Merge pull request #3 from microsoft/fix/jackal_live

Jackal live launch file + dos2unix fixes

Author: helenol

README.md

@@ -1,50 +1,38 @@
-# Microsoft's IROS 2020 workshop Demo 1
+# IROS 2020 Mixed Reality and Robotics Tutorial, Demo 1 
 
 Microsoft is hosting a workshop at the IROS 2020 conference on Mixed Reality and Robotics.
-This repository contains all the code required to run, build and deploy demo one.
+This repository contains all the code required to run, build and deploy Demo 1.
+The tutorial is available starting October 25th 2020 until November 25th 2020 at https://www.iros2020.org/.
 
-The Demo 1 aims to:
+Demo 1 aims to:
 - Highlight how the robotic community can benefit from Mixed Reality
 - Show some features of the HoloLens 2, Azure Spatial Anchors, and other products, services & tools from the Mixed Reality ecosystem.
 - Serve as a playground and starting point for researchers to use Mixed Reality with their own robots
 
 The demo application allows you to command a simulated or real Clearpath Jackal robot and an industrial robot arm attached to it in MR. There are multiple control modes available. This repo also contains Dockerfiles to build and run the Jackal simulation and navigation stack.
 
-# [Here you can find the Wiki](https://github.com/microsoft/mixed-reality-robot-interaction-demo/wiki)
-The wiki contains detailed instructions on how to run, build and deploy the demo apps and also links to our talks and tutorial videos, which accompany this repository.
+# Instructions
+**Please see [the Wiki](https://github.com/microsoft/mixed-reality-robot-interaction-demo/wiki) for detailed instructions**.
+The wiki contains detailed instructions on how to run, build and deploy the demo apps. The videos accompanying this repository are currently available through [IROS2020](https://www.iros2020.org/).
 
 # Support
 If you have questions or issues while working with this repository, please open an issue [here](https://github.com/microsoft/mixed-reality-robot-interaction-demo/issues).
 
-
 ## Contributing
-
- 
-
 This project welcomes contributions and suggestions.  Most contributions require you to agree to a
 Contributor License Agreement (CLA) declaring that you have the right to, and actually do, grant us
 the rights to use your contribution. For details, visit https://cla.opensource.microsoft.com.
 
- 
-
 When you submit a pull request, a CLA bot will automatically determine whether you need to provide
 a CLA and decorate the PR appropriately (e.g., status check, comment). Simply follow the instructions
 provided by the bot. You will only need to do this once across all repos using our CLA.
 
- 
-
 This project has adopted the [Microsoft Open Source Code of Conduct](https://opensource.microsoft.com/codeofconduct/).
 For more information see the [Code of Conduct FAQ](https://opensource.microsoft.com/codeofconduct/faq/) or
 contact [[email protected]](mailto:[email protected]) with any additional questions or comments.
 
- 
-
 ## Trademarks
-
- 
-
 This project may contain trademarks or logos for projects, products, or services. Authorized use of Microsoft 
-trademarks or logos is subject to and must follow 
-[Microsoft's Trademark & Brand Guidelines](https://www.microsoft.com/en-us/legal/intellectualproperty/trademarks/usage/general).
+trademarks or logos is subject to and must follow [Microsoft's Trademark & Brand Guidelines](https://www.microsoft.com/en-us/legal/intellectualproperty/trademarks/usage/general).
 Use of Microsoft trademarks or logos in modified versions of this project must not cause confusion or imply Microsoft sponsorship.
 Any use of third-party trademarks or logos are subject to those third-party's policies.

docker/resources/packages/ms_jackal_demo/launch/jackal_asa.launch renamed to docker/resources/packages/ms_jackal_demo/launch/jackal_live.launch

@@ -1,37 +1,35 @@
 <launch>
-  <!-- Velodyne + Camera -->
-  <include file="$(find ms_jackal_startup)/launch/velodyne.launch">
-  </include>
-
+  <!-- Intel Realsense drivers with image undistortion for Azure Spatial Anchors -->
   <include file="$(find asa_ros)/launch/intel_t265.launch" >
   </include>
 
+  <!-- Extrinsic calibration for the Realsense. -->
   <node pkg="tf" type="static_transform_publisher" name="realsense_mount_tf" args="0 0 0 0 0 0 1 realsense_mount_link camera_pose_frame 100" />
 
