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🚧 add logic to env_manager lib

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This commit is contained in:
Ilya Uraev 2023-09-16 20:45:37 +03:00
parent 8596ff0011
commit 78d890b62e
26 changed files with 1439 additions and 6 deletions
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76
env_manager/env_manager/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 3.8)
project(env_manager)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
set(INCLUDE_DEPENDS
rclcpp
rclcpp_lifecycle
env_manager_interfaces
pluginlib
)
# find dependencies
find_package(ament_cmake REQUIRED)
foreach(Dep IN ITEMS ${INCLUDE_DEPENDS})
find_package(${Dep} REQUIRED)
endforeach()
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)
add_library(${PROJECT_NAME} SHARED
src/env_manager.cpp
)
target_include_directories(${PROJECT_NAME} PRIVATE include)
ament_target_dependencies(${PROJECT_NAME} ${INCLUDE_DEPENDS})
target_compile_definitions(${PROJECT_NAME} PRIVATE "ENVIRONMENT_MANAGER_BUILDING_DLL")
add_executable(run_env_manager src/run_env_manager.cpp)
target_include_directories(run_env_manager PRIVATE include)
target_link_libraries(run_env_manager ${PROJECT_NAME})
ament_target_dependencies(run_env_manager ${INCLUDE_DEPENDS})
install(TARGETS ${PROJECT_NAME}
RUNTIME DESTINATION bin
LIBRARY DESTINATION lib
ARCHIVE DESTINATION lib
)
install(TARGETS run_env_manager
RUNTIME DESTINATION lib/${PROJECT_NAME}
)
install(DIRECTORY include/
DESTINATION include
)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# comment the line when a copyright and license is added to all source files
set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# comment the line when this package is in a git repo and when
# a copyright and license is added to all source files
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
ament_export_libraries(
${PROJECT_NAME}
)
ament_export_include_directories(
include
)
ament_export_dependencies(
${INCLUDE_DEPENDS}
)
ament_package()

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Apache License
Version 2.0, January 2004
http://www.apache.org/licenses/
TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
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control with that entity. For the purposes of this definition,
"control" means (i) the power, direct or indirect, to cause the
direction or management of such entity, whether by contract or
otherwise, or (ii) ownership of fifty percent (50%) or more of the
outstanding shares, or (iii) beneficial ownership of such entity.
"You" (or "Your") shall mean an individual or Legal Entity
exercising permissions granted by this License.
"Source" form shall mean the preferred form for making modifications,
including but not limited to software source code, documentation
source, and configuration files.
"Object" form shall mean any form resulting from mechanical
transformation or translation of a Source form, including but
not limited to compiled object code, generated documentation,
and conversions to other media types.
"Work" shall mean the work of authorship, whether in Source or
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env_manager/env_manager/include/env_manager/env_manager.hpp Normal file
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#ifndef __ENV_MANAGER_HPP__
#define __ENV_MANAGER_HPP__
#include "rclcpp/rclcpp.hpp"
#include "rclcpp_lifecycle/lifecycle_node.hpp"
#include "env_manager_interfaces/srv/load_env.hpp"
#include "env_manager_interfaces/srv/configure_env.hpp"
#include "env_manager_interfaces/srv/unload_env.hpp"
#include "pluginlib/class_loader.hpp"
namespace env_manager
{
using EnvInterfaceSharedPtr = std::shared_ptr<rclcpp_lifecycle::LifecycleNode>;
using EnvStateReturnType = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
struct EnvSpec
{
std::string name;
std::string type;
EnvInterfaceSharedPtr env_ptr;
};
class EnvManager : public rclcpp::Node
{
public:
// EnvManager(rclcpp::Executor::SharedPtr executor,
// const std::string & json_config_path,
// const std::string & node_name = "env_manager",
// const std::string & node_namespace = "",
// rclcpp::NodeOptions & node_options = rclcpp::NodeOptions()
// .allow_undeclared_parameters(true)
// .automatically_declare_parameters_from_overrides(true));
EnvManager(rclcpp::Executor::SharedPtr executor,
const std::string & node_name = "env_manager",
const std::string & node_namespace = "",
rclcpp::NodeOptions & node_options = rclcpp::NodeOptions()
.allow_undeclared_parameters(true)
.automatically_declare_parameters_from_overrides(true));
virtual ~EnvManager() = default;
// EnvInterfaceSharedPtr loadEnv(const std::string& env_name);
EnvInterfaceSharedPtr loadEnv(const std::string& env_name, const std::string& env_class_type);
EnvStateReturnType configureEnv(const std::string& env_name);
EnvInterfaceSharedPtr addEnv(const EnvSpec& enviment);
protected:
void initServices();
rclcpp::Node::SharedPtr getNode();
void loadEnv_cb(const env_manager_interfaces::srv::LoadEnv::Request::SharedPtr request,
env_manager_interfaces::srv::LoadEnv_Response::SharedPtr response);
void configureEnv_cb(const env_manager_interfaces::srv::ConfigureEnv::Request::SharedPtr request,
env_manager_interfaces::srv::ConfigureEnv_Response::SharedPtr response);
void unloadEnv_cb(const env_manager_interfaces::srv::UnloadEnv::Request::SharedPtr request,
env_manager_interfaces::srv::UnloadEnv::Response::SharedPtr response);
private:
rclcpp::Node::SharedPtr m_node;
std::mutex m_env_mutex;
std::vector<EnvSpec> m_active_envs;
rclcpp::Service<env_manager_interfaces::srv::LoadEnv>::SharedPtr
m_load_env_srv;
rclcpp::Service<env_manager_interfaces::srv::ConfigureEnv>::SharedPtr
m_configure_env_srv;
rclcpp::Service<env_manager_interfaces::srv::UnloadEnv>::SharedPtr
m_unload_env_srv;
rclcpp::CallbackGroup::SharedPtr m_callback_group;
rclcpp::Executor::SharedPtr m_executor;
std::shared_ptr<pluginlib::ClassLoader<rclcpp_lifecycle::LifecycleNode>> m_loader;
};
} // namespace env_manager
#endif // __ENV_MANAGER_HPP__

