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Дерево поведения с имитацией полного цикла производства #24

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solid-sinusoid wants to merge 60 commits from dev into main
pull from: dev
merge into: robossembler:main
Conversation 36 Commits 60 Files changed 162 +18048 -743
solid-sinusoid commented 2025-03-03 16:44:43 +03:00 (Migrated from gitlab.com)
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solid-sinusoid commented 2025-03-03 16:44:43 +03:00 (Migrated from gitlab.com)
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requested review from @movefasta

requested review from @movefasta
solid-sinusoid commented 2025-03-03 16:44:43 +03:00 (Migrated from gitlab.com)
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assigned to @solid-sinusoid

assigned to @solid-sinusoid
solid-sinusoid commented 2025-03-03 16:45:33 +03:00 (Migrated from gitlab.com)
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added 2 commits

  • 2763ddbc - 1 commit from branch main
  • a77dbe04 - Update BT for full process with graver

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added 2 commits <ul><li>2763ddbc - 1 commit from branch <code>main</code></li><li>a77dbe04 - Update BT for full process with graver</li></ul> [Compare with previous version](/robossembler/robossembler-cnc-graver-assist/-/merge_requests/5/diffs?diff_id=1281864441&start_sha=89ddc5e8da15c3ecbb21119206a56def967e3f6b)
solid-sinusoid commented 2025-03-06 18:30:50 +03:00 (Migrated from gitlab.com)
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changed title from Дерево поведени{-е-} с имитацией полного цикла производства to Дерево поведени{+я+} с имитацией полного цикла производства

changed title from **Дерево поведени{-е-} с имитацией полного цикла производства** to **Дерево поведени{+я+} с имитацией полного цикла производства**
solid-sinusoid commented 2025-03-07 12:51:29 +03:00 (Migrated from gitlab.com)
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added 6 commits

  • 4c1d4250 - update laser asset
  • 0477117d - update config files. poses and gz-bridge
  • e9cf7195 - add moveit config and update scene
  • 5306e053 - add workspace publisher
  • 01e770ed - add pinocchio to deps
  • 13330b50 - update time intervals and update cmake deps

Compare with previous version

added 6 commits <ul><li>4c1d4250 - update laser asset</li><li>0477117d - update config files. poses and gz-bridge</li><li>e9cf7195 - add moveit config and update scene</li><li>5306e053 - add workspace publisher</li><li>01e770ed - add pinocchio to deps</li><li>13330b50 - update time intervals and update cmake deps</li></ul> [Compare with previous version](/robossembler/robossembler-cnc-graver-assist/-/merge_requests/5/diffs?diff_id=1287297788&start_sha=a77dbe04153fc0f4fae0657b26703ea11bd07074)
solid-sinusoid commented 2025-03-10 14:53:14 +03:00 (Migrated from gitlab.com)
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added 9 commits

  • 7e3b1828 - refactor(logging): print BT action ID
  • ead504fe - refactor(ToGraver): add robot_name to SubTree blackboard
  • 0e61bd27 - refactor(Grasp): use MoveitMtp
  • 63545952 - refactor(MainTree): format code and add new test condition
  • 5b0addfe - update poses
  • ca2be7f3 - update launch files
  • 7ed56e97 - add additional planning parameters
  • 476a1ed9 - add pose publisher node
  • 22fc7be3 - update scene shildik places

Compare with previous version

added 9 commits <ul><li>7e3b1828 - refactor(logging): print BT action ID</li><li>ead504fe - refactor(ToGraver): add robot_name to SubTree blackboard</li><li>0e61bd27 - refactor(Grasp): use MoveitMtp</li><li>63545952 - refactor(MainTree): format code and add new test condition</li><li>5b0addfe - update poses</li><li>ca2be7f3 - update launch files</li><li>7ed56e97 - add additional planning parameters</li><li>476a1ed9 - add pose publisher node</li><li>22fc7be3 - update scene shildik places</li></ul> [Compare with previous version](/robossembler/robossembler-cnc-graver-assist/-/merge_requests/5/diffs?diff_id=1289201291&start_sha=13330b50e4bb20d9c999412f7adb5a1a2dfad575)
solid-sinusoid commented 2025-03-10 16:39:25 +03:00 (Migrated from gitlab.com)
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added 1 commit

