SQLite backend for warehouse_ros

This is a storage backend for warehouse_ros using SQLite. The name of the sqlite file will be taken from the ROS parameter warehouse_host. The warehouse_port will be ignored. Note that the MD5 sums of the messages have changed from ROS1 to ROS2, so your ROS1 sqlite database won't work with ROS2.

Installation

Make sure that you have installed ROS2 and activated it (e.g. with source /opt/ros/foxy/setup.bash). Create a folder which will become your workspace. Create a file named warehouse.repos with the following content:

repositories:
  warehouse_ros_sqlite:
    type: git
    url: https://github.com/ros-planning/warehouse_ros_sqlite
    version: ros2

Now open a terminal and navigate to this folder. Initialize your workspace and fetch the source files with vcs and rosdep:

$ vcs import src < warehouse.repos
$ rosdep update
$ rosdep install --from-paths src --ignore-src

Build your workspace with colcon:

$ colcon build

After that, activate your workspace:

$ source install/local_setup.bash

The plugin is now installed, please refer to the warehouse_ros documentation for the usage of the interface or have a look into the test files in test/.

Adapt the .launch files

You can use this plugin together with the whole MoveIt stack, but you may need to adapt the .launch files. Make sure that this plugin is loaded instead of warehouse_ros_mongo. If you're using RViz, you'll have to enter the path to your database file into the Host field and click on connect.

run_move_group.launch.py

The demo launch file needs a bit attention, too.

--- install/run_move_group/share/run_move_group/launch/run_move_group.launch.py 2021-06-20 15:24:38.000000000 +0000
+++ install/run_move_group/share/run_move_group/launch/run_move_group_sqlite.launch.py  2021-06-20 20:46:42.061550552 +0000
@@ -89,6 +89,11 @@
         "publish_transforms_updates": True,
     }

+    warehouse_ros_config = {
+        "warehouse_plugin": "warehouse_ros_sqlite::DatabaseConnection",
+        "warehouse_host": "/path/to/my/warehouse_db.sqlite",
+    }
+
     # Start the actual move_group node/action server
     run_move_group_node = Node(
         package="moveit_ros_move_group",
@@ -102,6 +107,7 @@
             trajectory_execution,
             moveit_controllers,
             planning_scene_monitor_parameters,
+            warehouse_ros_config,
         ],
     )

@@ -120,6 +126,7 @@
             robot_description_semantic,
             ompl_planning_pipeline_config,
             kinematics_yaml,
+            warehouse_ros_config,
         ],
     )

@@ -172,18 +179,6 @@
             )
         ]

-    # Warehouse mongodb server
-    mongodb_server_node = Node(
-        package="warehouse_ros_mongo",
-        executable="mongo_wrapper_ros.py",
-        parameters=[
-            {"warehouse_port": 33829},
-            {"warehouse_host": "localhost"},
-            {"warehouse_plugin": "warehouse_ros_mongo::MongoDatabaseConnection"},
-        ],
-        output="screen",
-    )
-
     return LaunchDescription(
         [
             rviz_node,
@@ -191,7 +186,6 @@
             robot_state_publisher,
             run_move_group_node,
             ros2_control_node,
-            mongodb_server_node,
         ]
         + load_controllers
     )