1bf21a43e5
delete extra configs
2025-04-18 11:41:50 +03:00
2cdf4e91c7
Full BT(moveit) with condition for checking Aruco
2025-04-16 10:45:00 +03:00
eeaca5d72d
returned aruco to scene and updated aruco_c pose relative to conductor
2025-04-14 10:35:12 +03:00
0525253fda
refactor: add collision spawner and planning scene manager node
...
- refactored places config and ref_frames config parsers
- updated dependent files
2025-04-14 10:17:20 +03:00
c4f41a0322
fix: typo in key name
2025-04-14 10:17:20 +03:00
f8a4b329e1
refactor: add tree without moveit
2025-04-14 10:17:20 +03:00
fc95407d87
fix pose aruco_c
2025-04-11 19:46:07 +03:00
4d2f9b6272
update scene: add aruco_marker_25 for conductor
2025-04-11 10:29:18 +03:00
a86ce63d2a
updating BT for queue work
2025-04-09 12:41:05 +03:00
a2f1f94ecd
update config for tasks (base object)
2025-04-09 12:39:36 +03:00
3e28d8a21e
setup camera pose and aruco markers
2025-04-08 14:22:46 +03:00
feb676f802
fix: add rbs_mill_interfaces to package depends
2025-04-08 11:27:29 +03:00
fafa664c6a
refactor: fix relative positioning in sdf files
...
- Add rbs_mill_interfaces package
2025-04-07 12:56:07 +03:00
cc2f5a9492
refactor: using relative positions in config files
2025-04-07 12:56:07 +03:00
21baf934a9
refactor: get poses from TF
2025-04-07 12:56:07 +03:00
4849bb8c09
fix: Improve robot movement reliability in behavior tree XMLs
...
- Grasp.xml:
- Added `try_plan_until_success` attribute to ensure reliable path planning
- MainTree.xml:
- Replaced generic pick-and-place actions with slot-based movements
- Updated service calls for consistent pose calculations
- Set all poses relative to `base_link` for accuracy
- PickAndPlace.xml:
- Corrected postgrasp reference to prevent bugs
- Place.xml:
- Enhanced with retry logic and increased planning time
2025-04-07 12:56:07 +03:00
c0842b0da8
feat: Enhance pose handling and add place poses functionality
...
- Modified GetPose service node to accept relative positioning
- Added new GetPlacePoses service node for retrieving place, preplace, and postplace poses
2025-04-07 12:56:07 +03:00
7f01666528
changed scene: add 4 aruco-markers
2025-03-28 21:41:33 +03:00
5848612a5b
aruco-marker models for scene
2025-03-28 21:40:37 +03:00
b4d4b8133d
add queue service for tasks
2025-03-28 21:36:11 +03:00
70dca46f26
add GOST fonts & svg template for autoprocessing
2025-03-24 12:04:17 +03:00
5f6a6779b4
update launch files to launch TF publisher
...
updated parameters for moveit
added launch new nodes with parameters
2025-03-21 18:39:21 +03:00
31535e4b10
refactor(world): configuration using xacro with procedural features
2025-03-21 18:39:21 +03:00
51f47ed776
add planning scene and TF publishers from configs
2025-03-21 18:39:20 +03:00
cfbf4b0755
add config parsers and configs in YAML
2025-03-21 18:39:20 +03:00
4b457c2e2e
fix(assets): add density and remove contact parameters
2025-03-21 18:39:20 +03:00
6147bdd911
ADD task fields id's
2025-03-20 14:04:15 +03:00
7f36717627
shildik svg sources
2025-03-20 13:36:53 +03:00
9780e44c1e
update robot gripper and current scene
...
- added bunker with 4 slots and refactored bunker
2025-03-19 16:33:03 +03:00
4160b2f935
Add some parts
2025-03-19 12:18:26 +03:00
2a880bb559
add conf templates and full bt example
2025-03-18 18:28:06 +03:00
7c5ba539c5
update MainTree
2025-03-17 17:32:38 +03:00
9b9c706c97
add twist cmd with condition BT plugin and refactor VacuumGripper to publish contact info
...
update grasping poses
2025-03-17 14:20:21 +03:00
6c5cf0633c
add conductor to scene
...
- change laser mesh to obj
- update place position
2025-03-17 14:20:21 +03:00
1f7dc11289
add planner configs to planning group in moveit config
2025-03-17 14:20:21 +03:00
ed430a825d
remove rgbd_camera from srdf
2025-03-17 14:20:21 +03:00
be37f1422b
update rbs_arm joint limits
2025-03-17 14:20:21 +03:00
1ad460f4a1
update scene
...
- update to new bunker poses
- remove condition and add repeat decorator
- update grasping positions due to the new bunker model
- format gazebo world file xml and update positions of new scene
2025-03-17 14:20:21 +03:00
255c7b1b18
fix(gz_bridge): camera topic
2025-03-17 14:20:21 +03:00
b0d61ecc3a
camera pose (rgbd)
2025-03-17 14:20:21 +03:00
9c6338774f
remove chomp planner from pipelines config and use stomp by default
2025-03-17 14:20:21 +03:00
4555d2b12e
refactor(moveit launch): migrate to moveit_config_builder
2025-03-17 14:20:21 +03:00
193e2ef3c9
update scene shildik places
2025-03-17 14:20:21 +03:00
d6b50f423b
add pose publisher node
2025-03-17 14:20:21 +03:00
4bbe4e5cdb
add additional planning parameters
2025-03-17 14:20:21 +03:00
af64efc0a1
update launch files
2025-03-17 14:20:21 +03:00
5883ac354a
update poses
2025-03-17 14:20:21 +03:00
52b346f6e0
refactor(MainTree): format code and add new test condition
2025-03-17 14:20:21 +03:00
5f15b417ab
refactor(Grasp): use MoveitMtp
2025-03-17 14:20:21 +03:00
f211c0fd8e
refactor(ToGraver): add robot_name to SubTree blackboard
2025-03-17 14:20:21 +03:00