  • 569f0bf4 - refactor(moveit launch): migrate to moveit_config_builder

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added 1 commit <ul><li>569f0bf4 - refactor(moveit launch): migrate to moveit_config_builder</li></ul> [Compare with previous version](/robossembler/robossembler-cnc-graver-assist/-/merge_requests/5/diffs?diff_id=1289361231&start_sha=22fc7be395833b424da0c79182f13ca473358391)
solid-sinusoid commented 2025-03-10 18:58:20 +03:00 (Migrated from gitlab.com)
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added 1 commit

  • 19be2d14 - remove chomp planner from pipelines config and use stomp by default

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added 1 commit <ul><li>19be2d14 - remove chomp planner from pipelines config and use stomp by default</li></ul> [Compare with previous version](/robossembler/robossembler-cnc-graver-assist/-/merge_requests/5/diffs?diff_id=1289590266&start_sha=569f0bf46249897a214349046fdd523c0eb127dc)
shalenikol commented 2025-03-11 16:01:32 +03:00 (Migrated from gitlab.com)
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added 1 commit

  • 8a81e51e - camera pose (rgbd)

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added 1 commit <ul><li>8a81e51e - camera pose (rgbd)</li></ul> [Compare with previous version](/robossembler/robossembler-cnc-graver-assist/-/merge_requests/5/diffs?diff_id=1290743482&start_sha=19be2d14f1d4e83d3b92ec91d30f7007d93a7295)
solid-sinusoid commented 2025-03-12 11:21:57 +03:00 (Migrated from gitlab.com)
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added 1 commit

  • 6e83b8aa - fix(gz_bridge): camera topic

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added 1 commit <ul><li>6e83b8aa - fix(gz_bridge): camera topic</li></ul> [Compare with previous version](/robossembler/robossembler-cnc-graver-assist/-/merge_requests/5/diffs?diff_id=1291793360&start_sha=8a81e51e0521b77c872338c78f187c809903762d)
solid-sinusoid commented 2025-03-12 11:38:38 +03:00 (Migrated from gitlab.com)
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added 1 commit

  • f8454053 - fix(gz_bridge): camera topic

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added 1 commit <ul><li>f8454053 - fix(gz_bridge): camera topic</li></ul> [Compare with previous version](/robossembler/robossembler-cnc-graver-assist/-/merge_requests/5/diffs?diff_id=1291819939&start_sha=6e83b8aa79eb024d79b66503ea31a886d732d56b)
solid-sinusoid commented 2025-03-12 20:49:23 +03:00 (Migrated from gitlab.com)
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added 4 commits

  • f21a4bee - update scene
  • 9a84baf2 - update rbs_arm joint limits
  • 243c40e7 - remove rgbd_camera from srdf
  • 92d2afde - add planner configs to planning group in moveit config

Compare with previous version

added 4 commits <ul><li>f21a4bee - update scene</li><li>9a84baf2 - update rbs_arm joint limits</li><li>243c40e7 - remove rgbd_camera from srdf</li><li>92d2afde - add planner configs to planning group in moveit config</li></ul> [Compare with previous version](/robossembler/robossembler-cnc-graver-assist/-/merge_requests/5/diffs?diff_id=1292723214&start_sha=f84540532669b1702e142b9422d3c119eb3c8648)
solid-sinusoid commented 2025-03-13 14:26:13 +03:00 (Migrated from gitlab.com)
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added 1 commit

  • d58bd4ec - add conductor to scene

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added 1 commit <ul><li>d58bd4ec - add conductor to scene</li></ul> [Compare with previous version](/robossembler/robossembler-cnc-graver-assist/-/merge_requests/5/diffs?diff_id=1293636327&start_sha=92d2afde44961176ed716cde132ba94013c0cec5)
solid-sinusoid commented 2025-03-17 14:17:11 +03:00 (Migrated from gitlab.com)
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added 1 commit

  • 7ce746bd - add twist cmd with condition BT plugin and refactor VacuumGripper to publish contact info

