diff --git a/flake.nix b/flake.nix index 3a4ca0e..0d4ee5b 100644 --- a/flake.nix +++ b/flake.nix @@ -19,7 +19,7 @@ ) rosPackages; rosDistroOverlays = self: super: { - rosPackages = applyDistroOverlay (import ./overlay.nix) super.rosPackages; + rosPackages = applyDistroOverlay (import ./nix/overlay.nix) super.rosPackages; }; pythonOverlay = self: super: { pythonPackagesExtensions = super.pythonPackagesExtensions ++ [ @@ -54,8 +54,8 @@ rosDistro = "jazzy"; in { legacyPackages = pkgs.rosPackages; - packages = builtins.intersectAttrs (import ./overlay.nix null null) pkgs.rosPackages.${rosDistro}; - checks = builtins.intersectAttrs (import ./overlay.nix null null) pkgs.rosPackages.${rosDistro}; + packages = builtins.intersectAttrs (import ./nix/overlay.nix null null) pkgs.rosPackages.${rosDistro}; + checks = builtins.intersectAttrs (import ./nix/overlay.nix null null) pkgs.rosPackages.${rosDistro}; devShells.default = pkgs.mkShell { name = "Robossembler ROS2"; packages = @@ -71,6 +71,19 @@ rbs-runtime # robot package rbs-arm + + # dynamixel + dynamixel-hardware + dynamixel-hardware-interface + dynamixel-interfaces + dynamixel-sdk + dynamixel-sdk-custom-interfaces + dynamixel-sdk-examples + dynamixel-workbench + dynamixel-workbench-msgs + dynamixel-workbench-toolbox + + ffw-joint-trajectory-command-broadcaster ]; }) ] diff --git a/nix/behaviortree-ros2.nix b/nix/behaviortree-ros2.nix new file mode 100644 index 0000000..487a5f3 --- /dev/null +++ b/nix/behaviortree-ros2.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --output-dir nix --distro jazzy +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, behaviortree-cpp, boost, btcpp-ros2-interfaces, fmt, generate-parameter-library, rclcpp, rclcpp-action }: +buildRosPackage rec { + pname = "ros-jazzy-behaviortree-ros2"; + version = "0.2.0"; + + src = fetchFromGitHub { + owner = "BehaviorTree"; + repo = "BehaviorTree.ROS2"; + rev = "cc31ea7b97947f1aac6e8c37df6cec379c84a7d9"; + sha256 = "0m0n85jab14rfssyjf9sf05rq1rdzs6kqwb467953f26bvcnckkh"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/behaviortree_ros2/"; + buildInputs = [ ament-cmake ]; + propagatedBuildInputs = [ behaviortree-cpp boost btcpp-ros2-interfaces fmt generate-parameter-library rclcpp rclcpp-action ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "This package provides a ROS2 wrapper, on top of BehaviorTree.CPP."; + license = with lib.licenses; [ mit ]; + }; +} diff --git a/nix/btcpp-ros2-interfaces.nix b/nix/btcpp-ros2-interfaces.nix new file mode 100644 index 0000000..4d2c2a4 --- /dev/null +++ b/nix/btcpp-ros2-interfaces.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --output-dir nix --distro jazzy +{ lib, buildRosPackage, fetchFromGitHub, action-msgs, ament-cmake, rosidl-default-generators, rosidl-default-runtime }: +buildRosPackage rec { + pname = "ros-jazzy-btcpp-ros2-interfaces"; + version = "0.2.0"; + + src = fetchFromGitHub { + owner = "BehaviorTree"; + repo = "BehaviorTree.ROS2"; + rev = "cc31ea7b97947f1aac6e8c37df6cec379c84a7d9"; + sha256 = "0m0n85jab14rfssyjf9sf05rq1rdzs6kqwb467953f26bvcnckkh"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/btcpp_ros2_interfaces/"; + buildInputs = [ ament-cmake rosidl-default-generators ]; + propagatedBuildInputs = [ action-msgs rosidl-default-runtime ]; + nativeBuildInputs = [ ament-cmake rosidl-default-generators ]; + + meta = { + description = "ROS2 interfaces, mostly used to demonstrate behaviortree_ros2"; + license = with lib.licenses; [ mit ]; + }; +} diff --git a/nix/btcpp-ros2-samples.nix b/nix/btcpp-ros2-samples.nix new file mode 100644 index 0000000..65e2fdb --- /dev/null +++ b/nix/btcpp-ros2-samples.