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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>env_manager</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="ur.narmak@gmail.com">banana</maintainer>
<license>Apache-2.0</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<depend>env_manager_interfaces</depend>
<depend>rclcpp</depend>
<depend>rclcpp_lifecycle</depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

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#include "env_manager/env_manager.hpp"
#include "nlohmann/json.hpp"
static constexpr const char * ENV_INTERFACE_BASE_CLASS_NAMESPACE = "rclcpp_lifecycle";
static constexpr const char * ENV_INTERFACE_BASE_CLASS_NAME = "rclcpp_lifecycle::LifecycleNode";
namespace env_manager
{
EnvManager::EnvManager(
rclcpp::Executor::SharedPtr executor,
const std::string & node_name,
const std::string & node_namespace,
rclcpp::NodeOptions & options)
: rclcpp::Node(node_name, node_namespace, options),
m_executor(executor),
m_loader(std::make_shared<pluginlib::ClassLoader<rclcpp_lifecycle::LifecycleNode>>(
ENV_INTERFACE_BASE_CLASS_NAMESPACE, ENV_INTERFACE_BASE_CLASS_NAME))
{
initServices();
}
// EnvManager::EnvManager(
// rclcpp::Executor::SharedPtr executor,
// const std::string & json_config_path,
// const std::string & node_name,
// const std::string & node_namespace,
// rclcpp::NodeOptions & options)
// : rclcpp::Node(node_name, node_namespace, options),
// m_executor(executor),
// m_loader(std::make_shared<pluginlib::ClassLoader<rclcpp_lifecycle::LifecycleNode>>(
// ENV_INTERFACE_BASE_CLASS_NAMESPACE, ENV_INTERFACE_BASE_CLASS_NAME))
// {
// initServices();
// }
void
EnvManager::initServices()
{
using namespace std::placeholders;
m_load_env_srv = create_service<env_manager_interfaces::srv::LoadEnv>
("~/load_env", std::bind(&EnvManager::loadEnv_cb, this, _1, _2));
m_configure_env_srv = create_service<env_manager_interfaces::srv::ConfigureEnv>
("~/configure_env", std::bind(&EnvManager::configureEnv_cb, this, _1, _2));
m_unload_env_srv = create_service<env_manager_interfaces::srv::UnloadEnv>
("~/unload_env", std::bind(&EnvManager::unloadEnv_cb, this, _1, _2));
}
rclcpp::Node::SharedPtr
EnvManager::getNode()
{
return m_node;
}
void
EnvManager::loadEnv_cb(
const env_manager_interfaces::srv::LoadEnv::Request::SharedPtr request,
env_manager_interfaces::srv::LoadEnv::Response::SharedPtr response)
{
std::lock_guard<std::mutex> lock(m_env_mutex); // Добавьте эту строку
response->ok = loadEnv(request->name, request->type).get() != nullptr;
}
void
EnvManager::configureEnv_cb(const env_manager_interfaces::srv::ConfigureEnv::Request::SharedPtr request,
env_manager_interfaces::srv::ConfigureEnv::Response::SharedPtr response)
{
std::lock_guard<std::mutex> guard(m_env_mutex);
response->ok = configureEnv(request->name) == EnvStateReturnType::SUCCESS;
}
EnvInterfaceSharedPtr
EnvManager::loadEnv(const std::string& env_name, const std::string& env_class_type)
{
EnvInterfaceSharedPtr loaded_env = nullptr;
RCLCPP_INFO(this->get_logger(), "Loading enviroment '%s'", env_name.c_str());
try
{
if (m_loader->isClassAvailable(env_class_type))
{
loaded_env = m_loader->createSharedInstance(env_class_type);
} else
{
RCLCPP_ERROR(this->get_logger(), "Loading enviroment is not available '%s'", env_name.c_str());
return nullptr;
}
}
catch (const pluginlib::PluginlibException& e)
{
RCLCPP_ERROR(
get_logger(), "Error happened during creation of enviroment '%s' with type '%s':\n%s",
env_name.c_str(), env_class_type.c_str(), e.what());
return nullptr;
}
EnvSpec enviroment;
enviroment.name = env_name;
enviroment.type = env_class_type;
enviroment.env_ptr = loaded_env;
return addEnv(enviroment);
}
// EnvInterfaceSharedPtr
// EnvManager::loadEnv(const std::string env_name)
// {
// std::string env_class_type = "some_default_namespace::" + env_name;
// return loadEnv(env_name, env_class_type);
// }
EnvStateReturnType
EnvManager::configureEnv(const std::string& env_name)
{
std::lock_guard<std::mutex> guard(m_env_mutex);
auto it = std::find_if(m_active_envs.begin(), m_active_envs.end(), [&env_name](const EnvSpec& env) {
return env.name == env_name;
});
if (it == m_active_envs.end()) {
RCLCPP_ERROR(this->get_logger(),
"Environment '%s' not found in the active environments list.",
env_name.c_str());
return EnvStateReturnType::FAILURE;
}
return EnvStateReturnType::SUCCESS;
}
void
EnvManager::unloadEnv_cb(
const env_manager_interfaces::srv::UnloadEnv::Request::SharedPtr request,
env_manager_interfaces::srv::UnloadEnv::Response::SharedPtr response)
{
std::lock_guard<std::mutex> lock(m_env_mutex);
auto it = std::find_if(m_active_envs.begin(), m_active_envs.end(), [&request](const EnvSpec& env) {
return env.name == request->name;
});
if (it != m_active_envs.end()) {
m_executor->remove_node(it->env_ptr->get_node_base_interface());
m_active_envs.erase(it);
response->ok = true;
} else {
RCLCPP_ERROR(this->get_logger(),
"Environment '%s' not found in the active environments list.",
request->name.c_str());
response->ok = false;
}
}
EnvInterfaceSharedPtr
EnvManager::addEnv(const EnvSpec& enviroment)
{
std::lock_guard<std::mutex> lock(m_env_mutex);
// generate list of active enviroments
// std::string unique_env_name = enviroment.name;// + "_" + std::to_string(m_active_envs.size());
// m_active_envs[unique_env_name] = enviroment.env_ptr;
m_active_envs.push_back(enviroment);
m_executor->add_node(enviroment.env_ptr->get_node_base_interface());
return enviroment.env_ptr;
}
}

