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refactor: fix relative positioning in sdf files

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- Add rbs_mill_interfaces package
This commit is contained in:
Ilya Uraev 2025-04-07 12:52:58 +03:00
parent cc2f5a9492
commit fafa664c6a
14 changed files with 401 additions and 36 deletions
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1
rbs_mill_assist/CMakeLists.txt
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@ -16,6 +16,7 @@ DESTINATION share/${PROJECT_NAME})
add_subdirectory(src) add_subdirectory(src)
add_subdirectory(scripts) add_subdirectory(scripts)
add_subdirectory(bt) add_subdirectory(bt)
add_subdirectory(utils)
if(BUILD_TESTING) if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED) find_package(ament_lint_auto REQUIRED)

0
rbs_mill_assist/utils/CMakeLists.txt Normal file
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27
rbs_mill_assist/utils/include/ps_manager.hpp Normal file
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@ -0,0 +1,27 @@
#include <rclcpp/node_options.hpp>
#include <rclcpp/rclcpp.hpp>
#include <rclcpp_action/rclcpp_action.hpp>
#include <geometry_msgs/msg/pose.hpp>
#include <moveit_msgs/msg/collision_object.hpp>
#include <shape_msgs/msg/solid_primitive.hpp>
#include <geometry_msgs/msg/quaternion.hpp>
// #include "rbs_mill_interfaces/msg/
namespace rbs_mill_utils {
class ObjectManager : public rclcpp::Node {
public:
ObjectManager(const rclcpp::NodeOptions options);
private:
void attachDetachCallback();
};
}

0
rbs_mill_assist/utils/src/ps_manager.cpp Normal file
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56
rbs_mill_assist/world/inc/from_places.xacro
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@ -5,24 +5,46 @@
<xacro:if value="${models}"> <xacro:if value="${models}">
<xacro:property name="model" value="${models.pop(0)}" /> <xacro:property name="model" value="${models.pop(0)}" />
<xacro:model model_name="${model['name']}" static="true"> <xacro:model model_name="${model['name']}" static="true">
<pose> <xacro:if value="${model.get('relative_to', None) is not None}" >
${model["pose"]["position"]["x"]} <pose relative_to="${model['relative_to']}">
${model["pose"]["position"]["y"]} ${model["pose"]["position"]["x"]}
${model["pose"]["position"]["z"]} ${model["pose"]["position"]["y"]}
${model["pose"]["position"]["z"]}
<xacro:if value="${'orientation' in model['pose']}">
<xacro:property name="orientation" value="${model['pose']['orientation']}"/> <xacro:if value="${'orientation' in model['pose']}">
<xacro:if value="${'r' in orientation and 'p' in orientation and 'y' in orientation}"> <xacro:property name="orientation" value="${model['pose']['orientation']}"/>
${orientation['r']} <xacro:if value="${'r' in orientation and 'p' in orientation and 'y' in orientation}">
${orientation['p']} ${orientation['r']}
${orientation['y']} ${orientation['p']}
${orientation['y']}
</xacro:if>
</xacro:if> </xacro:if>
</xacro:if>
<xacro:unless value="${'orientation' in model['pose']}">
<xacro:unless value="${'orientation' in model['pose']}"> 0 0 0
0 0 0 </xacro:unless>
</xacro:unless> </pose>
</pose> </xacro:if>
<xacro:unless value="${model.get('relative_to', None) is not None}">
<pose>
${model["pose"]["position"]["x"]}
${model["pose"]["position"]["y"]}
${model["pose"]["position"]["z"]}
<xacro:if value="${'orientation' in model['pose']}">
<xacro:property name="orientation" value="${model['pose']['orientation']}"/>
<xacro:if value="${'r' in orientation and 'p' in orientation and 'y' in orientation}">
${orientation['r']}
${orientation['p']}
${orientation['y']}
</xacro:if>
</xacro:if>
<xacro:unless value="${'orientation' in model['pose']}">
0 0 0
</xacro:unless>
</pose>
</xacro:unless>
</xacro:model> </xacro:model>
<xacro:from_places /> <xacro:from_places />
</xacro:if> </xacro:if>

