[App Tutorial Template]
=======================

Overview
--------
*(Describe what this application is in one topic sentence,
followed by a paragraph telling what this application does in details. E.g.)*

A template for the application tutorial. The application tutorial contains:

- An overview of the application
- Requirements on hardware and software
- Instructions for downloading/building/launching the application
- Expected outputs
- Customization notes

Requirements
------------
*(Describe the hardware and software requred to setup the environment for this application.
Provide hyperlinkage to the procurement info or installation guides. E.g.)*

- Hardware

  - Host running ROS/ROS2

  - Robot Arm (optional)

- Software

  - `ROS Melodic <http://wiki.ros.org/melodic/Installation/Ubuntu>`_ Desktop-Full

  - `MoveIt <https://ros-planning.github.io/moveit_tutorials/doc/getting_started/getting_started.html#install-moveit)>`_

Download and Build the Application
----------------------------------
*(Describe how to download and build the application.
List build options specific to this application. E.g.)*

Within your catkin workspace, download and compile the example code

.. code-block:: bash

  cd <catkin_workspace>/src

  git clone https://github.com/ros-planning/moveit_example_app.git

  cd ..

  catkin config --extend /opt/ros/${ROS_DISTRO} --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_RANDOM_PICK=ON

  catkin build

- Build Options

  - BUILD_RANDOM_PICK (ON | **OFF** )
    Switch on/off building of the application `random_pick`

Launch the Application
----------------------
*(Describe how to launch the application.
Provide hyperlinkage to launch robot contollers.
List launch options specific to this application. E.g.)*

- :doc:`Launch robot controllers <./random_pick/launch_robots>`

- Launch this application

.. code-block:: bash

  rosrun template template

- Launch Options

  - grasp_xyz (double | **"0.545 0.107 0.15"**)
    Specify pick position in the "base" frame

  - place_xyz (double | **"-0.107 -0.545 -0.10"**)
    Specify place position in the "base" frame

Expected Outputs
----------------
*(Describe expected outputs from this application.
Illustrate with screen snapshot when necessary. E.g.)*

You should see Rviz output like this:

.. image:: ../_static/images/pick_place.png

Customization Notes
-------------------
*(List possible customization items.
Guide how to customize the application
on new environment and new robots. E.g.)*

- **Change the pick position**
  Use launch option "grasp_xyz" to change the pick position.

- **Change the place position**
  Use launch option "place_xyz" to change to place position.