final renames + skill description
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4 changed files with 106 additions and 47 deletions
58
rbs_bt_executor/scripts/skill_description.py
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58
rbs_bt_executor/scripts/skill_description.py
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@ -0,0 +1,58 @@
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"""
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json_description_example
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Skill description for Robossembler framework
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09.12.2024 @shalenikol release 0.1
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"""
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import json
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# Описание JSON-файла
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json_description = {
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"skills": [
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{
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"sid": "4147d1c3-54d8-40c2-968a-ddcd41f5d882", # Уникальный идентификатор навыка
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"SkillPackage": {
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"name": "Robossembler", # Название пакета навыков
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"version": "1", # Версия пакета
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"format": "1.0" # Версия формата пакета
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},
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"Module": {
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"node_name": "lc_yolo", # Имя узла модуля
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"name": "ObjectDetection", # Название модуля
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"description": "Object detection skill with YOLOv8" # Описание модуля
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},
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"Launch": { # Параметры запуска
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"executable": "od_yolo_lc.py", # Исполняемый файл
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"package": "rbss_objectdetection" # Пакет, к которому принадлежит исполняемый файл
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},
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"BTAction": [ # Список действий дерева поведения
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{
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"name": "odConfigure", # Название действия
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"type": "run", # Тип действия
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"param": [ # Параметры действия
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{
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"type": "topic", # Тип параметра
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"dependency": { # Зависимость параметра
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"type": "topic",
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"sid": "36229f1f-24a6-4b21-8afd-1a9bf9f8abc9", # Уникальный идентификатор зависимости
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"topicType": "sensor_msgs/msg/Image", # Тип топика
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"topicOut": "/rgbd_camera/image" # Выходной топик
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}
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}
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],
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"typeAction": "ACTION" # Тип узла в дереве поведения
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}
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],
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"topicsOut": [ # Список выходных топиков
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{
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"name": "lc_yolo/object_detection", # Название выходного топика
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"type": "rbs_skill_interfaces/msg/BoundBox" # Тип сообщения выходного топика
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}
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]
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}
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]
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}
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# Пример использования
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json_string = json.dumps(json_description, indent=4)
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print(json_string)
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@ -22,7 +22,7 @@ ament_python_install_package(${PROJECT_NAME})
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# Install Python executables
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install(PROGRAMS
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scripts/mtp_cartesian.py
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scripts/skill_movetopose.py
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DESTINATION lib/${PROJECT_NAME}
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)
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@ -1,42 +1,45 @@
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{
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"SkillPackage": { "name": "Robossembler", "version": "1.0", "format": "1" },
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"Module": { "name": "MoveToPose", "description": "Move to Pose skill with cartesian controllers", "node_name": "mtp_cartesian" },
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"Launch": { "package": "rbss_movetopose", "executable": "mtp_cartesian.py" },
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"BTAction": [
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{
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"name": "move",
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"type": "action",
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"param": [
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{
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"type": "move_to_pose",
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"dependency": { "robot_name": "arm0",
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"pose": { "position": {"x":0.0, "y":0.0, "z":0.0}, "orientation": {"x":0.0, "y":0.0, "z":0.0, "w": 1.0} } }
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}
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]
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}
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],
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"Settings": {
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"result": "{\n \"params\": \\${ITEM:Array<ITEM>:[]}\n}",
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"context": "type ITEM = {\n\"name\": \\${NAME:string:default},\n\"value\": \\${VALUE:string:default}\n};",
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"form": [