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added 1 commit <ul><li>7ce746bd - add twist cmd with condition BT plugin and refactor VacuumGripper to publish contact info</li></ul> [Compare with previous version](/robossembler/robossembler-cnc-graver-assist/-/merge_requests/5/diffs?diff_id=1296704586&start_sha=d58bd4ecf2d681b18f07d8cd5583ef694b5f3836)
solid-sinusoid commented 2025-03-17 14:21:23 +03:00 (Migrated from gitlab.com)
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added 27 commits

  • f5b9924b - 1 commit from branch main
  • f5b9924b...193e2ef3 - 16 earlier commits
  • 4555d2b1 - refactor(moveit launch): migrate to moveit_config_builder
  • 9c633877 - remove chomp planner from pipelines config and use stomp by default
  • b0d61ecc - camera pose (rgbd)
  • 255c7b1b - fix(gz_bridge): camera topic
  • 1ad460f4 - update scene
  • be37f142 - update rbs_arm joint limits
  • ed430a82 - remove rgbd_camera from srdf
  • 1f7dc112 - add planner configs to planning group in moveit config
  • 6c5cf063 - add conductor to scene
  • 9b9c706c - add twist cmd with condition BT plugin and refactor VacuumGripper to publish contact info

Compare with previous version

added 27 commits <ul><li>f5b9924b - 1 commit from branch <code>main</code></li><li>f5b9924b...193e2ef3 - 16 earlier commits</li><li>4555d2b1 - refactor(moveit launch): migrate to moveit_config_builder</li><li>9c633877 - remove chomp planner from pipelines config and use stomp by default</li><li>b0d61ecc - camera pose (rgbd)</li><li>255c7b1b - fix(gz_bridge): camera topic</li><li>1ad460f4 - update scene</li><li>be37f142 - update rbs_arm joint limits</li><li>ed430a82 - remove rgbd_camera from srdf</li><li>1f7dc112 - add planner configs to planning group in moveit config</li><li>6c5cf063 - add conductor to scene</li><li>9b9c706c - add twist cmd with condition BT plugin and refactor VacuumGripper to publish contact info</li></ul> [Compare with previous version](/robossembler/robossembler-cnc-graver-assist/-/merge_requests/5/diffs?diff_id=1296710420&start_sha=7ce746bdd547c4460b07f03ee7d2a58e0b1f0da7)
solid-sinusoid commented 2025-03-17 17:31:44 +03:00 (Migrated from gitlab.com)
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added 1 commit

  • 00c866fb - update MainTree

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added 1 commit <ul><li>00c866fb - update MainTree</li></ul> [Compare with previous version](/robossembler/robossembler-cnc-graver-assist/-/merge_requests/5/diffs?diff_id=1297006432&start_sha=9b9c706c974545c55100ce2536858e1013f1459f)
solid-sinusoid commented 2025-03-17 17:32:50 +03:00 (Migrated from gitlab.com)
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added 1 commit

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added 1 commit <ul><li>7c5ba539 - update MainTree</li></ul> [Compare with previous version](/robossembler/robossembler-cnc-graver-assist/-/merge_requests/5/diffs?diff_id=1297008434&start_sha=00c866fbf3673ecf898585f6f01a0115a1a10234)
vlatukhin commented 2025-03-18 12:29:35 +03:00 (Migrated from gitlab.com)
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added 26 commits

  • 7c5ba539...22fc7be3 - 16 earlier commits
  • 569f0bf4 - refactor(moveit launch): migrate to moveit_config_builder
  • 19be2d14 - remove chomp planner from pipelines config and use stomp by default
  • 8a81e51e - camera pose (rgbd)
  • f8454053 - fix(gz_bridge): camera topic
  • f21a4bee - update scene
  • 9a84baf2 - update rbs_arm joint limits
  • 243c40e7 - remove rgbd_camera from srdf
  • 92d2afde - add planner configs to planning group in moveit config
  • d58bd4ec - add conductor to scene
  • 07bcb789 - Merge branch 'dev' of https://gitlab.com/robossembler/robossembler-cnc-graver-assist into dev