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --output-dir nix --distro jazzy +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, behaviortree-ros2, btcpp-ros2-interfaces, std-msgs, std-srvs }: +buildRosPackage rec { + pname = "ros-jazzy-btcpp-ros2-samples"; + version = "0.2.0"; + + src = fetchFromGitHub { + owner = "BehaviorTree"; + repo = "BehaviorTree.ROS2"; + rev = "cc31ea7b97947f1aac6e8c37df6cec379c84a7d9"; + sha256 = "0m0n85jab14rfssyjf9sf05rq1rdzs6kqwb467953f26bvcnckkh"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/btcpp_ros2_samples/"; + buildInputs = [ ament-cmake ]; + propagatedBuildInputs = [ behaviortree-ros2 btcpp-ros2-interfaces std-msgs std-srvs ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "Examples related to behaviortree_ros2"; + license = with lib.licenses; [ mit ]; + }; +} diff --git a/nix/cartesian-compliance-controller.nix b/nix/cartesian-compliance-controller.nix new file mode 100644 index 0000000..5223d8b --- /dev/null +++ b/nix/cartesian-compliance-controller.nix @@ -0,0 +1,25 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --output-dir nix --distro jazzy +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-lint-common, cartesian-controller-base, cartesian-force-controller, cartesian-motion-controller, controller-interface, hardware-interface, pluginlib, rclcpp }: +buildRosPackage rec { + pname = "ros-jazzy-cartesian-compliance-controller"; + version = "0.0.0"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "cartesian_controllers"; + rev = "9ade57d3ef7f1bf6d514551e710110b014b4a664"; + sha256 = "0sgh7r30ga5lkx5kbdb6ms5arc4rhpbwky6k85xrgpjy1gs5nx1v"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/cartesian_compliance_controller/"; + buildInputs = [ ament-cmake ]; + checkInputs = [ ament-lint-common ]; + propagatedBuildInputs = [ cartesian-controller-base cartesian-force-controller cartesian-motion-controller controller-interface hardware-interface pluginlib rclcpp ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "Control your robot through Cartesian target poses and target wrenches"; + license = with lib.licenses; [ bsd3 ]; + }; +} diff --git a/nix/cartesian-controller-base.nix b/nix/cartesian-controller-base.nix new file mode 100644 index 0000000..ba90730 --- /dev/null +++ b/nix/cartesian-controller-base.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --output-dir nix --distro jazzy +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, controller-interface, kdl-parser, pluginlib, rclcpp, realtime-tools, ros-environment, trajectory-msgs }: +buildRosPackage rec { + pname = "ros-jazzy-cartesian-controller-base"; + version = "0.0.0"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "cartesian_controllers"; + rev = "9ade57d3ef7f1bf6d514551e710110b014b4a664"; + sha256 = "0sgh7r30ga5lkx5kbdb6ms5arc4rhpbwky6k85xrgpjy1gs5nx1v"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/cartesian_controller_base/"; + buildInputs = [ ament-cmake ros-environment ]; + propagatedBuildInputs = [ controller-interface kdl-parser pluginlib rclcpp realtime-tools trajectory-msgs ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "The cartesian_controller_base package"; + license = with lib.licenses; [ bsd3 ]; + }; +} diff --git a/nix/cartesian-controller-handles.nix b/nix/cartesian-controller-handles.nix new file mode 100644 index 0000000..54002bb --- /dev/null +++ b/nix/cartesian-controller-handles.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --output-dir nix --distro jazzy +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, cartesian-controller-base, controller-interface, geometry-msgs, interactive-markers, kdl-parser, pluginlib, rclcpp, urdf }: +buildRosPackage rec { + pname = "ros-jazzy-cartesian-controller-handles"; + version = "0.0.0"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "cartesian_controllers"; + rev = "9ade57d3ef7f1bf6d514551e710110b014b4a664"; + sha256 = "0sgh7r30ga5lkx5kbdb6ms5arc4rhpbwky6k85xrgpjy1gs5nx1v"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/cartesian_controller_handles/"; + buildInputs = [ ament-cmake ]; + propagatedBuildInputs = [ cartesian-controller-base controller-interface geometry-msgs interactive-markers kdl-parser pluginlib rclcpp urdf ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "The cartesian_controller_handles package"; + license = with lib.licenses; [ bsd3 ]; + }; +} diff --git a/nix/cartesian-controller-utilities.nix b/nix/cartesian-controller-utilities.nix new file mode 100644 index 0000000..2211793 --- /dev/null +++ b/nix/cartesian-controller-utilities.