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Enhance grasping task handling and behavior tree configurations

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- Improved `get_grasp_pose_callback` with regex for grasp pose matching and added fallback mechanisms for `pregrasp_pose` and `postgrasp_pose`.
- Introduced `_create_pose_msg` and `_create_pose_msg_from_name` helper functions for dynamic transform-to-pose conversion.
- Updated `GetGraspPose.srv` to include `pregrasp_pose` and `postgrasp_pose` in the service response structure.
- Enhanced TF listener integration in `assembly_config_service.py` for dynamic pose retrieval and parameter management.
- Added `rbs_utils_interfaces` dependency in `CMakeLists.txt` and introduced new `GetGraspPose` node for behavior tree integration.
- Replaced `MoveGripper` with `GripperCommand` to improve gripper state transitions.
- Refactored `MoveToPose` and `GetWorkspace` nodes for enhanced logging and parameter handling.
- Updated `workspace_movement.xml` and `grasp_object.xml` with improved actions and configurations.
This commit is contained in:
Ilya Uraev 2024-12-13 17:26:29 +03:00
parent 2fd4f3e480
commit 5c2c67567d
9 changed files with 327 additions and 67 deletions
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rbs_utils/rbs_utils_interfaces/srv/GetGraspPose.srv
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@ -1,4 +1,6 @@
string model_name
---
rbs_utils_interfaces/RelativeNamedPose[] grasp_pose
geometry_msgs/Pose grasp_pose
geometry_msgs/Pose pregrasp_pose
geometry_msgs/Pose postgrasp_pose
bool ok