Compare with previous version

added 26 commits <ul><li>7c5ba539...22fc7be3 - 16 earlier commits</li><li>569f0bf4 - refactor(moveit launch): migrate to moveit_config_builder</li><li>19be2d14 - remove chomp planner from pipelines config and use stomp by default</li><li>8a81e51e - camera pose (rgbd)</li><li>f8454053 - fix(gz_bridge): camera topic</li><li>f21a4bee - update scene</li><li>9a84baf2 - update rbs_arm joint limits</li><li>243c40e7 - remove rgbd_camera from srdf</li><li>92d2afde - add planner configs to planning group in moveit config</li><li>d58bd4ec - add conductor to scene</li><li>07bcb789 - Merge branch &#39;dev&#39; of https://gitlab.com/robossembler/robossembler-cnc-graver-assist into dev</li></ul> [Compare with previous version](/robossembler/robossembler-cnc-graver-assist/-/merge_requests/5/diffs?diff_id=1298021566&start_sha=7c5ba539c52e192072db6c404fb142e895c4fab6)
movefasta commented 2025-03-18 18:28:24 +03:00 (Migrated from gitlab.com)
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added 1 commit

  • 2a880bb5 - add conf templates and full bt example

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added 1 commit <ul><li>2a880bb5 - add conf templates and full bt example</li></ul> [Compare with previous version](/robossembler/robossembler-cnc-graver-assist/-/merge_requests/5/diffs?diff_id=1298630958&start_sha=7c5ba539c52e192072db6c404fb142e895c4fab6)
movefasta commented 2025-03-19 12:18:47 +03:00 (Migrated from gitlab.com)
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added 1 commit

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added 1 commit <ul><li>4160b2f9 - Add some parts</li></ul> [Compare with previous version](/robossembler/robossembler-cnc-graver-assist/-/merge_requests/5/diffs?diff_id=1299501023&start_sha=2a880bb559eb0482e22b2a434ac00c8c85f27fae)
solid-sinusoid commented 2025-03-19 16:33:14 +03:00 (Migrated from gitlab.com)
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added 1 commit

  • 9780e44c - update robot gripper and current scene

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added 1 commit <ul><li>9780e44c - update robot gripper and current scene</li></ul> [Compare with previous version](/robossembler/robossembler-cnc-graver-assist/-/merge_requests/5/diffs?diff_id=1299993287&start_sha=4160b2f935ea6c522f6db8b9469141cc69d5a6ea)
solid-sinusoid commented 2025-03-19 17:03:18 +03:00 (Migrated from gitlab.com)
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mentioned in issue #8

mentioned in issue #8
movefasta commented 2025-03-20 13:37:53 +03:00 (Migrated from gitlab.com)
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added 1 commit

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added 1 commit <ul><li>7f367176 - shildik svg sources</li></ul> [Compare with previous version](/robossembler/robossembler-cnc-graver-assist/-/merge_requests/5/diffs?diff_id=1301265809&start_sha=9780e44c1ed67286f3d4ba2899691b7ddfdd4d31)
movefasta commented 2025-03-20 14:04:23 +03:00 (Migrated from gitlab.com)
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added 1 commit

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added 1 commit <ul><li>6147bdd9 - ADD task fields id&#39;s</li></ul> [Compare with previous version](/robossembler/robossembler-cnc-graver-assist/-/merge_requests/5/diffs?diff_id=1301308014&start_sha=7f36717627a0ac10cb1ac0db1cba86c8979efbff)
solid-sinusoid commented 2025-03-21 18:39:26 +03:00 (Migrated from gitlab.com)
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added 5 commits

  • 4b457c2e - fix(assets): add density and remove contact parameters
  • cfbf4b07 - add config parsers and configs in YAML
  • 51f47ed7 - add planning scene and TF publishers from configs
  • 31535e4b - refactor(world): configuration using xacro with procedural features
  • 5f6a6779 - update launch files to launch TF publisher

Compare with previous version

added 5 commits <ul><li>4b457c2e - fix(assets): add density and remove contact parameters</li><li>cfbf4b07 - add config parsers and configs in YAML</li><li>51f47ed7 - add planning scene and TF publishers from configs</li><li>31535e4b - refactor(world): configuration using xacro with procedural features</li><li>5f6a6779 - update launch files to launch TF publisher</li></ul> [Compare with previous version](/robossembler/robossembler-cnc-graver-assist/-/merge_requests/5/diffs?diff_id=1303116711&start_sha=6147bdd911b2495d2bc71c19da3be588322036fa)
movefasta commented 2025-03-24 12:04:28 +03:00 (Migrated from gitlab.com)
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added 1 commit

