Fixes to ROS2RoboticManipulationTemplate (#467)

Small changes to ROS2 Manipulation Template.

---------

Signed-off-by: Michał Pełka <[email protected]>
Co-authored-by: Adam Dąbrowski <[email protected]>
Co-authored-by: Jan Hanca <[email protected]>

Templates/Ros2RoboticManipulationTemplate/README.md

@@ -4,7 +4,14 @@ This project is a template designed to help you quickly start simulating robotic
 
 This template focuses on robotic arm manipulation with ROS 2 and [MoveIt 2](https://moveit.picknik.ai/main/index.html).
 
+## Prerequisites 
 
+Make sure that your system meets [Requirements](https://development--o3deorg.netlify.app/docs/welcome-guide/requirements/).
+
+Install ROS2 dependencies for this template:
+```bash
+sudo apt install ros-${ROS_DISTRO}-moveit ros-${ROS_DISTRO}-moveit-resources ros-${ROS_DISTRO}-depth-image-proc
+```
 ## How to set up a new project with the template
 
 Please follow the instructions in [ROS 2 Gem documentation](https://development--o3deorg.netlify.app/docs/user-guide/interactivity/robotics/project-configuration/)
@@ -41,19 +48,13 @@ Includes a warehouse scene, [UR10](https://www.universal-robots.com/products/ur1
 
 ### Manipulation
 
-Install necessary ROS packages for MoveIt and depth image processing:
-
-```bash
-sudo apt-get install ros-humble-moveit ros-humble-moveit-resources ros-humble-depth-image-proc
-```
-
 And run the launch file in the project:
 
 ```bash
 ros2 launch Examples/panda_moveit_config_demo.launch.py
 ```
 
-This will result in RViz window appearing.
+This will result in RViz2 window appearing.
 Now you should be able to use `Motion Planning` from `moveit_ros_visualization package`.
 To understand more about MoveIt and robotic manipulation, see [tutorials](https://moveit.picknik.ai/main/doc/tutorials/quickstart_in_rviz/quickstart_in_rviz_tutorial.html#getting-started).
 

Templates/Ros2RoboticManipulationTemplate/Template/Examples/panda_moveit_config_demo.launch.py

@@ -1,4 +1,4 @@
-import os
+from pathlib import Path
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument, OpaqueFunction
 from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
@@ -24,8 +24,8 @@ def generate_launch_description():
 
 def launch_setup(context, *args, **kwargs):
 
-    current_file_path = os.path.abspath(__file__)
-    current_directory = os.path.dirname(current_file_path)
+    current_file_path = Path(__file__).resolve()
+    current_directory = current_file_path.parent
 
     use_sim_time = { "use_sim_time": True}
     moveit_config = (

Templates/Ros2RoboticManipulationTemplate/Template/Gem/enabled_gems.cmake

@@ -20,7 +20,6 @@ set(ENABLED_GEMS
     WhiteBox
     DiffuseProbeGrid
     Compression
-    ProteusRobot
     WarehouseAssets
     ROS2
     PhysXDebug

Templates/Ros2RoboticManipulationTemplate/Template/project.json

@@ -20,7 +20,6 @@
     "restricted": "MySimulationProject",
     "engine_version": "2.1.0",
     "gem_names": [
-        "ProteusRobot",
         "WarehouseAssets",
         "ROS2"
     ]