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"{\"name\":\"ITEM\",\"type\":\"Array\",\"defaultValue\":\"[]\",\"values\":[{\"name\":\"NAME\",\"type\":\"string\",\"defaultValue\":\"default\",\"isOpen\":false,\"id\":\"7d70fba4-63b5-424b-8d6c-16d59a77e037\",\"totalValue\":\"mesh_scale\\n\"},{\"name\":\"VALUE\",\"type\":\"string\",\"defaultValue\":\"default\",\"isOpen\":false,\"id\":\"0d8d8ee4-ba61-4904-beeb-cda218506907\",\"totalValue\":\"0.001\\n\"}],\"totalValue\":[[{\"name\":\"NAME\",\"type\":\"string\",\"defaultValue\":\"default\",\"isOpen\":false,\"id\":\"7d70fba4-63b5-424b-8d6c-16d59a77e037\",\"totalValue\":\"publishDelay\\n\"},{\"name\":\"VALUE\",\"type\":\"string\",\"defaultValue\":\"default\",\"isOpen\":false,\"id\":\"0d8d8ee4-ba61-4904-beeb-cda218506907\",\"totalValue\":\"0.5\\n\"}],[{\"name\":\"NAME\",\"type\":\"string\",\"defaultValue\":\"default\",\"isOpen\":false,\"id\":\"7d70fba4-63b5-424b-8d6c-16d59a77e037\",\"totalValue\":\"publishDelay\\n\"},{\"name\":\"VALUE\",\"type\":\"string\",\"defaultValue\":\"default\",\"isOpen\":false,\"id\":\"0d8d8ee4-ba61-4904-beeb-cda218506907\",\"totalValue\":\"0.5\\n\"}]],\"isOpen\":true,\"subType\":\"ITEM\",\"id\":\"767a59ff-3d25-4c34-84a2-fa5baf074394\"}"
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"skills": [
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{
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"sid": "a",
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"SkillPackage": { "name": "Robossembler", "version": "1.0", "format": "1" },
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"Module": { "node_name": "skill_mtp", "name": "MoveToPose", "description": "Move to Pose skill" },
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"Launch": { "executable": "skill_movetopose.py", "package": "rbss_movetopose" },
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"BTAction": [
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{
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"name": "move",
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"type": "action",
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"param": [
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{
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"type": "move_to_pose",
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"dependency": { "robot_name": "rbs_arm",
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"pose": { "position": {"x":0.1, "y":0.1, "z":0.7}, "orientation": {"x":0.55, "y":0.0, "z":0.45, "w": 1.0} } }
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}
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],
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"typeAction": "ACTION"
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}
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],
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"output": {
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"params": [
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{
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"name": "server_name",
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"value": "cartesian_move_to_pose"
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},
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{
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"name": "end_effector_velocity",
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"value": "1.0"
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},
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{
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"name": "end_effector_acceleration",
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"value": "1.0"
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}
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]
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},
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"type": "formBuilder"
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"topicsOut": [],
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"Settings": {
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"output": {
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"params": [
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{
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"name": "server_name",
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"value": "mtp_moveit",
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"value2": "mtp_cart"
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},
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{
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"name": "end_effector_velocity",
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"value": "1.0"
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},
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{
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"name": "end_effector_acceleration",
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"value": "1.0"
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}
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]
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},
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"type": "formBuilder"
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}
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}
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]
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}
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@ -16,10 +16,12 @@ from rcl_interfaces.msg import SetParametersResult
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from rbs_skill_interfaces.action import MoveitSendPose
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from rbs_skill_interfaces.srv import RbsBt
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NODE_NAME_DEFAULT = "mtp_cartesian" # this name must match the name in the description (["Module"]["node_name"])
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PARAM_SKILL_CFG = "mtp_cartesian_cfg"
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SERVER_NAME = "mtp_cart" # default
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NODE_NAME_DEFAULT = "skill_mtp" # this name must match the name in the description (["Module"]["node_name"])
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PARAM_SKILL_CFG = NODE_NAME_DEFAULT + "_cfg"
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COMPLETION_SRV_NAME = "/completion"
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SERVER_NAME = "cartesian_movetopose"
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class MoveToPoseCartesianSkill(Node):
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""" <Move to pose> skill node """
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@ -35,10 +37,6 @@ class MoveToPoseCartesianSkill(Node):
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elif nam == "end_effector_acceleration":
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self.end_effector_acceleration = float(val)
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# for prop in self.skill_cfg["topicsOut"]:
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# if prop["type"] == OUT_TOPIC_TYPE:
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# self.topicSrv = prop["name"]
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def __init__(self, **kwargs):
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self._tmode = 0
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self._completion = False
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@ -56,7 +54,7 @@ class MoveToPoseCartesianSkill(Node):
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self.server_name = SERVER_NAME
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self._Settings()
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self._action_client = ActionClient(self, MoveitSendPose, self.server_name) # "/"+ robot_name +
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self._action_client = ActionClient(self, MoveitSendPose, self.server_name)
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self._srv_completion = self.create_service(RbsBt, NODE_NAME_DEFAULT + COMPLETION_SRV_NAME, self.completion_callback)
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self._cnt = 0
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