  • 70dca46f - add GOST fonts & svg template for autoprocessing

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added 1 commit <ul><li>70dca46f - add GOST fonts &amp; svg template for autoprocessing</li></ul> [Compare with previous version](/robossembler/robossembler-cnc-graver-assist/-/merge_requests/5/diffs?diff_id=1304274636&start_sha=5f6a6779b4bf70f662e40979dd9bf7590e2e1e9f)
shalenikol commented 2025-03-28 21:42:45 +03:00 (Migrated from gitlab.com)
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added 3 commits

  • b4d4b813 - add queue service for tasks
  • 5848612a - aruco-marker models for scene
  • 7f016665 - changed scene: add 4 aruco-markers

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added 3 commits <ul><li>b4d4b813 - add queue service for tasks</li><li>5848612a - aruco-marker models for scene</li><li>7f016665 - changed scene: add 4 aruco-markers</li></ul> [Compare with previous version](/robossembler/robossembler-cnc-graver-assist/-/merge_requests/5/diffs?diff_id=1311033548&start_sha=70dca46f267aa9954d61a41c0e17d7121449cd02)
solid-sinusoid commented 2025-04-07 12:56:24 +03:00 (Migrated from gitlab.com)
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added 5 commits

  • c0842b0d - feat: Enhance pose handling and add place poses functionality
  • 4849bb8c - fix: Improve robot movement reliability in behavior tree XMLs
  • 21baf934 - refactor: get poses from TF
  • cc2f5a94 - refactor: using relative positions in config files
  • fafa664c - refactor: fix relative positioning in sdf files

Compare with previous version

added 5 commits <ul><li>c0842b0d - feat: Enhance pose handling and add place poses functionality</li><li>4849bb8c - fix: Improve robot movement reliability in behavior tree XMLs</li><li>21baf934 - refactor: get poses from TF</li><li>cc2f5a94 - refactor: using relative positions in config files</li><li>fafa664c - refactor: fix relative positioning in sdf files</li></ul> [Compare with previous version](/robossembler/robossembler-cnc-graver-assist/-/merge_requests/5/diffs?diff_id=1319347133&start_sha=7f016665282f5e0f96db928c4b93f594a132c05c)
solid-sinusoid commented 2025-04-08 11:27:39 +03:00 (Migrated from gitlab.com)
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added 1 commit

  • feb676f8 - fix: add rbs_mill_interfaces to package depends

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added 1 commit <ul><li>feb676f8 - fix: add rbs_mill_interfaces to package depends</li></ul> [Compare with previous version](/robossembler/robossembler-cnc-graver-assist/-/merge_requests/5/diffs?diff_id=1320653620&start_sha=fafa664c6ae36fea51c3ba1b13912647852e9873)
shalenikol commented 2025-04-09 12:43:34 +03:00 (Migrated from gitlab.com)
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added 3 commits

  • 3e28d8a2 - setup camera pose and aruco markers
  • a2f1f94e - update config for tasks (base object)
  • a86ce63d - updating BT for queue work

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added 3 commits <ul><li>3e28d8a2 - setup camera pose and aruco markers</li><li>a2f1f94e - update config for tasks (base object)</li><li>a86ce63d - updating BT for queue work</li></ul> [Compare with previous version](/robossembler/robossembler-cnc-graver-assist/-/merge_requests/5/diffs?diff_id=1322256764&start_sha=feb676f80252d39ce746efa786e49c17154b86b8)
shalenikol commented 2025-04-11 10:30:39 +03:00 (Migrated from gitlab.com)
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added 1 commit

  • 4d2f9b62 - update scene: add aruco_marker_25 for conductor

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added 1 commit <ul><li>4d2f9b62 - update scene: add aruco_marker_25 for conductor</li></ul> [Compare with previous version](/robossembler/robossembler-cnc-graver-assist/-/merge_requests/5/diffs?diff_id=1324976282&start_sha=a86ce63d2a40dabd88bfae6ecc712a796434099f)
shalenikol commented 2025-04-11 19:47:05 +03:00 (Migrated from gitlab.com)
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added 1 commit

