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add rosbag example

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This commit is contained in:
shalenikol 2024-12-13 16:03:42 +03:00
parent ba4e51d06f
commit 78454a6abb
4 changed files with 151 additions and 15 deletions
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50
rbs_utils/rbs_utils/scripts/recording_demo.md
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@ -36,20 +36,26 @@
"name": "rdConfigure",
"type_action": "action",
"type": "run",
"param": [],
"result":[]
"param": []
},
{ "name": "rdStop", "type_action": "action", "type": "stop", "param": [], "result": [] }
{ "name": "rdStop", "type_action": "action", "type": "stop", "param": [] }
],
"Settings": [
{ "name": "output_path", "value": "rbs_testbag", "description": "!!! Путь, куда запишется rosbag. Если он уже есть - перетрётся!" }
"Settings": {
"output": {
"params": [
{
"name": "output_path",
"value": "rbs_testbag"
}
]
}
}
},
{
"sid": "c",
"SkillPackage": { "name": "Robossembler", "version": "1.0", "format": "1" },
"Module": { "name": "MoveToPose", "description": "Move to Pose skill with cartesian controllers", "node_name": "mtp_cartesian" },
"Launch": { "package": "rbss_movetopose", "executable": "mtp_cartesian.py" },
"Module": { "node_name": "skill_mtp", "name": "MoveToPose", "description": "Move to pose with cartesian controller" },
"Launch": { "executable": "skill_movetopose.py", "package": "rbss_movetopose" },
"BTAction": [
{
"name": "move",
@ -64,12 +70,30 @@
]
}
],
"Settings": [
{ "name": "server_name", "value": "cartesian_move_to_pose" },
{ "name": "end_effector_velocity", "value": 1.0 },
{ "name": "end_effector_acceleration", "value": 1.0 }
"topicsOut": [],
"Settings": {
"output": {
"params": [
{
"name": "server_name",
"value": "mtp_cart"
},
{
"name": "duration",
"value": "5.0"
},
{
"name": "end_effector_velocity",
"value": "1.0"
},
{
"name": "end_effector_acceleration",
"value": "1.0"
}
]
}
}
}
]
}
```
@ -77,11 +101,11 @@
Запустить последовательно три терминала и выполнить запуск 3-х launch-файлов:
* 1 - запуск интерфейсной ноды с серверами навыков
```bash
ros2 launch rbs_interface interface.launch.py bt_path:=/path/to/bt
ros2 launch rbs_bt_executor interface.launch.py bt_path:=/path/to/bt
```
* 2 - запуск робота в сцене
```bash
ros2 launch rbs_bringup single_robot.launch.py
ros2 launch rbs_bringup rbs_bringup.launch.py
```
* 3 - запуск дерева поведения
```bash

30
test_examples/README.md
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@ -64,3 +64,33 @@ ros2 launch rbs_bt_executor rbs_bt_web.launch.py bt_path:=src/robossembler-ros2/
![benchmark_result](benchmark_result.png)
*пример вывода журнала*
## Пример запуска симуляции с записью rosbag-журнала для демонстрации в веб.
Запустить последовательно три терминала и выполнить запуск 3-х launch-файлов.
Во всех терминалах выполнить предварительную настройку:
```sh
# ROS2
source /opt/ros/humble/setup.bash
# Robossembler
cd ~/robossembler-ws
source install/setup.bash
```
* 1 - запуск интерфейсной ноды
```sh
ros2 launch rbs_bt_executor interface.launch.py bt_path:=src/robossembler-ros2/test_examples/bt_rosbag
```
* 2 - запуск runtime с роботом в сцене
```sh
ros2 launch rbs_bringup rbs_bringup.launch.py
```
* 3 - запуск дерева поведения
```sh
ros2 launch rbs_bt_executor rbs_bt_web.launch.py bt_path:=src/robossembler-ros2/test_examples/bt_rosbag
```
Для визуализации можно дополнительно запустить симулятор Gazebo (терминал 4):
```sh
ign gazebo -g
```
После выполнения дерева в папке ~/robossembler-ws/rbs_testbag сохранится журнал rosbag.

9
test_examples/bt_rosbag/bt.xml Normal file
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@ -0,0 +1,9 @@
<root BTCPP_format="4">
<BehaviorTree ID="Main">
<Sequence>
<Action ID="RbsAction" do="RecordingDemo" command="rdConfigure" sid="a"></Action>
<Action ID="RbsAction" do="MoveToPose" command="move" sid="b"></Action>
<Action ID="RbsAction" do="RecordingDemo" command="rdStop" sid="a"></Action>
</Sequence>
</BehaviorTree>
</root>

73
test_examples/bt_rosbag/skills.json Normal file
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@ -0,0 +1,73 @@
{
"skills": [
{
"sid": "a",
"SkillPackage": { "name": "Robossembler", "version": "1.0", "format": "1" },
"Module": { "name": "RecordingDemo", "description": "Recording a demo via RosBag", "node_name": "lc_record_demo" },
"Launch": { "package": "rbs_utils", "executable": "recording_demo_via_rosbag.py" },
"BTAction": [
{
"name": "rdConfigure",
"type_action": "action",
"type": "run",
"param": []
},
{ "name": "rdStop", "type_action": "action", "type": "stop", "param": [] }
],
"topicsOut": [],
"Settings": {
"output": {
"params": [
{
"name": "output_path",
"value": "rbs_testbag"
}
]
}
}
},
{
"sid": "b",
"SkillPackage": { "name": "Robossembler", "version": "1.0", "format": "1" },
"Module": { "node_name": "skill_mtp", "name": "MoveToPose", "description": "Move to pose with joint trajectory controller" },
"Launch": { "executable": "skill_movetopose.py", "package": "rbss_movetopose" },
"BTAction": [
{
"name": "move",
"type": "action",
"param": [
{
"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} } }
}
],
"typeAction": "ACTION"
}
],
"topicsOut": [],
"Settings": {
"output": {
"params": [
{
"name": "server_name",
"value": "mtp_jtc"
},
{
"name": "duration",
"value": "5.0"
},
{
"name": "end_effector_velocity",
"value": "1.0"
},
{
"name": "end_effector_acceleration",
"value": "1.0"
}
]
}
}
}
]
}