+  <!-- Simple republishing script to publish information from /tf as geometry_msgs/TransfromStamped. -->
   <node pkg="ms_jackal_demo" type="tf_transform.py" name="tf_transform">
     <param name="parent_frame" value="anchor_rot" />
     <param name="child_frame" value="odom" />
   </node>
 
+  <!-- ROS -> Unity coordinate frame conversion. -->
   <node pkg="tf" type="static_transform_publisher" name="anchor_tf" args="0 0 0 -0.5 0.5 0.5 0.5 anchor anchor_rot 100" />
 
-  <!-- ASA -->
+  <!-- Azure Spatial Anchors -->
   <include file="$(find asa_ros)/launch/asa_ros.launch">
     <arg name="anchor_id" value="3ca83875-1700-4ad2-90fc-62a0759d77fe" />
     <arg name="anchor_frame_id" value="anchor" />
   </include>
-
-  <!-- Slam Gmapping -->  
+  
+  <!-- Slam Gmapping from the laser scanner. -->  
   <arg name="scan_topic" default="$(eval optenv('JACKAL_LASER_TOPIC', 'front/scan'))" />
   <include file="$(find jackal_navigation)/launch/include/gmapping.launch">
     <arg name="scan_topic"    value="$(arg scan_topic)" />
   </include>
 
-  <!--- Run Move Base -->
+  <!--- Navigation -->
   <include file="$(find jackal_navigation)/launch/include/move_base.launch" />
 
   <!-- Run the webserver for communication with other devices -->
-  <rosparam param="/rosbridge_websocket/capability_group">Visualization</rosparam>
-  <rosparam param="/rosapi/capability_group">Visualization</rosparam>
   <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" />
 </launch>

docker/resources/packages/ms_jackal_demo/script/tf_transform.py

@@ -1,37 +1,37 @@
-#!/usr/bin/env python
-import rospy
-from geometry_msgs.msg import TransformStamped
-import tf2_ros
-
-def tf_transform_publisher():
-  rospy.init_node('tf_transform_publisher', anonymous=False)
-
-  # TF interface
-  tf_buffer = tf2_ros.Buffer()
-  tf_listener = tf2_ros.TransformListener(tf_buffer)
-
-  # Publishers and subscribers
-  pub = rospy.Publisher('transform_output', TransformStamped, queue_size=1, latch=True)
-
-  # ROS params
-  parent_frame = rospy.get_param('~parent_frame', 'anchor')
-  child_frame = rospy.get_param('~child_frame', 'odom')
-  update_rate = rospy.get_param('~update_rate', 10.0)
-
-  rate = rospy.Rate(update_rate)
-  while not rospy.is_shutdown():
-    try:
-      # Will get the latest transform
-      trans = tf_buffer.lookup_transform(parent_frame, child_frame, rospy.Time())
-    except (tf2_ros.LookupException, tf2_ros.ConnectivityException, tf2_ros.ExtrapolationException):
-      # Just wait if we can't look up the transform.
-      rate.sleep()
-      continue
-    pub.publish(trans)
-    rate.sleep()
-
-if __name__ == '__main__':
-  try:
-    tf_transform_publisher()
-  except rospy.ROSInterruptException:
-    pass
+#!/usr/bin/env python
+import rospy
+from geometry_msgs.msg import TransformStamped
+import tf2_ros
+
+def tf_transform_publisher():
+  rospy.init_node('tf_transform_publisher', anonymous=False)
+
+  # TF interface
+  tf_buffer = tf2_ros.Buffer()
+  tf_listener = tf2_ros.TransformListener(tf_buffer)
+
+  # Publishers and subscribers
+  pub = rospy.Publisher('transform_output', TransformStamped, queue_size=1, latch=True)
+
+  # ROS params
+  parent_frame = rospy.get_param('~parent_frame', 'anchor')
+  child_frame = rospy.get_param('~child_frame', 'odom')
+  update_rate = rospy.get_param('~update_rate', 10.0)
+
+  rate = rospy.Rate(update_rate)
+  while not rospy.is_shutdown():
+    try:
+      # Will get the latest transform
+      trans = tf_buffer.lookup_transform(parent_frame, child_frame, rospy.Time())
+    except (tf2_ros.LookupException, tf2_ros.ConnectivityException, tf2_ros.ExtrapolationException):
+      # Just wait if we can't look up the transform.
+      rate.sleep()
+      continue
+    pub.publish(trans)
+    rate.sleep()
+
+if __name__ == '__main__':
+  try:
+    tf_transform_publisher()
+  except rospy.ROSInterruptException:
+    pass