final renames + skill description

rbs_bt_executor/scripts/skill_description.py

@@ -0,0 +1,58 @@
+"""
+  json_description_example
+  Skill description for Robossembler framework
+
+  09.12.2024 @shalenikol release 0.1 
+"""
+import json
+
+# Описание JSON-файла
+json_description = {
+    "skills": [
+        {
+            "sid": "4147d1c3-54d8-40c2-968a-ddcd41f5d882",  # Уникальный идентификатор навыка
+            "SkillPackage": {
+                "name": "Robossembler",  # Название пакета навыков
+                "version": "1",          # Версия пакета
+                "format": "1.0"          # Версия формата пакета
+            },
+            "Module": {
+                "node_name": "lc_yolo",  # Имя узла модуля
+                "name": "ObjectDetection", # Название модуля
+                "description": "Object detection skill with YOLOv8"  # Описание модуля
+            },
+            "Launch": {  # Параметры запуска
+                "executable": "od_yolo_lc.py",    # Исполняемый файл
+                "package": "rbss_objectdetection" # Пакет, к которому принадлежит исполняемый файл
+            },
+            "BTAction": [  # Список действий дерева поведения
+                {
+                    "name": "odConfigure",  # Название действия
+                    "type": "run",          # Тип действия
+                    "param": [              # Параметры действия
+                        {
+                            "type": "topic",  # Тип параметра
+                            "dependency": {   # Зависимость параметра
+                                "type": "topic",
+                                "sid": "36229f1f-24a6-4b21-8afd-1a9bf9f8abc9",  # Уникальный идентификатор зависимости
+                                "topicType": "sensor_msgs/msg/Image",           # Тип топика
+                                "topicOut": "/rgbd_camera/image"                # Выходной топик
+                            }
+                        }
+                    ],
+                    "typeAction": "ACTION"  # Тип узла в дереве поведения
+                }
+            ],
+            "topicsOut": [  # Список выходных топиков
+                {
+                    "name": "lc_yolo/object_detection",          # Название выходного топика
+                    "type": "rbs_skill_interfaces/msg/BoundBox"  # Тип сообщения выходного топика
+                }
+            ]
+        }
+    ]
+}
+
+# Пример использования
+json_string = json.dumps(json_description, indent=4)
+print(json_string)

rbss_movetopose/CMakeLists.txt

@@ -22,7 +22,7 @@ ament_python_install_package(${PROJECT_NAME})
 
 # Install Python executables
 install(PROGRAMS
-  scripts/mtp_cartesian.py
+  scripts/skill_movetopose.py
   DESTINATION lib/${PROJECT_NAME}
 )
 

rbss_movetopose/rbs_package.json

@@ -1,42 +1,45 @@
 {
-    "SkillPackage": { "name": "Robossembler", "version": "1.0", "format": "1" },
+    "skills": [
-    "Module": { "name": "MoveToPose", "description": "Move to Pose skill with cartesian controllers", "node_name": "mtp_cartesian" },
+    {
-    "Launch": { "package": "rbss_movetopose", "executable": "mtp_cartesian.py" },
+        "sid": "a",
-    "BTAction": [
+        "SkillPackage": { "name": "Robossembler", "version": "1.0", "format": "1" },
-        {
+        "Module": { "node_name": "skill_mtp", "name": "MoveToPose", "description": "Move to Pose skill" },
-            "name": "move",
+        "Launch": { "executable": "skill_movetopose.py", "package": "rbss_movetopose" },
-            "type": "action",
+        "BTAction": [
-            "param": [
+            {
-              {
+                "name": "move",
-                "type": "move_to_pose",
+                "type": "action",
-                "dependency": { "robot_name": "arm0",
+                "param": [
-                                "pose": { "position": {"x":0.0, "y":0.0, "z":0.0}, "orientation": {"x":0.0, "y":0.0, "z":0.0, "w": 1.0} } }
+                    {
-              }
+                        "type": "move_to_pose",
-            ]
+                        "dependency": { "robot_name": "rbs_arm",
-        }
+                                        "pose": { "position": {"x":0.1, "y":0.1, "z":0.7}, "orientation": {"x":0.55, "y":0.0, "z":0.45, "w": 1.0} } }
-    ],
+                    }
-    "Settings": {
+                ],
-        "result": "{\n  \"params\": \\${ITEM:Array<ITEM>:[]}\n}",
+                "typeAction": "ACTION"
-        "context": "type ITEM = {\n\"name\": \\${NAME:string:default},\n\"value\": \\${VALUE:string:default}\n};",
+            }
-        "form": [
-            "{\"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\"}"
         ],
-        "output": {
+        "topicsOut": [],
-            "params": [
+        "Settings": {
-                {
+            "output": {
-                    "name": "server_name",
+                "params": [
-                    "value": "cartesian_move_to_pose"
+                    {
-                },
+                        "name": "server_name",
-                {
+                        "value": "mtp_moveit",
-                    "name": "end_effector_velocity",
+                        "value2": "mtp_cart"
-                    "value": "1.0"
+                    },
-                },
+                    {
-                {
+                        "name": "end_effector_velocity",
-                    "name": "end_effector_acceleration",
+                        "value": "1.0"
-                    "value": "1.0"
+                    },
-                }
+                    {
-            ]
+                        "name": "end_effector_acceleration",
-        },
+                        "value": "1.0"
-        "type": "formBuilder"
+                    }
+                ]
+            },
+            "type": "formBuilder"
+        }
     }
+    ]
 }

rbss_movetopose/scripts/skill_movetopose.py

@@ -16,10 +16,12 @@ from rcl_interfaces.msg import SetParametersResult
 from rbs_skill_interfaces.action import MoveitSendPose
 from rbs_skill_interfaces.srv import RbsBt
 
-NODE_NAME_DEFAULT = "mtp_cartesian"   # this name must match the name in the description (["Module"]["node_name"])
+SERVER_NAME = "mtp_cart" # default
-PARAM_SKILL_CFG = "mtp_cartesian_cfg"
+
+NODE_NAME_DEFAULT = "skill_mtp"   # this name must match the name in the description (["Module"]["node_name"])
+PARAM_SKILL_CFG = NODE_NAME_DEFAULT + "_cfg"
+
 COMPLETION_SRV_NAME = "/completion"
-SERVER_NAME = "cartesian_movetopose"
 
 class MoveToPoseCartesianSkill(Node):
     """ <Move to pose> skill node """
@@ -35,10 +37,6 @@ class MoveToPoseCartesianSkill(Node):
             elif nam == "end_effector_acceleration":
                 self.end_effector_acceleration = float(val)
 
-        # for prop in self.skill_cfg["topicsOut"]:
-        #     if prop["type"] == OUT_TOPIC_TYPE:
-        #         self.topicSrv = prop["name"]
-
     def __init__(self, **kwargs):
         self._tmode = 0
         self._completion = False
@@ -56,7 +54,7 @@ class MoveToPoseCartesianSkill(Node):
         self.server_name = SERVER_NAME
         self._Settings()
 
-        self._action_client = ActionClient(self, MoveitSendPose, self.server_name) # "/"+ robot_name + 
+        self._action_client = ActionClient(self, MoveitSendPose, self.server_name)
         self._srv_completion = self.create_service(RbsBt, NODE_NAME_DEFAULT + COMPLETION_SRV_NAME, self.completion_callback)
 
         self._cnt = 0