2022-01-31 21:28:39 +04:00
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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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2023-02-03 07:04:12 +00:00
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<name>rbs_skill_servers</name>
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2022-01-31 21:28:39 +04:00
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<version>0.0.0</version>
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<description>TODO: Package description</description>
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<maintainer email="ur.narmak@gmail.com">bill-finger</maintainer>
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2023-02-03 07:04:12 +00:00
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<license>Apache-2.0</license>
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2022-01-31 21:28:39 +04:00
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<buildtool_depend>ament_cmake</buildtool_depend>
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2023-07-31 15:59:36 +00:00
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<exec_depend>ign_ros2_control</exec_depend>
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2022-01-31 21:28:39 +04:00
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<depend>rclcpp</depend>
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<depend>moveit_core</depend>
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<depend>moveit_ros_planning</depend>
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<depend>moveit_ros_planning_interface</depend>
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2024-09-12 14:44:58 +03:00
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<!-- <depend>moveit_servo</depend> -->
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2022-01-31 21:28:39 +04:00
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<depend>moveit_msgs</depend>
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<depend>tf2_ros</depend>
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<depend>rclcpp_action</depend>
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<depend>geometry_msgs</depend>
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2023-05-16 23:10:19 +02:00
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<depend>geometric_shapes</depend>
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2022-01-31 21:28:39 +04:00
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<depend>action_msgs</depend>
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2023-02-03 07:04:12 +00:00
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<depend>rbs_skill_interfaces</depend>
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2023-04-21 23:28:57 +03:00
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<depend>tf2_eigen</depend>
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2023-12-11 18:31:12 +03:00
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<depend>rbs_utils</depend>
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refactor(rbs_skill_servers): update action configuration, dependencies, and skills
- Removed `assembly_config_service.py` node from launch configuration.
- Added default `goal.duration` setting to `MoveToPose` and `MoveToPoseArray`.
- Replaced `timeout_seconds` with `duration` in action definitions for `MoveitSendJointStates` and `MoveitSendPose`.
- Removed dependencies on TinyXML2 and Gazebo/SDFormat, adding `controller_manager_msgs` and `control_msgs` to CMake configuration.
- Added new action servers `cartesian_move_to_pose` and `move_to_joint_states`, registering them in CMakeLists file.
- Introduced `SkillBase`, a template class for managing action-based skills, providing essential ROS 2 action server support and functionalities for handling goals, cancels, accepted actions, and controller management.
- Implemented methods to load, configure, and switch required controllers with conflict detection for active controllers, along with parameter checking and asynchronous handling for required parameters.
- Enhanced error handling for missing controllers, parameters, and resource conflicts.
- Updated `skills.launch.py` to utilize `ComposableNodeContainer` for skill nodes, incorporating `MoveToJointStateActionServer` and `CartesianMoveToPose` as composable nodes.
- Changed the executable name in `cartesian_move_to_pose_action_server` node configuration.
- Added `cartesian_move_to_pose.cpp`, implementing the `CartesianMoveToPose` action server, including trajectory interpolation, pose adjustment, and controller management.
- Updated `package.xml` to include `rclcpp_components` dependency.
- Refactored `MoveToJointStateActionServer` to extend `SkillBase`, leveraging `FollowJointTrajectory` for joint trajectory execution, while removing redundant code and dependencies.
- Implemented trajectory generation based on initial and target joint positions with parameterized interpolation for smoother execution, enhancing joint state handling to dynamically align current and target joint values.
2024-10-30 17:49:03 +03:00
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<depend>rclcpp_components</depend>
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2022-01-31 21:28:39 +04:00
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>
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