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --output-dir nix --distro jazzy +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, geometry-msgs, launch, launch-ros, rclcpp, sensor-msgs }: +buildRosPackage rec { + pname = "ros-jazzy-cartesian-controller-utilities"; + version = "0.1.0"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "cartesian_controllers"; + rev = "9ade57d3ef7f1bf6d514551e710110b014b4a664"; + sha256 = "0sgh7r30ga5lkx5kbdb6ms5arc4rhpbwky6k85xrgpjy1gs5nx1v"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/cartesian_controller_utilities/"; + buildInputs = [ ament-cmake ]; + propagatedBuildInputs = [ geometry-msgs launch launch-ros rclcpp sensor-msgs ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "Make the spacemouse a teach device for contact-based teleoperation"; + license = with lib.licenses; [ bsd3 ]; + }; +} diff --git a/nix/cartesian-force-controller.nix b/nix/cartesian-force-controller.nix new file mode 100644 index 0000000..6c68e6e --- /dev/null +++ b/nix/cartesian-force-controller.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --output-dir nix --distro jazzy +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, cartesian-controller-base, controller-interface, rclcpp }: +buildRosPackage rec { + pname = "ros-jazzy-cartesian-force-controller"; + version = "0.0.0"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "cartesian_controllers"; + rev = "9ade57d3ef7f1bf6d514551e710110b014b4a664"; + sha256 = "0sgh7r30ga5lkx5kbdb6ms5arc4rhpbwky6k85xrgpjy1gs5nx1v"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/cartesian_force_controller/"; + buildInputs = [ ament-cmake ]; + propagatedBuildInputs = [ cartesian-controller-base controller-interface rclcpp ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "The cartesian_force_controller package"; + license = with lib.licenses; [ bsd3 ]; + }; +} diff --git a/nix/cartesian-motion-controller.nix b/nix/cartesian-motion-controller.nix new file mode 100644 index 0000000..ce41e6c --- /dev/null +++ b/nix/cartesian-motion-controller.nix @@ -0,0 +1,22 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --output-dir nix --distro jazzy +{ lib, buildRosPackage, fetchFromGitHub, cartesian-controller-base, controller-interface, rclcpp }: +buildRosPackage rec { + pname = "ros-jazzy-cartesian-motion-controller"; + version = "0.0.0"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "cartesian_controllers"; + rev = "9ade57d3ef7f1bf6d514551e710110b014b4a664"; + sha256 = "0sgh7r30ga5lkx5kbdb6ms5arc4rhpbwky6k85xrgpjy1gs5nx1v"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/cartesian_motion_controller/"; + propagatedBuildInputs = [ cartesian-controller-base controller-interface rclcpp ]; + + meta = { + description = "The cartesian_motion_controller package"; + license = with lib.licenses; [ bsd3 ]; + }; +} diff --git a/nix/cartesian-twist-controller.nix b/nix/cartesian-twist-controller.nix new file mode 100644 index 0000000..b79550c --- /dev/null +++ b/nix/cartesian-twist-controller.nix @@ -0,0 +1,22 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --output-dir nix --distro jazzy +{ lib, buildRosPackage, fetchFromGitHub, cartesian-controller-base, controller-interface, rclcpp }: +buildRosPackage rec { + pname = "ros-jazzy-cartesian-twist-controller"; + version = "0.0.0"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "cartesian_controllers"; + rev = "9ade57d3ef7f1bf6d514551e710110b014b4a664"; + sha256 = "0sgh7r30ga5lkx5kbdb6ms5arc4rhpbwky6k85xrgpjy1gs5nx1v"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/cartesian_twist_controller/"; + propagatedBuildInputs = [ cartesian-controller-base controller-interface rclcpp ]; + + meta = { + description = "The cartesian_twist_controller package"; + license = with lib.licenses; [ bsd3 ]; + }; +} diff --git a/nix/default.nix b/nix/default.nix new file mode 100644 index 0000000..00a2377 --- /dev/null +++ b/nix/default.nix @@ -0,0 +1,18 @@ +{ + nix-ros-overlay ? builtins.fetchTarball "https://github.com/lopsided98/nix-ros-overlay/archive/master.tar.gz", +}: +let + applyDistroOverlay = + rosOverlay: rosPackages: + rosPackages + // builtins.mapAttrs ( + rosDistro: rosPkgs: if rosPkgs ? overrideScope then rosPkgs.overrideScope rosOverlay else rosPkgs + ) rosPackages; + rosDistroOverlays = final: prev: { + # Apply the overlay to multiple ROS distributions + rosPackages = applyDistroOverlay (import ./overlay.nix) prev.rosPackages; + }; +in +import nix-ros-overlay { + overlays = [ rosDistroOverlays ]; +} diff --git a/nix/env-manager-interfaces.nix b/nix/env-manager-interfaces.nix new file mode 100644 index 0000000..bdd110d --- /dev/null +++ b/nix/env-manager-interfaces.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --output-dir nix --distro jazzy +{ lib, buildRosPackage, fetchgit, ament-cmake, ament-lint-auto, ament-lint-common, builtin-interfaces, lifecycle-msgs, rosidl-default-generators, rosidl-default-runtime }: +buildRosPackage rec { + pname = "ros-jazzy-env-manager-interfaces"; + version = "0.0.0"; + + src = fetchgit { + url = "git@gitlab.com:robossembler/robossembler-ros2.git"; + rev = "a87d5779895cadca4ef5a121d03156e85387b199"; + sha256 = "0zxx8pd8y5f8qi6phwr88zx502i31clsx3wk78rsjs9zp4q3zlmm"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/env_manager/env_manager_interfaces/"; + buildInputs = [ ament-cmake rosidl-default-generators ]; + checkInputs = [ ament-lint-auto ament-lint-common ]; + propagatedBuildInputs = [ builtin-interfaces lifecycle-msgs rosidl-default-runtime ]; + nativeBuildInputs = [ ament-cmake rosidl-default-generators ]; + + meta = { + description = "TODO: Package description"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/nix/env-manager.nix b/nix/env-manager.nix new file mode 100644 index 0000000..1d94318 --- /dev/null +++ b/nix/env-manager.nix @@ -0,0 +1,21 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --output-dir nix --distro jazzy +{ lib, buildRosPackage, fetchgit, ament-copyright, ament-flake8, ament-pep257, python3Packages }: +buildRosPackage rec { + pname = "ros-jazzy-env-manager"; + version = "0.0.0"; + + src = fetchgit { + url = "git@gitlab.com:robossembler/robossembler-ros2.git"; + rev = "a87d5779895cadca4ef5a121d03156e85387b199"; + sha256 = "0zxx8pd8y5f8qi6phwr88zx502i31clsx3wk78rsjs9zp4q3zlmm"; + }; + + buildType = "ament_python"; + sourceRoot = "${src.name}/env_manager/env_manager/"; + checkInputs = [ ament-copyright ament-flake8 ament-pep257 python3Packages.pytest ]; + + meta = { + description = "TODO: Package description"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/nix/ffw-bringup.nix b/nix/ffw-bringup.nix new file mode 100644 index 0000000..6693d24 --- /dev/null +++ b/nix/ffw-bringup.nix @@ -0,0 +1,21 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --output-dir nix --distro jazzy +{ lib, buildRosPackage, fetchFromGitHub }: +buildRosPackage rec { + pname = "ros-jazzy-ffw-bringup"; + version = "1.0.5"; + + src = fetchFromGitHub { + owner = "ROBOTIS-GIT"; + repo = "ai_worker"; + rev = "e53bb7266841d2cc99e1566ff3922f023a079b3b"; + sha256 = "0q02igrwfc4n7g51h3250lapkvmpaapxd35b1k5mzdxfmlz4rqcl"; + }; + + buildType = "ament_python"; + sourceRoot = "${src.name}/ffw_bringup/"; + + meta = { + description = "ROS 2 launch scripts for starting the FFW"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/nix/ffw-description.nix b/nix/ffw-description.nix new file mode 100644 index 0000000..7b29316 --- /dev/null +++ b/nix/ffw-description.