Improve local setup for Franka ROS 2 integration

ros2/.devcontainer/Dockerfile

@@ -1,26 +1,5 @@
-# TODO: Update the base image to ros:humble-ros-base as soon as updated GPG keys are available
-FROM ubuntu:22.04
+FROM ros:humble-ros-base 
 
-ENV DEBIAN_FRONTEND=noninteractive
-ENV LANG=en_US.UTF-8
-ENV LC_ALL=en_US.UTF-8
-
-# Install ros:humble-ros-base
-RUN apt-get update && apt-get install -y \
-  locales software-properties-common curl && \
-  locale-gen en_US en_US.UTF-8 && \
-  update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 && \
-  add-apt-repository universe && \
-  export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F\" '{print $4}') && \
-  curl -L -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo $VERSION_CODENAME)_all.deb" && \
-  apt-get install -y /tmp/ros2-apt-source.deb && \
-  apt-get update && apt-get install -y --fix-missing ros-humble-desktop && \
-  apt-get clean && rm -rf /var/lib/apt/lists/* && \
-  echo "source /opt/ros/humble/setup.bash" >> /etc/bash.bashrc
-
-# END of TODO
-
-# Install dependencies
 RUN apt-get update && apt-get install -y \
   # Install libfranka build depencencies
   build-essential \
@@ -29,45 +8,13 @@ RUN apt-get update && apt-get install -y \
   libeigen3-dev \
   libfmt-dev \
   libpoco-dev \
-  # Install ros packages
-  libignition-gazebo6-dev \
-  libignition-plugin-dev \
-  ros-humble-ament-cmake-clang-format \
-  ros-humble-ament-cmake-clang-tidy \
-  ros-humble-backward-ros \
-  ros-humble-control-msgs \
-  ros-humble-controller-interface \
-  ros-humble-controller-manager \
-  ros-humble-generate-parameter-library \
-  ros-humble-hardware-interface \
-  ros-humble-hardware-interface-testing \
-  ros-humble-joint-state-broadcaster \
-  ros-humble-joint-state-publisher \
-  ros-humble-joint-state-publisher-gui \
-  ros-humble-joint-trajectory-controller \
-  ros-humble-moveit-kinematics \
-  ros-humble-moveit-planners-ompl \
-  ros-humble-moveit-ros-move-group \
-  ros-humble-moveit-ros-visualization \
-  ros-humble-moveit-simple-controller-manager \
   ros-humble-pinocchio \
-  ros-humble-realtime-tools \
-  ros-humble-ros2-control-test-assets \
-  ros-humble-ros2-controllers \
-  ros-humble-ros2controlcli \
-  ros-humble-rviz2 \
-  ros-humble-sdformat-urdf \
-  ros-humble-xacro \
-  # Install python3 packages
-  python3-colcon-common-extensions\
+  # Install ros packages
+  python3-colcon-common-extensions \
   python3-colcon-mixin \
   python3-pip \
-  && rm -rf /var/lib/apt/lists/* \
-  && pip3 install -U dynamixel_sdk \
-  tyro \
-  vcstool \
-  black
-
+  python3-vcstool \
+  && rm -rf /var/lib/apt/lists/*
 
 # Install libfranka
 ARG LIBFRANKA_VERSION=0.15.0
@@ -85,17 +32,20 @@ RUN /bin/bash -c "source /opt/ros/humble/setup.bash && \
 # Install franka_ros2
 ARG FRANKA_ROS2_VERSION=v1.0.0
 ARG FRANKA_DESCRIPTION_VERSION=0.4.0
-RUN /bin/bash -c 'source /opt/ros/humble/setup.bash && \ 
+RUN /bin/bash -c 'source /opt/ros/humble/setup.bash && \
   mkdir -p /tmp/franka_ros2 && cd /tmp/franka_ros2 && \
   git clone --recursive https://github.com/frankaemika/franka_ros2.git --branch ${FRANKA_ROS2_VERSION} && \
-  git clone --recursive https://github.com/frankaemika/franka_description.git --branch ${FRANKA_DESCRIPTION_VERSION} &&\
+  git clone --recursive https://github.com/frankaemika/franka_description.git --branch ${FRANKA_DESCRIPTION_VERSION} && \
+  apt-get update && \
+  rosdep update && \
+  rosdep install --from-paths . --ignore-src -r -y && \
+  rm -rf /var/lib/apt/lists/* && \
   colcon build --install-base /opt/ros/humble/franka --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=off  && \
-  cd .. &&\
+  cd .. && \ 
   rm -rf /tmp/franka_ros2 && \
-  echo "source /opt/ros/humble/franka/setup.bash" >> ~/.bashrc &&\
+  echo "source /opt/ros/humble/franka/setup.bash" >> ~/.bashrc && \
   echo "source /opt/ros/humble/franka/setup.sh" >> ~/.profile'
 