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added 1 commit <ul><li>fc95407d - fix pose aruco_c</li></ul> [Compare with previous version](/robossembler/robossembler-cnc-graver-assist/-/merge_requests/5/diffs?diff_id=1325760823&start_sha=4d2f9b627275f19036565bb257d4a8b3d6350c8d)
solid-sinusoid commented 2025-04-14 10:17:30 +03:00 (Migrated from gitlab.com)
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added 3 commits

  • f8a4b329 - refactor: add tree without moveit
  • c4f41a03 - fix: typo in key name
  • 0525253f - refactor: add collision spawner and planning scene manager node

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added 3 commits <ul><li>f8a4b329 - refactor: add tree without moveit</li><li>c4f41a03 - fix: typo in key name</li><li>0525253f - refactor: add collision spawner and planning scene manager node</li></ul> [Compare with previous version](/robossembler/robossembler-cnc-graver-assist/-/merge_requests/5/diffs?diff_id=1326569024&start_sha=fc95407d87a0e344737b0b7af8fd916fb7485556)
solid-sinusoid commented 2025-04-14 10:35:20 +03:00 (Migrated from gitlab.com)
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added 1 commit

  • eeaca5d7 - returned aruco to scene and updated aruco_c pose relative to conductor

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added 1 commit <ul><li>eeaca5d7 - returned aruco to scene and updated aruco_c pose relative to conductor</li></ul> [Compare with previous version](/robossembler/robossembler-cnc-graver-assist/-/merge_requests/5/diffs?diff_id=1326590363&start_sha=0525253fda912d3605038fc6a119619f318fb93b)
shalenikol commented 2025-04-16 10:47:20 +03:00 (Migrated from gitlab.com)
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added 1 commit

  • 2cdf4e91 - Full BT(moveit) with condition for checking Aruco

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added 1 commit <ul><li>2cdf4e91 - Full BT(moveit) with condition for checking Aruco</li></ul> [Compare with previous version](/robossembler/robossembler-cnc-graver-assist/-/merge_requests/5/diffs?diff_id=1329482865&start_sha=eeaca5d72da93e9c738b4b59f0c114be2e438b4e)
solid-sinusoid commented 2025-04-18 11:41:57 +03:00 (Migrated from gitlab.com)
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added 1 commit

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added 1 commit <ul><li>1bf21a43 - delete extra configs</li></ul> [Compare with previous version](/robossembler/robossembler-cnc-graver-assist/-/merge_requests/5/diffs?diff_id=1332207295&start_sha=2cdf4e91c75ae778c8f9af1d9e272824d4cba530)
- Add RecDemo-example skill configuration in skills.json
- Integrate rdConfigure and rdStop actions in MainTree.xml
- Enable demo recording functionality via RosBag
- Add Meerk40tWrapper class for meerk40t kernel API integration
- Support balormk (Galvo) device initialization and control
- Add SVG file loading and engraving plan generation
- Implement spooler integration for job execution
- Add status monitoring via kernel signals
- Integrate graver control into queue_srv.py node
- Add queue/start_engraving ROS2 service for manual engraving start
- Support auto-start engraving after takeon_task (configurable)
- Add graver_config.yaml for device configuration
- Update package dependencies and installation scripts

The integration enables automatic laser engraving of SVG templates
generated from task queue. Supports both manual and automatic
engraving modes.
This pull request can be merged automatically.
You are not authorized to merge this pull request.
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Merge

Merge the changes and update on Forgejo.

Warning: The "Autodetect manual merge" setting is not enabled for this repository, you will have to mark this pull request as manually merged afterwards.

git switch main
git merge --no-ff dev
git switch dev
git rebase main
git switch main
git merge --ff-only dev
git switch dev
git rebase main
git switch main
git merge --no-ff dev
git switch main
git merge --squash dev
git switch main
git merge --ff-only dev
git switch main
git merge dev
git push origin main
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robossembler/cnc-graver-assist!24
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