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --output-dir nix --distro jazzy +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, realsense2-description, urdf, xacro }: +buildRosPackage rec { + pname = "ros-jazzy-ffw-description"; + version = "1.0.5"; + + src = fetchFromGitHub { + owner = "ROBOTIS-GIT"; + repo = "ai_worker"; + rev = "e53bb7266841d2cc99e1566ff3922f023a079b3b"; + sha256 = "0q02igrwfc4n7g51h3250lapkvmpaapxd35b1k5mzdxfmlz4rqcl"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/ffw_description/"; + buildInputs = [ ament-cmake ]; + propagatedBuildInputs = [ realsense2-description urdf xacro ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "3D models of the FFW for simulation and visualization"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/nix/ffw-joint-trajectory-command-broadcaster.nix b/nix/ffw-joint-trajectory-command-broadcaster.nix new file mode 100644 index 0000000..5ddf151 --- /dev/null +++ b/nix/ffw-joint-trajectory-command-broadcaster.nix @@ -0,0 +1,25 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --output-dir nix --distro jazzy +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-cmake-gmock, backward-ros, builtin-interfaces, control-msgs, controller-interface, controller-manager, generate-parameter-library, hardware-interface, hardware-interface-testing, pluginlib, rclcpp, rclcpp-lifecycle, rcutils, realtime-tools, ros2-control-test-assets, sensor-msgs, trajectory-msgs, urdf }: +buildRosPackage rec { + pname = "ros-jazzy-ffw-joint-trajectory-command-broadcaster"; + version = "1.0.5"; + + src = fetchFromGitHub { + owner = "ROBOTIS-GIT"; + repo = "ai_worker"; + rev = "e53bb7266841d2cc99e1566ff3922f023a079b3b"; + sha256 = "0q02igrwfc4n7g51h3250lapkvmpaapxd35b1k5mzdxfmlz4rqcl"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/ffw_joint_trajectory_command_broadcaster/"; + buildInputs = [ ament-cmake ]; + checkInputs = [ ament-cmake-gmock controller-manager hardware-interface hardware-interface-testing rclcpp ros2-control-test-assets ]; + propagatedBuildInputs = [ backward-ros builtin-interfaces control-msgs controller-interface generate-parameter-library pluginlib rclcpp-lifecycle rcutils realtime-tools sensor-msgs trajectory-msgs urdf ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "Joint Trajectory Command Broadcaster ROS 2 package."; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/nix/ffw-joystick-controller.nix b/nix/ffw-joystick-controller.nix new file mode 100644 index 0000000..1c37586 --- /dev/null +++ b/nix/ffw-joystick-controller.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --output-dir nix --distro jazzy +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, controller-interface, hardware-interface, pluginlib, rclcpp, rclcpp-lifecycle, std-msgs }: +buildRosPackage rec { + pname = "ros-jazzy-ffw-joystick-controller"; + version = "1.0.5"; + + src = fetchFromGitHub { + owner = "ROBOTIS-GIT"; + repo = "ai_worker"; + rev = "e53bb7266841d2cc99e1566ff3922f023a079b3b"; + sha256 = "0q02igrwfc4n7g51h3250lapkvmpaapxd35b1k5mzdxfmlz4rqcl"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/ffw_joystick_controller/"; + buildInputs = [ ament-cmake ]; + propagatedBuildInputs = [ controller-interface hardware-interface pluginlib rclcpp rclcpp-lifecycle std-msgs ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "ROS 2 controller for reading joystick values"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/nix/ffw-moveit-config.nix b/nix/ffw-moveit-config.nix new file mode 100644 index 0000000..634385a --- /dev/null +++ b/nix/ffw-moveit-config.