-
 # Install robotiq gripper
 ARG ROS2_ROBOTIQ_GRIPPER_COMMIT_HASH="2ff85455d4b9f973c4b0bab1ce95fb09367f0d26"
 RUN /bin/bash -c "source /opt/ros/humble/setup.bash && \
@@ -105,6 +55,9 @@ RUN /bin/bash -c "source /opt/ros/humble/setup.bash && \
   cd ros2_robotiq_gripper && git checkout ${ROS2_ROBOTIQ_GRIPPER_COMMIT_HASH} && cd .. && \
   sed -i 's/kGripperMaxSpeed = 0.150;/kGripperMaxSpeed = 1.0;/g' ros2_robotiq_gripper/robotiq_driver/src/hardware_interface.cpp && \
   vcs import . --input ros2_robotiq_gripper/ros2_robotiq_gripper.humble.repos && \
+  apt-get update && \
+  rosdep update && \
+  rosdep install --from-paths . --ignore-src -r -y && \
   colcon build --install-base /opt/ros/humble/franka --cmake-args -DCMAKE_BUILD_TYPE=Release && \
   cd .. && \
   rm -rf tmp_build && \

ros2/.devcontainer/devcontainer.json

@@ -37,5 +37,5 @@
   },
   "workspaceFolder": "/workspace/",
   "shutdownAction": "stopCompose",
-  "postCreateCommand": "echo \"source /workspace/install/setup.bash \">> ~/.bashrc"
+  "postCreateCommand": "/bin/bash /workspace/ros2/install_workspace_dependencies.bash && echo 'source /workspace/ros2/install/setup.bash' >> ~/.bashrc"
 }

ros2/.devcontainer/docker-compose.yml

@@ -5,11 +5,6 @@ services:
     restart: no
     network_mode: host
     volumes:
-      - ../:/workspace
-      - ../../gello/dynamixel/driver.py:/workspace/src/franka_gello_state_publisher/franka_gello_state_publisher/driver.py
+      - ../../:/workspace
       - /dev/serial/by-id:/dev/serial/by-id
-      # GELLO Calibration Files
-      - ../../scripts/gello_get_offset.py:/workspace/gello_get_offset.py
-      - ../../gello/dynamixel:/workspace/gello/dynamixel
-      # Python flake8 config
-      - ../../.flake8:/workspace/.flake8
+

ros2/README.md

@@ -37,9 +37,31 @@ This package provides a ROS 2 node for managing the gripper connected to the Fra
 
 ## VS-Code Dev-Container
 
-We recommend working inside the provided VS-Code Dev-Container for a seamless development experience. Dev-Containers allow you to use a consistent environment with all necessary dependencies pre-installed. For more information, refer to the [VS-Code Dev-Containers documentation](https://code.visualstudio.com/docs/devcontainers/containers).
+We recommend working inside the provided VS-Code Dev-Container for a seamless development experience. Dev-Containers allow you to use a consistent environment with all necessary dependencies pre-installed. 
 