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#include "rclcpp/rclcpp.hpp"
#include "env_manager/env_manager.hpp"
int main(int argc, char ** argv)
{
rclcpp::init(argc, argv);
std::shared_ptr<rclcpp::Executor> executor =
std::make_shared<rclcpp::executors::MultiThreadedExecutor>();
std::string manager_node_name = "env_manager";
auto em = std::make_shared<env_manager::EnvManager>(executor, manager_node_name);
RCLCPP_INFO(em->get_logger(), "Env manager is starting");
std::thread em_thread(
[em]()
{
em->loadEnv("gz_enviroment", "env_manager::GzEnviroment");
// while (rclcpp::ok())
// {
// RCLCPP_INFO(em->get_logger(), "Env manager is running");
// }
}
);
executor->add_node(em);
executor->spin();
em_thread.join();
rclcpp::shutdown();
return 0;
}

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cmake_minimum_required(VERSION 3.8)
project(env_manager_interfaces)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
find_package(lifecycle_msgs REQUIRED)
find_package(rosidl_default_generators REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)
rosidl_generate_interfaces(${PROJECT_NAME}
srv/ConfigureEnv.srv
srv/LoadEnv.srv
srv/UnloadEnv.srv
msg/EnvState.msg
DEPENDENCIES lifecycle_msgs
)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# comment the line when a copyright and license is added to all source files
set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# comment the line when this package is in a git repo and when
# a copyright and license is added to all source files
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
ament_package()

