MoveIt2 Dockerfile installs all of the prerequisite system dependencies to build MoveIt2 (and Moveit2 tutorials) and then pulls and builds the latest MoveIt2 and Moveit2 tutorials source code.
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Cloning the repository
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----------------------
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Move into your Space ROS workspace:
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.. code-block:: console
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cd spaceros_ws
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Clone the docker repository:
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git clone https://github.com/space-ros/docker
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Building the MoveIt2 Image
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--------------------------
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To build the docker image, run:
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.. code-block:: console
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cd docker/moveit2
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./build.sh
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The build process will take about 30 minutes, depending on the host computer.
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Running the MoveIt2 Docker Image in a Container
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-----------------------------------------------
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After building the image, you can see the newly-built image by running:
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.. code-block:: console
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docker image list
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The output will look something like this:
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.. code-block:: console
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REPOSITORY TAG IMAGE ID CREATED SIZE
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openrobotics/moveit2 latest 6edb2edc9643 10 hours ago 15.5GB
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openrobotics/spaceros latest 629b13cf7b74 12 hours ago 7.8GB
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nvidia/cudagl 11.4.1-devel-ubuntu20.04 336416dfcbba 1 week ago 5.35GB
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The new image is named openrobotics/moveit2:latest.
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There is a run.sh script provided for convenience that will run the spaceros image in a container.
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.. code-block:: console
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./run.sh
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Upon startup, the container automatically runs the entrypoint.sh script, which sources the MoveIt2 and Space ROS environment files. You'll now be running inside the container and should see a prompt similar to this:
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.. code-block:: console
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spaceros-user@8e73b41a4e16:~/moveit2#
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Running MoveIt2 Tutorials
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-------------------------
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Run the following command to launch the MoveIt2 tutorials demo launch file:
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ros2 launch moveit2_tutorials demo.launch.py rviz_tutorial:=true
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You should see lots of console output and the rviz2 window appear:
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.. image:: ../images/rviz2-window.png
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You can now follow the `MoveIt2 Tutorial documentation <https://moveit.picknik.ai/main/doc/tutorials/quickstart_in_rviz/quickstart_in_rviz_tutorial.html>`_
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Running the MoveIt2 Move Group C++ Interface Demo
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-------------------------------------------------
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To run the Move Group C++ Interface Demo, execute the following command:
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ros2 launch moveit2_tutorials move_group.launch.py
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.. image:: ../images/move-group-demo.png
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Then, you can follow the `Move Group C++ Interface Demo documentation <https://moveit.picknik.ai/humble/doc/examples/move_group_interface/move_group_interface_tutorial.html>`_
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Running the Space ROS Space Robots Demos
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----------------------------------------
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Once you have tested that MoveIt2 works, you are ready to run some of the other `Space ROS space robot demos <https://space-ros.github.io/docs/rolling/Demos/Canadarm.html>`_

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