-If you choose not to use the Dev-Container, you will need to manually install the dependencies listed in the `Dockerfile` located in the `.devcontainer` folder.
+To start the Dev-Container, open the `ros2` sub-folder of this repository (not the entire `gello_software` folder) in VS Code. If prompted, select **"Reopen in Container"** to launch the workspace inside the Dev-Container. If you are not prompted, open the Command Palette (`Ctrl+Shift+P`) and select **"Dev Containers: Reopen in Container"**. Building the container for the first time will take a few minutes. For more information, refer to the [VS-Code Dev-Containers documentation](https://code.visualstudio.com/docs/devcontainers/containers).
+
+If you choose not to use the Dev-Container, please refer to the [Local Setup](#local-setup) section below for manual installation instructions.
+
+## Local Setup
+
+### Prerequisites
+
+- **ROS 2 Humble Desktop** must be installed.  
+  See the [official installation guide](https://docs.ros.org/en/humble/Installation.html) for instructions.
+- **libfranka** and **franka_ros2** must be installed.  
+  Refer to the [Franka Robotics documentation](https://frankaemika.github.io/docs/index.html) for installation steps and compatibility information.
+- **ros2_robotiq_gripper** (if required) must be installed.  
+  See the [ros2_robotiq_gripper GitHub repository](https://github.com/PickNikRobotics/ros2_robotiq_gripper) for installation and usage instructions.
+
+> 💡 **Hint:**  
+> You can also find example installation commands for `libfranka`, `franka_ros2`, and `ros2_robotiq_gripper` in the [Dockerfile](./.devcontainer/Dockerfile) located in the `ros2/.devcontainer` directory. These commands can be copy-pasted for your local setup.
+
+### Further Dependency Installations
+
+After installing the prerequisites, you may need to install additional dependencies required by this workspace. For this you can run the `install_workspace_dependencies.bash` script.
+
+If you add new dependencies to your packages, remember to update the relevant `requirements.txt`, `requirements_dev.txt` or `package.xml` files and re-run the script.
 
 ## Build and Test
 
@@ -59,6 +81,9 @@ The packages come with a set of tests, which can be executed using the following
 colcon test 
 ```
 
+> ⚠️ **Important:**  
+> All commands for building and testing must be executed from the `ros2` directory of this repository.
+
 ## Getting Started
 
 ### 1. **Run the GELLO Publisher**  
@@ -83,7 +108,7 @@ In this case, the `GELLO_USB_ID` would be `/dev/serial/by-id/usb-FTDI_USB__-__Se
 If not done already, follow the instructions of the `Create the GELLO configuration and determining joint ID's` section in the main README.md. Use the provided script to configure the GELLO for Franka FR3:
 
 ```bash
-python3 gello_get_offset.py \
+python3 scripts/gello_get_offset.py \
 --start-joints 0 0 0 -1.57 0 1.57 0 \
 --joint-signs 1 1 1 1 1 -1 1 \
 --port /dev/serial/by-id/<GELLO_USB_ID>
@@ -127,7 +152,7 @@ ros2 launch franka_gello_state_publisher main.launch.py com_port:=/dev/serial/by
 
    - **For the Robotiq 2F-85**:  
      ```bash
-     ros2 launch franka_gripper_manager robotiq_gripper_controller_client.launch.py com_port:=<ROBOTIQ_USB_ID>
+     ros2 launch franka_gripper_manager robotiq_gripper_controller_client.launch.py com_port:=/dev/serial/by-id/<ROBOTIQ_USB_ID>
      ```
 
      The `ROBOTIQ_USB_ID` can be determined by `ls /dev/serial/by-id`.

ros2/install_workspace_dependencies.bash

@@ -0,0 +1,9 @@
+#!/bin/bash
+set -e
+
+pip3 install -r ros2/requirements.txt
+pip3 install -r ros2/requirements_dev.txt
+
+apt-get update
+rosdep update
+rosdep install --from-paths ros2 --ignore-src -r -y

ros2/requirements.txt

@@ -0,0 +1,2 @@
+dynamixel_sdk
+tyro

ros2/requirements_dev.txt

@@ -0,0 +1 @@
+black

ros2/src/franka_fr3_arm_controllers/CMakeLists.txt

@@ -109,7 +109,7 @@ if(BUILD_TESTING)
   ament_cppcheck(${CPP_DIRECTORIES})
   ament_lint_cmake(CMakeLists.txt)
   ament_xmllint()
-  ament_clang_format(CONFIG_FILE /workspace/.clang-format ${CPP_DIRECTORIES})
+  ament_clang_format(CONFIG_FILE ${CMAKE_CURRENT_SOURCE_DIR}/../../.clang-format ${CPP_DIRECTORIES})
   ament_copyright(${CPP_DIRECTORIES} package.xml)
 
 ament_add_gtest(
@@ -125,7 +125,7 @@ endif()
 
 if(CHECK_TIDY)
   find_package(ament_cmake_clang_tidy REQUIRED)
-  set(ament_cmake_clang_tidy_CONFIG_FILE /workspace/.clang-tidy)
+  set(ament_cmake_clang_tidy_CONFIG_FILE ${CMAKE_CURRENT_SOURCE_DIR}/../../.clang-tidy)
   ament_clang_tidy(${CMAKE_BINARY_DIR})
 endif()
 

ros2/src/franka_fr3_arm_controllers/package.xml

@@ -13,9 +13,10 @@
   <depend>controller_interface</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp_lifecycle</depend>
+  <depend>hardware_interface</depend>
   <depend>franka_msgs</depend>
-  <depend>franka_semantic_components</depend>
-
+  <depend>moveit_core</depend>
+  <depend>moveit_msgs</depend>
 