202
env_manager/env_manager_interfaces/LICENSE Normal file
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Apache License
Version 2.0, January 2004
http://www.apache.org/licenses/
TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
1. Definitions.
"License" shall mean the terms and conditions for use, reproduction,
and distribution as defined by Sections 1 through 9 of this document.
"Licensor" shall mean the copyright owner or entity authorized by
the copyright owner that is granting the License.
"Legal Entity" shall mean the union of the acting entity and all
other entities that control, are controlled by, or are under common
control with that entity. For the purposes of this definition,
"control" means (i) the power, direct or indirect, to cause the
direction or management of such entity, whether by contract or
otherwise, or (ii) ownership of fifty percent (50%) or more of the
outstanding shares, or (iii) beneficial ownership of such entity.
"You" (or "Your") shall mean an individual or Legal Entity
exercising permissions granted by this License.
"Source" form shall mean the preferred form for making modifications,
including but not limited to software source code, documentation
source, and configuration files.
"Object" form shall mean any form resulting from mechanical
transformation or translation of a Source form, including but
not limited to compiled object code, generated documentation,
and conversions to other media types.
"Work" shall mean the work of authorship, whether in Source or
Object form, made available under the License, as indicated by a
copyright notice that is included in or attached to the work
(an example is provided in the Appendix below).
"Derivative Works" shall mean any work, whether in Source or Object
form, that is based on (or derived from) the Work and for which the
editorial revisions, annotations, elaborations, or other modifications
represent, as a whole, an original work of authorship. For the purposes
of this License, Derivative Works shall not include works that remain
separable from, or merely link (or bind by name) to the interfaces of,
the Work and Derivative Works thereof.
"Contribution" shall mean any work of authorship, including
the original version of the Work and any modifications or additions
to that Work or Derivative Works thereof, that is intentionally
submitted to Licensor for inclusion in the Work by the copyright owner
or by an individual or Legal Entity authorized to submit on behalf of
the copyright owner. For the purposes of this definition, "submitted"
means any form of electronic, verbal, or written communication sent
to the Licensor or its representatives, including but not limited to
communication on electronic mailing lists, source code control systems,
and issue tracking systems that are managed by, or on behalf of, the
Licensor for the purpose of discussing and improving the Work, but
excluding communication that is conspicuously marked or otherwise
designated in writing by the copyright owner as "Not a Contribution."
"Contributor" shall mean Licensor and any individual or Legal Entity
on behalf of whom a Contribution has been received by Licensor and
subsequently incorporated within the Work.
2. Grant of Copyright License. Subject to the terms and conditions of
this License, each Contributor hereby grants to You a perpetual,
worldwide, non-exclusive, no-charge, royalty-free, irrevocable
copyright license to reproduce, prepare Derivative Works of,
publicly display, publicly perform, sublicense, and distribute the
Work and such Derivative Works in Source or Object form.
3. Grant of Patent License. Subject to the terms and conditions of
this License, each Contributor hereby grants to You a perpetual,
worldwide, non-exclusive, no-charge, royalty-free, irrevocable
(except as stated in this section) patent license to make, have made,
use, offer to sell, sell, import, and otherwise transfer the Work,
where such license applies only to those patent claims licensable
by such Contributor that are necessarily infringed by their
Contribution(s) alone or by combination of their Contribution(s)
with the Work to which such Contribution(s) was submitted. If You
institute patent litigation against any entity (including a
cross-claim or counterclaim in a lawsuit) alleging that the Work
or a Contribution incorporated within the Work constitutes direct
or contributory patent infringement, then any patent licenses
granted to You under this License for that Work shall terminate
as of the date such litigation is filed.
4. Redistribution. You may reproduce and distribute copies of the
Work or Derivative Works thereof in any medium, with or without
modifications, and in Source or Object form, provided that You
meet the following conditions:
(a) You must give any other recipients of the Work or
Derivative Works a copy of this License; and
(b) You must cause any modified files to carry prominent notices
stating that You changed the files; and
(c) You must retain, in the Source form of any Derivative Works
that You distribute, all copyright, patent, trademark, and
attribution notices from the Source form of the Work,
excluding those notices that do not pertain to any part of
the Derivative Works; and
(d) If the Work includes a "NOTICE" text file as part of its
distribution, then any Derivative Works that You distribute must
include a readable copy of the attribution notices contained
within such NOTICE file, excluding those notices that do not
pertain to any part of the Derivative Works, in at least one
of the following places: within a NOTICE text file distributed
as part of the Derivative Works; within the Source form or
documentation, if provided along with the Derivative Works; or,
within a display generated by the Derivative Works, if and
wherever such third-party notices normally appear. The contents
of the NOTICE file are for informational purposes only and
do not modify the License. You may add Your own attribution
notices within Derivative Works that You distribute, alongside
or as an addendum to the NOTICE text from the Work, provided
that such additional attribution notices cannot be construed
as modifying the License.
You may add Your own copyright statement to Your modifications and
may provide additional or different license terms and conditions
for use, reproduction, or distribution of Your modifications, or
for any such Derivative Works as a whole, provided Your use,
reproduction, and distribution of the Work otherwise complies with
the conditions stated in this License.
5. Submission of Contributions. Unless You explicitly state otherwise,
any Contribution intentionally submitted for inclusion in the Work
by You to the Licensor shall be under the terms and conditions of
this License, without any additional terms or conditions.
Notwithstanding the above, nothing herein shall supersede or modify
the terms of any separate license agreement you may have executed
with Licensor regarding such Contributions.
6. Trademarks. This License does not grant permission to use the trade
names, trademarks, service marks, or product names of the Licensor,
except as required for reasonable and customary use in describing the
origin of the Work and reproducing the content of the NOTICE file.
7. Disclaimer of Warranty. Unless required by applicable law or
agreed to in writing, Licensor provides the Work (and each
Contributor provides its Contributions) on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
implied, including, without limitation, any warranties or conditions
of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
PARTICULAR PURPOSE. You are solely responsible for determining the
appropriateness of using or redistributing the Work and assume any
risks associated with Your exercise of permissions under this License.
8. Limitation of Liability. In no event and under no legal theory,
whether in tort (including negligence), contract, or otherwise,
unless required by applicable law (such as deliberate and grossly
negligent acts) or agreed to in writing, shall any Contributor be
liable to You for damages, including any direct, indirect, special,
incidental, or consequential damages of any character arising as a
result of this License or out of the use or inability to use the
Work (including but not limited to damages for loss of goodwill,
work stoppage, computer failure or malfunction, or any and all
other commercial damages or losses), even if such Contributor
has been advised of the possibility of such damages.
9. Accepting Warranty or Additional Liability. While redistributing
the Work or Derivative Works thereof, You may choose to offer,
and charge a fee for, acceptance of support, warranty, indemnity,
or other liability obligations and/or rights consistent with this
License. However, in accepting such obligations, You may act only
on Your own behalf and on Your sole responsibility, not on behalf
of any other Contributor, and only if You agree to indemnify,
defend, and hold each Contributor harmless for any liability
incurred by, or claims asserted against, such Contributor by reason
of your accepting any such warranty or additional liability.
END OF TERMS AND CONDITIONS
APPENDIX: How to apply the Apache License to your work.
To apply the Apache License to your work, attach the following
boilerplate notice, with the fields enclosed by brackets "[]"
replaced with your own identifying information. (Don't include
the brackets!) The text should be enclosed in the appropriate
comment syntax for the file format. We also recommend that a
file or class name and description of purpose be included on the
same "printed page" as the copyright notice for easier
identification within third-party archives.
Copyright [yyyy] [name of copyright owner]
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.