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --output-dir nix --distro jazzy +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, controller-manager, joint-state-publisher, joint-state-publisher-gui, moveit-configs-utils, moveit-kinematics, moveit-planners, moveit-ros-move-group, moveit-ros-visualization, moveit-setup-assistant, moveit-simple-controller-manager, robot-state-publisher, rviz-common, rviz-default-plugins, rviz2, tf2-ros, xacro }: +buildRosPackage rec { + pname = "ros-jazzy-ffw-moveit-config"; + version = "1.0.5"; + + src = fetchFromGitHub { + owner = "ROBOTIS-GIT"; + repo = "ai_worker"; + rev = "e53bb7266841d2cc99e1566ff3922f023a079b3b"; + sha256 = "0q02igrwfc4n7g51h3250lapkvmpaapxd35b1k5mzdxfmlz4rqcl"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/ffw_moveit_config/"; + buildInputs = [ ament-cmake ]; + propagatedBuildInputs = [ controller-manager joint-state-publisher joint-state-publisher-gui moveit-configs-utils moveit-kinematics moveit-planners moveit-ros-move-group moveit-ros-visualization moveit-setup-assistant moveit-simple-controller-manager robot-state-publisher rviz-common rviz-default-plugins rviz2 tf2-ros xacro ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "An automatically generated package with all the configuration and launch files for using the ffw with the MoveIt Motion Planning Framework"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/nix/ffw-spring-actuator-controller.nix b/nix/ffw-spring-actuator-controller.nix new file mode 100644 index 0000000..f753f39 --- /dev/null +++ b/nix/ffw-spring-actuator-controller.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --output-dir nix --distro jazzy +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, angles, backward-ros, control-msgs, control-toolbox, controller-interface, generate-parameter-library, hardware-interface, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, rsl, tl-expected, urdf }: +buildRosPackage rec { + pname = "ros-jazzy-ffw-spring-actuator-controller"; + version = "1.0.5"; + + src = fetchFromGitHub { + owner = "ROBOTIS-GIT"; + repo = "ai_worker"; + rev = "e53bb7266841d2cc99e1566ff3922f023a079b3b"; + sha256 = "0q02igrwfc4n7g51h3250lapkvmpaapxd35b1k5mzdxfmlz4rqcl"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/ffw_spring_actuator_controller/"; + buildInputs = [ ament-cmake ]; + propagatedBuildInputs = [ angles backward-ros control-msgs control-toolbox controller-interface generate-parameter-library hardware-interface pluginlib rclcpp rclcpp-lifecycle realtime-tools rsl tl-expected urdf ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "Spring Actuator Controller ROS 2 package."; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/nix/ffw-teleop.nix b/nix/ffw-teleop.nix new file mode 100644 index 0000000..17bdef0 --- /dev/null +++ b/nix/ffw-teleop.nix @@ -0,0 +1,22 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --output-dir nix --distro jazzy +{ lib, buildRosPackage, fetchFromGitHub, python3Packages, rclpy }: +buildRosPackage rec { + pname = "ros-jazzy-ffw-teleop"; + version = "1.0.5"; + + src = fetchFromGitHub { + owner = "ROBOTIS-GIT"; + repo = "ai_worker"; + rev = "e53bb7266841d2cc99e1566ff3922f023a079b3b"; + sha256 = "0q02igrwfc4n7g51h3250lapkvmpaapxd35b1k5mzdxfmlz4rqcl"; + }; + + buildType = "ament_python"; + sourceRoot = "${src.name}/ffw_teleop/"; + propagatedBuildInputs = [ python3Packages.tkinter rclpy ]; + + meta = { + description = "FFW teleop ROS 2 package."; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/nix/ffw.nix b/nix/ffw.nix new file mode 100644 index 0000000..2f7c38a --- /dev/null +++ b/nix/ffw.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --output-dir nix --distro jazzy +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ffw-bringup, ffw-description, ffw-joint-trajectory-command-broadcaster, ffw-joystick-controller, ffw-moveit-config, ffw-spring-actuator-controller, ffw-teleop }: +buildRosPackage rec { + pname = "ros-jazzy-ffw"; + version = "1.0.5"; + + src = fetchFromGitHub { + owner = "ROBOTIS-GIT"; + repo = "ai_worker"; + rev = "e53bb7266841d2cc99e1566ff3922f023a079b3b"; + sha256 = "0q02igrwfc4n7g51h3250lapkvmpaapxd35b1k5mzdxfmlz4rqcl"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/ffw/"; + buildInputs = [ ament-cmake ]; + propagatedBuildInputs = [ ffw-bringup ffw-description ffw-joint-trajectory-command-broadcaster