   <test_depend>ament_cmake_clang_format</test_depend>
   <test_depend>ament_cmake_copyright</test_depend>

ros2/src/franka_gello_state_publisher/franka_gello_state_publisher/gello_publisher.py

@@ -1,18 +1,14 @@
 import os
+import sys
 import glob
 from typing import Tuple
 import rclpy
 from rclpy.node import Node
 import numpy as np
-
-try:
-    from franka_gello_state_publisher.driver import DynamixelDriver
-except ImportError:
-    from driver import DynamixelDriver
 from sensor_msgs.msg import JointState
 from std_msgs.msg import Float32
 import yaml
-from ament_index_python.packages import get_package_share_directory
+from ament_index_python.packages import get_package_share_directory, get_package_prefix
 
 
 class GelloPublisher(Node):
@@ -72,6 +68,9 @@ def get_values_from_config(self, config_file: str):
         """Whether or not the gripper is attached."""
 
         joint_ids = list(range(1, self.num_joints + 1))
+        self.add_dynamixel_driver_path()
+        from gello.dynamixel.driver import DynamixelDriver
+
         self.driver = DynamixelDriver(joint_ids, port=self.com_port, baudrate=57600)
         """The driver for the Dynamixel motors."""
 
@@ -119,6 +118,12 @@ def gripper_readout_to_percent(self, gripper_position: float) -> float:
         )
         return max(0.0, min(1.0, gripper_percent))
 
+    def add_dynamixel_driver_path(self):
+        gello_path = os.path.abspath(
+            os.path.join(get_package_prefix("franka_gello_state_publisher"), "../../../")
+        )
+        sys.path.insert(0, gello_path)
+
 
 def main(args=None):
     rclpy.init(args=args)

ros2/src/franka_gello_state_publisher/test/test_flake8.py

@@ -20,12 +20,8 @@
 @pytest.mark.flake8
 @pytest.mark.linter
 def test_flake8():
-    config_path = Path(__file__).resolve().parents[3] / ".flake8"
-    excluded_file = Path(__file__).resolve().parents[1] / "franka_gello_state_publisher/driver.py"
-    print(excluded_file)
-    rc, errors = main_with_errors(
-        argv=["--config", str(config_path), "--exclude", str(excluded_file)]
-    )
+    config_path = Path(__file__).resolve().parents[4] / ".flake8"
+    rc, errors = main_with_errors(argv=["--config", str(config_path)])
     assert rc == 0, "Found %d code style errors / warnings:\n" % len(errors) + "\n".join(errors)
 
 

ros2/src/franka_gripper_manager/package.xml

@@ -6,8 +6,7 @@
   <description>Provisioning of gripper clients for gello</description>
   <maintainer email="support@franka.de">Franka Robotics GmbH</maintainer>
   <license>Apache 2.0</license>
-  <depend>ros2-robotiq-gripper</depend>
-  <depend>sensor-msgs</depend>
+  <depend>sensor_msgs</depend>
   <depend>rclpy</depend>
 
   <test_depend>ament_copyright</test_depend>

ros2/src/franka_gripper_manager/test/test_flake8.py

@@ -20,6 +20,6 @@
 @pytest.mark.flake8
 @pytest.mark.linter
 def test_flake8():
-    config_path = Path(__file__).resolve().parents[3] / ".flake8"
+    config_path = Path(__file__).resolve().parents[4] / ".flake8"
     rc, errors = main_with_errors(argv=["--config", str(config_path)])
     assert rc == 0, "Found %d code style errors / warnings:\n" % len(errors) + "\n".join(errors)

scripts/gello_get_offset.py

@@ -4,6 +4,10 @@
 
 import numpy as np
 import tyro
+import sys 
+import os
+
+sys.path.insert(0, os.path.abspath(os.path.join(os.path.dirname(__file__), '..')))
 
 from gello.dynamixel.driver import DynamixelDriver