4
env_manager/env_manager_interfaces/msg/EnvState.msg Normal file
View file

@ -0,0 +1,4 @@
string name
string type
string plugin_name
lifecycle_msgs/State state

27
env_manager/env_manager_interfaces/package.xml Normal file
View file

@ -0,0 +1,27 @@
<?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>env_manager_interfaces</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="ur.narmak@gmail.com">solid-sinusoid</maintainer>
<license>Apache-2.0</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<buildtool_depend>rosidl_default_generators</buildtool_depend>
<build_depend>builtin_interfaces</build_depend>
<build_depend>lifecycle_msgs</build_depend>
<exec_depend>builtin_interfaces</exec_depend>
<exec_depend>lifecycle_msgs</exec_depend>
<exec_depend>rosidl_default_runtime</exec_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<member_of_group>rosidl_interface_packages</member_of_group>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

3
env_manager/env_manager_interfaces/srv/ConfigureEnv.srv Normal file
View file

@ -0,0 +1,3 @@
string name
---
bool ok

4
env_manager/env_manager_interfaces/srv/LoadEnv.srv Normal file
View file

@ -0,0 +1,4 @@
string name
string type
---
bool ok

3
env_manager/env_manager_interfaces/srv/UnloadEnv.srv Normal file
View file

@ -0,0 +1,3 @@
string name
---
bool ok

26
env_manager/gz_enviroment/CMakeLists.txt Normal file
View file

@ -0,0 +1,26 @@
cmake_minimum_required(VERSION 3.8)
project(gz_enviroment)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# comment the line when a copyright and license is added to all source files
set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# comment the line when this package is in a git repo and when
# a copyright and license is added to all source files
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
ament_package()

202
env_manager/gz_enviroment/LICENSE Normal file
View file

@ -0,0 +1,202 @@
Apache License
Version 2.0, January 2004
http://www.apache.org/licenses/
TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
1. Definitions.
"License" shall mean the terms and conditions for use, reproduction,
and distribution as defined by Sections 1 through 9 of this document.
"Licensor" shall mean the copyright owner or entity authorized by
the copyright owner that is granting the License.
"Legal Entity" shall mean the union of the acting entity and all
other entities that control, are controlled by, or are under common
control with that entity. For the purposes of this definition,
"control" means (i) the power, direct or indirect, to cause the
direction or management of such entity, whether by contract or
otherwise, or (ii) ownership of fifty percent (50%) or more of the
outstanding shares, or (iii) beneficial ownership of such entity.
"You" (or "Your") shall mean an individual or Legal Entity
exercising permissions granted by this License.
"Source" form shall mean the preferred form for making modifications,
including but not limited to software source code, documentation
source, and configuration files.
"Object" form shall mean any form resulting from mechanical
transformation or translation of a Source form, including but
not limited to compiled object code, generated documentation,
and conversions to other media types.
"Work" shall mean the work of authorship, whether in Source or
Object form, made available under the License, as indicated by a
copyright notice that is included in or attached to the work
(an example is provided in the Appendix below).
"Derivative Works" shall mean any work, whether in Source or Object
form, that is based on (or derived from) the Work and for which the
editorial revisions, annotations, elaborations, or other modifications
represent, as a whole, an original work of authorship. For the purposes
of this License, Derivative Works shall not include works that remain
separable from, or merely link (or bind by name) to the interfaces of,
the Work and Derivative Works thereof.
"Contribution" shall mean any work of authorship, including
the original version of the Work and any modifications or additions
to that Work or Derivative Works thereof, that is intentionally
submitted to Licensor for inclusion in the Work by the copyright owner
or by an individual or Legal Entity authorized to submit on behalf of
the copyright owner. For the purposes of this definition, "submitted"
means any form of electronic, verbal, or written communication sent
to the Licensor or its representatives, including but not limited to
communication on electronic mailing lists, source code control systems,
and issue tracking systems that are managed by, or on behalf of, the
Licensor for the purpose of discussing and improving the Work, but
excluding communication that is conspicuously marked or otherwise
designated in writing by the copyright owner as "Not a Contribution."
"Contributor" shall mean Licensor and any individual or Legal Entity
on behalf of whom a Contribution has been received by Licensor and
subsequently incorporated within the Work.
2. Grant of Copyright License. Subject to the terms and conditions of
this License, each Contributor hereby grants to You a perpetual,
worldwide, non-exclusive, no-charge, royalty-free, irrevocable
copyright license to reproduce, prepare Derivative Works of,
publicly display, publicly perform, sublicense, and distribute the
Work and such Derivative Works in Source or Object form.
3. Grant of Patent License. Subject to the terms and conditions of
this License, each Contributor hereby grants to You a perpetual,
worldwide, non-exclusive, no-charge, royalty-free, irrevocable
(except as stated in this section) patent license to make, have made,
use, offer to sell, sell, import, and otherwise transfer the Work,
where such license applies only to those patent claims licensable