ffw-joystick-controller ffw-moveit-config ffw-spring-actuator-controller ffw-teleop ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "ROS 2 meta package for FFW"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/nix/gym-gz.nix b/nix/gym-gz.nix new file mode 100644 index 0000000..09e8fea --- /dev/null +++ b/nix/gym-gz.nix @@ -0,0 +1,20 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --output-dir nix --distro jazzy +{ lib, buildRosPackage, fetchgit, ament-copyright, ament-flake8, ament-pep257, python3Packages }: +buildRosPackage rec { + pname = "ros-jazzy-gym-gz"; + version = "1.5.0"; + + src = fetchgit { + url = "rad://z33HXHSaU12N1tEgJCWJpB58w4KR"; + rev = "48a8a56d5f2441627cabdf0f85b3adab3eea33af"; + sha256 = "0hs3rmszdizbkxpvvkihrki61l4whnhsf1a6dwjw9ahgh98yc0qf"; + }; + + buildType = "ament_python"; + checkInputs = [ ament-copyright ament-flake8 ament-pep257 python3Packages.pytest ]; + + meta = { + description = "TODO: Package description"; + license = with lib.licenses; [ "TODO-License-declaration" ]; + }; +} diff --git a/nix/overlay.nix b/nix/overlay.nix new file mode 100644 index 0000000..538e584 --- /dev/null +++ b/nix/overlay.nix @@ -0,0 +1,43 @@ +final: prev: +{ + behaviortree-ros2 = final.callPackage ./behaviortree-ros2.nix {}; + btcpp-ros2-interfaces = final.callPackage ./btcpp-ros2-interfaces.nix {}; + btcpp-ros2-samples = final.callPackage ./btcpp-ros2-samples.nix {}; + cartesian-compliance-controller = final.callPackage ./cartesian-compliance-controller.nix {}; + cartesian-controller-base = final.callPackage ./cartesian-controller-base.nix {}; + cartesian-controller-handles = final.callPackage ./cartesian-controller-handles.nix {}; + cartesian-controller-utilities = final.callPackage ./cartesian-controller-utilities.nix {}; + cartesian-force-controller = final.callPackage ./cartesian-force-controller.nix {}; + cartesian-motion-controller = final.callPackage ./cartesian-motion-controller.nix {}; + cartesian-twist-controller = final.callPackage ./cartesian-twist-controller.nix {}; + env-manager = final.callPackage ./env-manager.nix {}; + env-manager-interfaces = final.callPackage ./env-manager-interfaces.nix {}; + ffw = final.callPackage ./ffw.nix {}; + ffw-bringup = final.callPackage ./ffw-bringup.nix {}; + ffw-description = final.callPackage ./ffw-description.nix {}; + ffw-joint-trajectory-command-broadcaster = final.callPackage ./ffw-joint-trajectory-command-broadcaster.nix {}; + ffw-joystick-controller = final.callPackage ./ffw-joystick-controller.nix {}; + ffw-moveit-config = final.callPackage ./ffw-moveit-config.nix {}; + ffw-spring-actuator-controller = final.callPackage ./ffw-spring-actuator-controller.nix {}; + ffw-teleop = final.callPackage ./ffw-teleop.nix {}; + gym-gz = final.callPackage ./gym-gz.nix {}; + rbs-arm = final.callPackage ./rbs-arm.nix {}; + rbs-bringup = final.callPackage ./rbs-bringup.nix {}; + rbs-bt-executor = final.callPackage ./rbs-bt-executor.nix {}; + rbs-gym = final.callPackage ./rbs-gym.nix {}; + rbs-perception = final.callPackage ./rbs-perception.nix {}; + rbs-runtime = final.callPackage ./rbs-runtime.nix {}; + rbs-skill-interfaces = final.callPackage ./rbs-skill-interfaces.nix {}; + rbs-skill-servers = final.callPackage ./rbs-skill-servers.nix {}; + rbs-task-planner = final.callPackage ./rbs-task-planner.nix {}; + rbs-tests = final.callPackage ./rbs-tests.nix {}; + rbs-utils = final.callPackage ./rbs-utils.nix {}; + rbs-utils-interfaces = final.callPackage ./rbs-utils-interfaces.nix {}; + rbss-aruco-pe = final.callPackage ./rbss-aruco-pe.nix {}; + rbss-movetopose = final.callPackage ./rbss-movetopose.nix {}; + rbss-objectdetection = final.callPackage ./rbss-objectdetection.nix {}; + rbss-poseestimation = final.callPackage ./rbss-poseestimation.nix {}; + robonomics = final.callPackage ./robonomics.nix {}; + robot-builder = final.callPackage ./robot-builder.nix {}; + scenario = final.callPackage ./scenario.nix {}; +} diff --git a/nix/rbs-arm.nix b/nix/rbs-arm.nix new file mode 100644 index 0000000..dd9a037 --- /dev/null +++ b/nix/rbs-arm.