37
rbs_mill_assist/world/inc/generate_shildiks.xacro
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@ -6,26 +6,27 @@
<xacro:if value="${index &lt; len(ref_frames)}"> <xacro:if value="${index &lt; len(ref_frames)}">
<!-- Extract the slot by index --> <!-- Extract the slot by index -->
<xacro:property name="slot" value="${ref_frames[index]}" /> <xacro:property name="slot" value="${ref_frames[index]}" />
<!-- If slot exist in ref_pose name-->
<xacro:if value="${'slot' in slot['name']}">
<xacro:model model_name="shildik" scene_name="shildik${count}">
<xacro:if value="${slot['relative_to'] is not None}">
<pose relative_to="${slot['relative_to']}">
${slot["pose"]["position"]["x"]} ${slot["pose"]["position"]["y"]} ${slot["pose"]["position"]["z"] + z_offset} ${rpy}
</pose>
</xacro:if>
<xacro:unless value="${slot['relative_to'] is not None}">
<pose>${slot["pose"]["position"]["x"]} ${slot["pose"]["position"]["y"]} ${slot["pose"]["position"]["z"] + z_offset} ${rpy}</pose>
</xacro:unless>
</xacro:model>
<xacro:model model_name="shildik" scene_name="shildik${count}"> <!-- Recursive call for the next slot -->
<xacro:if value="${slot['relative_to'] is not None}"> <xacro:shildiks_to_bunker
<pose relative_to="${slot['relative_to']}"> count="${count - 1}"
${slot["pose"]["position"]["x"]} ${slot["pose"]["position"]["y"]} ${slot["pose"]["position"]["z"] + z_offset} ${rpy} ref_frames="${ref_frames}"
</pose> index="${index + 1}"
rpy="${rpy}"
z_offset="${z_offset}" />
</xacro:if> </xacro:if>
<xacro:unless value="${slot['relative_to'] is not None}">
<pose>${slot["pose"]["position"]["x"]} ${slot["pose"]["position"]["y"]} ${slot["pose"]["position"]["z"] + z_offset} ${rpy}</pose>
</xacro:unless>
</xacro:model>
<!-- Recursive call for the next slot -->
<xacro:shildiks_to_bunker
count="${count - 1}"
ref_frames="${ref_frames}"
index="${index + 1}"
rpy="${rpy}"
z_offset="${z_offset}"
/>
</xacro:if> </xacro:if>
<!-- If slots are finished, increase z_offset and start over --> <!-- If slots are finished, increase z_offset and start over -->

46
rbs_mill_assist/world/world.sdf Normal file
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@ -0,0 +1,46 @@
<?xml version="1.0" ?><!-- =================================================================================== --><!-- | This document was autogenerated by xacro from /home/narenmak/rbs_ws/install/rbs_mill_assist/share/rbs_mill_assist/world/world.xacro | --><!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | --><!-- =================================================================================== --><sdf version="1.7"><world name="rbs_freazer_world"><scene><ambient>1.0 1.0 1.0</ambient><grid>false</grid></scene><physics name="1ms" type="ignored"><max_step_size>0.001</max_step_size><real_time_factor>1.0</real_time_factor></physics><plugin filename="gz-sim-physics-system" name="gz::sim::systems::Physics"><engine><filename>gz-physics-dartsim-plugin</filename></engine></plugin><plugin filename="gz-sim-sensors-system" name="gz::sim::systems::Sensors"><render_engine>ogre2</render_engine></plugin><plugin filename="gz-sim-user-commands-system" name="gz::sim::systems::UserCommands">
</plugin><plugin filename="gz-sim-scene-broadcaster-system" name="gz::sim::systems::SceneBroadcaster">
</plugin><plugin filename="gz-sim-contact-system" name="gz::sim::systems::Contact">
</plugin><light name="sun" type="directional"><cast_shadows>false</cast_shadows><pose>0 0 10 0 0 0</pose><diffuse>0.8 0.8 0.8 1</diffuse><specular>0.2 0.2 0.2 1</specular><attenuation><range>1000</range><constant>0.9</constant><linear>0.01</linear><quadratic>0.001</quadratic></attenuation><direction>-0.5 0.1 -0.9</direction></light><include><name>shildik5</name><static>False</static><pose relative_to="bunker_4_slots">
0.0 0.066 0.01 0 0 0
</pose><uri>model://shildik</uri></include><include><name>shildik4</name><static>False</static><pose relative_to="bunker_4_slots">
0.0 0.022 0.01 0 0 0
</pose><uri>model://shildik</uri></include><include><name>shildik3</name><static>False</static><pose relative_to="bunker_4_slots">
0.0 -0.022 0.01 0 0 0
</pose><uri>model://shildik</uri></include><include><name>shildik2</name><static>False</static><pose relative_to="bunker_4_slots">
0.0 -0.066 0.01 0 0 0
</pose><uri>model://shildik</uri></include><include><name>bunker</name><static>True</static><pose>
-0.31
0.25
0.0
0.0
0.0
1.57
</pose><uri>model://bunker</uri></include><include><name>bunker_4_slots</name><static>True</static><pose>
-0.15
0.25
0.0
0.0
0.0
1.57
</pose><uri>model://bunker_4_slots</uri></include><include><name>conductor</name><static>True</static><pose>
0.22
-0.17
0.01
0 0 0
</pose><uri>model://conductor</uri></include><include><name>laser</name><static>True</static><pose>
0.25
-0.17
0.0
0.0
0.0
3.14159
</pose><uri>model://laser</uri></include><!----><!-- <xacro:model model_name="laser" static="true"> --><!-- <pose>0.350 -0.170 0 0 0 3.14159</pose> --><!-- </xacro:model> --><!----><!-- <xacro:model model_name="bunker" static="true"> --><!-- <pose>-0.310 0.250 0.0 0.0 0.0 1.57</pose> --><!-- </xacro:model> --><!----><!-- <xacro:model model_name="bunker_4_slots" static="true"> --><!-- <pose>-0.150 0.250 0 0 0 1.57</pose> --><!-- </xacro:model> --><!----><!-- <xacro:model model_name="conductor" static="true"> --><!-- <pose>0.350 -0.170 0.01 0 0 1.57</pose> --><!-- </xacro:model> --><model name="rgbd_camera"><pose>0 -0.93 0.42 0 0.4 1.81</pose><static>1</static><link name="rgbd_camera_link"><visual name="visual"><pose>0 0 0 0 0 0</pose><geometry><box><size>0.01 0.01 0.01</size></box></geometry><material><ambient>0 0 0 1</ambient><diffuse>0 0 0 1</diffuse><specular>0 0 0 1</specular></material></visual><collision name="collision"><pose>0 0 0 0 0 0</pose><geometry><box><size>0.01 0.01 0.01</size></box></geometry></collision><sensor name="rgbd_camera_sensor" type="rgbd_camera"><camera><horizontal_fov>1.047</horizontal_fov><image><width>1920</width><height>1080</height><format>R8G8B8</format></image><clip><near>0.1</near><far>3</far></clip><depth_camera><output>depth</output></depth_camera></camera><always_on>1</always_on><update_rate>30</update_rate><visualize>true</visualize><topic>/rgbd_camera/image</topic><enable_metrics>true</enable_metrics></sensor></link></model><model name="table"><static>1</static><link name="table_link"><pose>0 0 -0.40000000000000002 0 0 0</pose><inertial><pose>0 0 0 0 0 0</pose><mass>10</mass><inertia><ixx>4.708333333333333</ixx><ixy>0</ixy><ixz>0</ixz><iyy>8.6666666666666661</iyy><iyz>0</iyz><izz>8.0416666666666661</izz></inertia></inertial><collision name="table_link_collision"><density>1000</density><pose>0 0 0 0 0 0</pose><geometry><box><size>1.2 0.69999999999999996 0.80000000000000004</size></box></geometry><surface><friction><ode><mu>1.0</mu><mu2>1.0</mu2></ode></friction><bounce/><contact><ode><soft_cfm>0.00001</soft_cfm><soft_erp>0.8</soft_erp><kp>1e5</kp><kd>1e3</kd></ode></contact></surface></collision><visual name="table_link_visual"><pose>0 0 0 0 0 0</pose><geometry><box><size>1.2 0.69999999999999996 0.80000000000000004</size></box></geometry><material><diffuse>0.6 0.4 0.2 1</diffuse><ambient>0.6 0.4 0.2 1</ambient><specular>0.1 0.1 0.1 1</specular><emissive>0 0 0 1</emissive></material></visual><enable_wind>false</enable_wind></link></model></world></sdf>