by such Contributor that are necessarily infringed by their
Contribution(s) alone or by combination of their Contribution(s)
with the Work to which such Contribution(s) was submitted. If You
institute patent litigation against any entity (including a
cross-claim or counterclaim in a lawsuit) alleging that the Work
or a Contribution incorporated within the Work constitutes direct
or contributory patent infringement, then any patent licenses
granted to You under this License for that Work shall terminate
as of the date such litigation is filed.
4. Redistribution. You may reproduce and distribute copies of the
Work or Derivative Works thereof in any medium, with or without
modifications, and in Source or Object form, provided that You
meet the following conditions:
(a) You must give any other recipients of the Work or
Derivative Works a copy of this License; and
(b) You must cause any modified files to carry prominent notices
stating that You changed the files; and
(c) You must retain, in the Source form of any Derivative Works
that You distribute, all copyright, patent, trademark, and
attribution notices from the Source form of the Work,
excluding those notices that do not pertain to any part of
the Derivative Works; and
(d) If the Work includes a "NOTICE" text file as part of its
distribution, then any Derivative Works that You distribute must
include a readable copy of the attribution notices contained
within such NOTICE file, excluding those notices that do not
pertain to any part of the Derivative Works, in at least one
of the following places: within a NOTICE text file distributed
as part of the Derivative Works; within the Source form or
documentation, if provided along with the Derivative Works; or,
within a display generated by the Derivative Works, if and
wherever such third-party notices normally appear. The contents
of the NOTICE file are for informational purposes only and
do not modify the License. You may add Your own attribution
notices within Derivative Works that You distribute, alongside
or as an addendum to the NOTICE text from the Work, provided
that such additional attribution notices cannot be construed
as modifying the License.
You may add Your own copyright statement to Your modifications and
may provide additional or different license terms and conditions
for use, reproduction, or distribution of Your modifications, or
for any such Derivative Works as a whole, provided Your use,
reproduction, and distribution of the Work otherwise complies with
the conditions stated in this License.
5. Submission of Contributions. Unless You explicitly state otherwise,
any Contribution intentionally submitted for inclusion in the Work
by You to the Licensor shall be under the terms and conditions of
this License, without any additional terms or conditions.
Notwithstanding the above, nothing herein shall supersede or modify
the terms of any separate license agreement you may have executed
with Licensor regarding such Contributions.
6. Trademarks. This License does not grant permission to use the trade
names, trademarks, service marks, or product names of the Licensor,
except as required for reasonable and customary use in describing the
origin of the Work and reproducing the content of the NOTICE file.
7. Disclaimer of Warranty. Unless required by applicable law or
agreed to in writing, Licensor provides the Work (and each
Contributor provides its Contributions) on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
implied, including, without limitation, any warranties or conditions
of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
PARTICULAR PURPOSE. You are solely responsible for determining the
appropriateness of using or redistributing the Work and assume any
risks associated with Your exercise of permissions under this License.
8. Limitation of Liability. In no event and under no legal theory,
whether in tort (including negligence), contract, or otherwise,
unless required by applicable law (such as deliberate and grossly
negligent acts) or agreed to in writing, shall any Contributor be
liable to You for damages, including any direct, indirect, special,
incidental, or consequential damages of any character arising as a
result of this License or out of the use or inability to use the
Work (including but not limited to damages for loss of goodwill,
work stoppage, computer failure or malfunction, or any and all
other commercial damages or losses), even if such Contributor
has been advised of the possibility of such damages.
9. Accepting Warranty or Additional Liability. While redistributing
the Work or Derivative Works thereof, You may choose to offer,
and charge a fee for, acceptance of support, warranty, indemnity,
or other liability obligations and/or rights consistent with this
License. However, in accepting such obligations, You may act only
on Your own behalf and on Your sole responsibility, not on behalf
of any other Contributor, and only if You agree to indemnify,
defend, and hold each Contributor harmless for any liability
incurred by, or claims asserted against, such Contributor by reason
of your accepting any such warranty or additional liability.
END OF TERMS AND CONDITIONS
APPENDIX: How to apply the Apache License to your work.
To apply the Apache License to your work, attach the following
boilerplate notice, with the fields enclosed by brackets "[]"
replaced with your own identifying information. (Don't include
the brackets!) The text should be enclosed in the appropriate
comment syntax for the file format. We also recommend that a
file or class name and description of purpose be included on the
same "printed page" as the copyright notice for easier
identification within third-party archives.
Copyright [yyyy] [name of copyright owner]
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.

