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Motion planner (MoveIt) and Task planner (Plansys) integration

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Roman Andrianov 2023-04-30 11:46:52 +00:00 • committed by Igor Brylyov
parent 0a735b87c9
commit 000ddb4831
43 changed files with 1402 additions and 379 deletions
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16
env_components/component_interfaces/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 3.8)
project(component_interfaces)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
find_package(ament_cmake REQUIRED)
find_package(rosidl_default_generators REQUIRED)
find_package(std_msgs REQUIRED)
rosidl_generate_interfaces(${PROJECT_NAME}
"srv/DetectObject.srv"
DEPENDENCIES std_msgs)
ament_package()

20
env_components/component_interfaces/package.xml Normal file
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<?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>component_interfaces</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="rom.andrianov1984@gmail.com">splinter1984</maintainer>
<license>Apache-2.0</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<build_depend>rosidl_default_generators</build_depend>
<exec_depend>rosidl_default_runtime</exec_depend>
<member_of_group>rosidl_interface_packages</member_of_group>
<depend>std_msgs</depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

10
env_components/component_interfaces/srv/DetectObject.srv Normal file
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uint8 DETECT=0
uint8 FOLLOW=1
uint8 CANCEL=2
string object_name
uint8 req_kind
---
bool call_status
string error_msg