2
rbs_mill_assist/world/world_macro.xacro
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@ -24,7 +24,7 @@
<xacro:light /> <xacro:light />
<xacro:property name="yaml_file" value="$(find rbs_mill_assist)/world/config/slots.yaml" /> <xacro:property name="yaml_file" value="$(find rbs_mill_assist)/world/config/ref_frames.yaml" />
<xacro:property name="slots" value="${xacro.load_yaml(yaml_file)}" /> <xacro:property name="slots" value="${xacro.load_yaml(yaml_file)}" />
<xacro:shildiks_to_bunker <xacro:shildiks_to_bunker

31
rbs_mill_interfaces/CMakeLists.txt Normal file
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@ -0,0 +1,31 @@
cmake_minimum_required(VERSION 3.8)
project(rbs_mill_interfaces)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rosidl_default_generators REQUIRED)
find_package(geometry_msgs REQUIRED)
rosidl_generate_interfaces(${PROJECT_NAME}
"msg/GraspingPose.msg"
"srv/GetGraspingPose.srv"
DEPENDENCIES geometry_msgs
)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# comment the line when a copyright and license is added to all source files
set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# comment the line when this package is in a git repo and when
# a copyright and license is added to all source files
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
ament_package()

202
rbs_mill_interfaces/LICENSE Normal file
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@ -0,0 +1,202 @@
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4
rbs_mill_interfaces/msg/GraspingPose.msg Normal file
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@ -0,0 +1,4 @@
geometry_msgs/Pose pose
geometry_msgs/Pose pre_pose
geometry_msgs/Pose post_pose

23
rbs_mill_interfaces/package.xml Normal file
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@ -0,0 +1,23 @@
<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>rbs_mill_interfaces</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="ur.narmak@gmail.com">narenmak</maintainer>
<license>Apache-2.0</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<buildtool_depend>rosidl_default_generators</buildtool_depend>
<exec_depend>rosidl_default_runtime</exec_depend>
<member_of_group>rosidl_interface_packages</member_of_group>
<depend>geometry_msgs</depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

0
rbs_mill_interfaces/srv/AttachDetachObject.srv Normal file
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8
rbs_mill_interfaces/srv/GetGraspingPose.srv Normal file
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@ -0,0 +1,8 @@
string pose_name
string relative_to
string action_type
---
rbs_mill_interfaces/GraspingPose grasp_poses
rbs_mill_interfaces/GraspingPose place_poses
bool ok