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Дерево поведения с имитацией полного цикла производства #24

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solid-sinusoid wants to merge 58 commits from dev into main
pull from: dev
merge into: robossembler:main
Conversation 36 Commits 58 Files changed 160 +17276 -739
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

Compare with previous version

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)
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Reference: robossembler/cnc-graver-assist#24
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Delete branch "dev"

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