16
env_manager/gz_enviroment/include/gz_enviroment/gz_enviroment.hpp Normal file
View file

@ -0,0 +1,16 @@
#include "rclcpp/rclcpp.hpp"
#include "rclcpp_lifecycle/lifecycle_node.hpp"
#include "ros_gz_bridge/convert.hpp"
namespace env_manager
{
class GzEnviroment : public rclcpp_lifecycle::LifecycleNode
{
public:
private:
};
}

18
env_manager/gz_enviroment/package.xml Normal file
View file

@ -0,0 +1,18 @@
<?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>gz_enviroment</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="ur.narmak@gmail.com">bill-finger</maintainer>
<license>Apache-2.0</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

0
env_manager/gz_enviroment/src/gz_enviroment.cpp Normal file
View file

26
env_manager/planning_scene_manager/CMakeLists.txt Normal file
View file

@ -0,0 +1,26 @@
cmake_minimum_required(VERSION 3.8)
project(planning_scene_manager)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# comment the line when a copyright and license is added to all source files
set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# comment the line when this package is in a git repo and when
# a copyright and license is added to all source files
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
ament_package()

202
env_manager/planning_scene_manager/LICENSE Normal file
View file

@ -0,0 +1,202 @@
Apache License
Version 2.0, January 2004
http://www.apache.org/licenses/
TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
1. Definitions.
"License" shall mean the terms and conditions for use, reproduction,
and distribution as defined by Sections 1 through 9 of this document.
"Licensor" shall mean the copyright owner or entity authorized by
the copyright owner that is granting the License.
"Legal Entity" shall mean the union of the acting entity and all
other entities that control, are controlled by, or are under common
control with that entity. For the purposes of this definition,
"control" means (i) the power, direct or indirect, to cause the
direction or management of such entity, whether by contract or
otherwise, or (ii) ownership of fifty percent (50%) or more of the
outstanding shares, or (iii) beneficial ownership of such entity.
"You" (or "Your") shall mean an individual or Legal Entity
exercising permissions granted by this License.
"Source" form shall mean the preferred form for making modifications,
including but not limited to software source code, documentation
source, and configuration files.
"Object" form shall mean any form resulting from mechanical
transformation or translation of a Source form, including but
not limited to compiled object code, generated documentation,
and conversions to other media types.
"Work" shall mean the work of authorship, whether in Source or
Object form, made available under the License, as indicated by a
copyright notice that is included in or attached to the work
(an example is provided in the Appendix below).
"Derivative Works" shall mean any work, whether in Source or Object
form, that is based on (or derived from) the Work and for which the
editorial revisions, annotations, elaborations, or other modifications
represent, as a whole, an original work of authorship. For the purposes
of this License, Derivative Works shall not include works that remain
separable from, or merely link (or bind by name) to the interfaces of,
the Work and Derivative Works thereof.
"Contribution" shall mean any work of authorship, including
the original version of the Work and any modifications or additions
to that Work or Derivative Works thereof, that is intentionally
submitted to Licensor for inclusion in the Work by the copyright owner
or by an individual or Legal Entity authorized to submit on behalf of
the copyright owner. For the purposes of this definition, "submitted"
means any form of electronic, verbal, or written communication sent
to the Licensor or its representatives, including but not limited to
communication on electronic mailing lists, source code control systems,
and issue tracking systems that are managed by, or on behalf of, the
Licensor for the purpose of discussing and improving the Work, but
excluding communication that is conspicuously marked or otherwise
designated in writing by the copyright owner as "Not a Contribution."
"Contributor" shall mean Licensor and any individual or Legal Entity
on behalf of whom a Contribution has been received by Licensor and
subsequently incorporated within the Work.
2. Grant of Copyright License. Subject to the terms and conditions of
this License, each Contributor hereby grants to You a perpetual,
worldwide, non-exclusive, no-charge, royalty-free, irrevocable
copyright license to reproduce, prepare Derivative Works of,
publicly display, publicly perform, sublicense, and distribute the
Work and such Derivative Works in Source or Object form.
3. Grant of Patent License. Subject to the terms and conditions of
this License, each Contributor hereby grants to You a perpetual,
worldwide, non-exclusive, no-charge, royalty-free, irrevocable
(except as stated in this section) patent license to make, have made,
use, offer to sell, sell, import, and otherwise transfer the Work,
where such license applies only to those patent claims licensable
by such Contributor that are necessarily infringed by their
Contribution(s) alone or by combination of their Contribution(s)
with the Work to which such Contribution(s) was submitted. If You
institute patent litigation against any entity (including a
cross-claim or counterclaim in a lawsuit) alleging that the Work
or a Contribution incorporated within the Work constitutes direct
or contributory patent infringement, then any patent licenses
granted to You under this License for that Work shall terminate
as of the date such litigation is filed.
4. Redistribution. You may reproduce and distribute copies of the
Work or Derivative Works thereof in any medium, with or without
modifications, and in Source or Object form, provided that You
meet the following conditions:
(a) You must give any other recipients of the Work or
Derivative Works a copy of this License; and
(b) You must cause any modified files to carry prominent notices
stating that You changed the files; and
(c) You must retain, in the Source form of any Derivative Works
that You distribute, all copyright, patent, trademark, and
attribution notices from the Source form of the Work,
excluding those notices that do not pertain to any part of
the Derivative Works; and
(d) If the Work includes a "NOTICE" text file as part of its
distribution, then any Derivative Works that You distribute must
include a readable copy of the attribution notices contained
within such NOTICE file, excluding those notices that do not
pertain to any part of the Derivative Works, in at least one
of the following places: within a NOTICE text file distributed
as part of the Derivative Works; within the Source form or
documentation, if provided along with the Derivative Works; or,
within a display generated by the Derivative Works, if and
wherever such third-party notices normally appear. The contents
of the NOTICE file are for informational purposes only and
do not modify the License. You may add Your own attribution
notices within Derivative Works that You distribute, alongside
or as an addendum to the NOTICE text from the Work, provided
that such additional attribution notices cannot be construed
as modifying the License.
You may add Your own copyright statement to Your modifications and
may provide additional or different license terms and conditions
for use, reproduction, or distribution of Your modifications, or
for any such Derivative Works as a whole, provided Your use,
reproduction, and distribution of the Work otherwise complies with
the conditions stated in this License.
5. Submission of Contributions. Unless You explicitly state otherwise,
any Contribution intentionally submitted for inclusion in the Work
by You to the Licensor shall be under the terms and conditions of
this License, without any additional terms or conditions.
Notwithstanding the above, nothing herein shall supersede or modify
the terms of any separate license agreement you may have executed
with Licensor regarding such Contributions.
6. Trademarks. This License does not grant permission to use the trade
names, trademarks, service marks, or product names of the Licensor,
except as required for reasonable and customary use in describing the
origin of the Work and reproducing the content of the NOTICE file.
7. Disclaimer of Warranty. Unless required by applicable law or
agreed to in writing, Licensor provides the Work (and each
Contributor provides its Contributions) on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
implied, including, without limitation, any warranties or conditions
of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
PARTICULAR PURPOSE. You are solely responsible for determining the
appropriateness of using or redistributing the Work and assume any
risks associated with Your exercise of permissions under this License.
8. Limitation of Liability. In no event and under no legal theory,
whether in tort (including negligence), contract, or otherwise,
unless required by applicable law (such as deliberate and grossly
negligent acts) or agreed to in writing, shall any Contributor be
liable to You for damages, including any direct, indirect, special,
incidental, or consequential damages of any character arising as a
result of this License or out of the use or inability to use the
Work (including but not limited to damages for loss of goodwill,
work stoppage, computer failure or malfunction, or any and all
other commercial damages or losses), even if such Contributor
has been advised of the possibility of such damages.
9. Accepting Warranty or Additional Liability. While redistributing
the Work or Derivative Works thereof, You may choose to offer,
and charge a fee for, acceptance of support, warranty, indemnity,
or other liability obligations and/or rights consistent with this
License. However, in accepting such obligations, You may act only
on Your own behalf and on Your sole responsibility, not on behalf
of any other Contributor, and only if You agree to indemnify,
defend, and hold each Contributor harmless for any liability
incurred by, or claims asserted against, such Contributor by reason
of your accepting any such warranty or additional liability.
END OF TERMS AND CONDITIONS
APPENDIX: How to apply the Apache License to your work.
To apply the Apache License to your work, attach the following
boilerplate notice, with the fields enclosed by brackets "[]"
replaced with your own identifying information. (Don't include
the brackets!) The text should be enclosed in the appropriate
comment syntax for the file format. We also recommend that a
file or class name and description of purpose be included on the
same "printed page" as the copyright notice for easier
identification within third-party archives.
Copyright [yyyy] [name of copyright owner]
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.

29
env_manager/planning_scene_manager/include/planning_scene_manager/planning_scene_manager.hpp Normal file
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@ -0,0 +1,29 @@
#ifndef __PLANNING_SCENE_MANAGER_H__
#define __PLANNING_SCENE_MANAGER_H__
#include "rclcpp/rclcpp.hpp"
#include "moveit/planning_scene_monitor/planning_scene_monitor.h"
namespace planning_scene_manager
{
class PlanningSceneManager : public planning_scene_monitor::PlanningSceneMonitor
{
public:
PlanningSceneManager();
bool GetPlanningObject();
bool SetPlanningObject();
bool SetPlanningScene();
bool GetPlanningScene();
bool UpdatePlanningScene();
private:
};
} // namespace planning_scene_manager
#endif // __PLANNING_SCENE_MANAGER_H__

18
env_manager/planning_scene_manager/package.xml Normal file
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@ -0,0 +1,18 @@
<?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>planning_scene_manager</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="ur.narmak@gmail.com">Bill Finger</maintainer>
<license>Apache-2.0</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

31
env_manager/planning_scene_manager/src/planning_scene_manager.cpp Normal file
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@ -0,0 +1,31 @@
#include "planning_scene_manager/planning_scene_manager.hpp"
#include "moveit_msgs/msg/collision_object.hpp"
#include "moveit/planning_scene_interface/planning_scene_interface.h"
namespace planning_scene_manager
{
bool PlanningSceneManager::SetPlanningObject()
{
moveit_msgs::msg::CollisionObject object;
std::shared_ptr<planning_scene_monitor::PlanningSceneMonitor> pcm_;
planning_scene_monitor::LockedPlanningSceneRW scene(pcm_);
scene->removeAllCollisionObjects();
RCLCPP_INFO(pnode_->get_logger(), "All object has been delete");
return true;
}
} // namespace planning_scene_manager
int main(int argc, char** argv)
{
rclcpp::init(argc, argv);
auto node = std::make_shared<planning_scene_manager::PlanningSceneManager>();
// Добавляем объект в сцену коллизии
node->SetPlanningObject();
rclcpp::spin(node);
rclcpp::shutdown();
return 0;
}

2
rbs_bringup/launch/bringup.launch.py
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@ -141,7 +141,7 @@ def generate_launch_description():
DeclareLaunchArgument("sim_fake", default_value="false", description="Mock contollers")
)
declared_arguments.append(
DeclareLaunchArgument("env_manager", default_value="true", description="Launch env_manager?")
DeclareLaunchArgument("env_manager", default_value="false", description="Launch env_manager?")
)
declared_arguments.append(
DeclareLaunchArgument("launch_sim", default_value="true", description="Launch simulator (Gazebo)? Most general arg")

8
rbs_bt_executor/CMakeLists.txt
View file

@ -18,7 +18,7 @@ find_package(ament_index_cpp REQUIRED)
find_package(rbs_skill_interfaces REQUIRED)
find_package(behavior_tree REQUIRED)
find_package(control_msgs REQUIRED)
find_package(component_interfaces REQUIRED)
# find_package(component_interfaces REQUIRED)
if (NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 17)
@ -38,7 +38,7 @@ set(dependencies
behavior_tree
std_msgs
control_msgs
component_interfaces
# component_interfaces
)
include_directories(include)
@ -61,8 +61,8 @@ list(APPEND plugin_libs rbs_add_planning_scene_object)
add_library(rbs_assemble_process_state SHARED src/AssembleProcessState.cpp)
list(APPEND plugin_libs rbs_assemble_process_state)
add_library(rbs_detect_object SHARED src/DetectObject.cpp)
list(APPEND plugin_libs rbs_detect_object)
# add_library(rbs_detect_object SHARED src/DetectObject.cpp)
# list(APPEND plugin_libs rbs_detect_object)
foreach(bt_plugin ${plugin_libs})
ament_target_dependencies(${bt_plugin} ${dependencies})

2
rbs_simulation/launch/get_urdf.launch.py
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@ -20,7 +20,7 @@ def generate_launch_description():
"prefix": "",
"sim_mujoco": "true",
"simulation_controllers": str(initial_joint_controllers_file_path),
"with_gripper": "false"
"with_gripper": "true"
})
robot_desc = doc.toprettyxml(indent=' ')