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --output-dir nix --distro jazzy +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-lint-auto, ament-lint-common, joint-trajectory-controller, ros-gz, ros2-control, ros2-controllers }: +buildRosPackage rec { + pname = "ros-jazzy-rbs-arm"; + version = "0.0.0"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "rbs-arm"; + rev = "c7c02247fdb4a65cd9bc0a6e6b01e429c3523558"; + sha256 = "0ja9y52g3g172pcr9jr7ww68yh4qcj65j679hdv39cca53h4ljzx"; + }; + + buildType = "ament_cmake"; + buildInputs = [ ament-cmake ]; + checkInputs = [ ament-lint-auto ament-lint-common ]; + propagatedBuildInputs = [ joint-trajectory-controller ros-gz ros2-control ros2-controllers ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "TODO: Package description"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/nix/rbs-bringup.nix b/nix/rbs-bringup.nix new file mode 100644 index 0000000..8b1abc6 --- /dev/null +++ b/nix/rbs-bringup.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --output-dir nix --distro jazzy +{ lib, buildRosPackage, fetchgit, ament-cmake, ament-lint-auto, ament-lint-common, nav2-common, rbs-bt-executor, rbs-perception, rbs-skill-interfaces, rbs-skill-servers, rbs-utils, rbs-utils-interfaces, robot-builder }: +buildRosPackage rec { + pname = "ros-jazzy-rbs-bringup"; + version = "0.0.0"; + + src = fetchgit { + url = "git@gitlab.com:robossembler/robossembler-ros2.git"; + rev = "a87d5779895cadca4ef5a121d03156e85387b199"; + sha256 = "0zxx8pd8y5f8qi6phwr88zx502i31clsx3wk78rsjs9zp4q3zlmm"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/rbs_bringup/"; + buildInputs = [ ament-cmake rbs-bt-executor rbs-perception rbs-skill-interfaces rbs-utils-interfaces ]; + checkInputs = [ ament-lint-auto ament-lint-common ]; + propagatedBuildInputs = [ nav2-common rbs-skill-servers rbs-utils robot-builder ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "TODO: Package description"; + license = with lib.licenses; [ "TODO-License-declaration" ]; + }; +} diff --git a/nix/rbs-bt-executor.nix b/nix/rbs-bt-executor.nix new file mode 100644 index 0000000..b686bbf --- /dev/null +++ b/nix/rbs-bt-executor.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --output-dir nix --distro jazzy +{ lib, buildRosPackage, fetchgit, ament-cmake, ament-cmake-python, ament-lint-auto, ament-lint-common, behaviortree-cpp, behaviortree-ros2, control-msgs, env-manager-interfaces, geometry-msgs, lifecycle-msgs, moveit-core, moveit-ros-planning, moveit-ros-planning-interface, rbs-skill-interfaces, rbs-utils, rclpy }: +buildRosPackage rec { + pname = "ros-jazzy-rbs-bt-executor"; + version = "0.0.0"; + + src = fetchgit { + url = "git@gitlab.com:robossembler/robossembler-ros2.git"; + rev = "a87d5779895cadca4ef5a121d03156e85387b199"; + sha256 = "0zxx8pd8y5f8qi6phwr88zx502i31clsx3wk78rsjs9zp4q3zlmm"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/rbs_bt_executor/"; + buildInputs = [ ament-cmake ament-cmake-python ]; + checkInputs = [ ament-lint-auto ament-lint-common ]; + propagatedBuildInputs = [ behaviortree-cpp behaviortree-ros2 control-msgs env-manager-interfaces geometry-msgs lifecycle-msgs moveit-core moveit-ros-planning moveit-ros-planning-interface rbs-skill-interfaces rbs-utils rclpy ]; + nativeBuildInputs = [ ament-cmake ament-cmake-python ]; + + meta = { + description = "TODO: Package description"; + license = with lib.licenses; [ "TODO-License-declaration" ]; + }; +} diff --git a/nix/rbs-gym.nix b/nix/rbs-gym.nix new file mode 100644 index 0000000..c1ba026 --- /dev/null +++ b/nix/rbs-gym.nix @@ -0,0 +1,21 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --output-dir nix --distro jazzy +{ lib, buildRosPackage, fetchgit, ament-copyright, ament-flake8, ament-pep257, python3Packages }: +buildRosPackage rec { + pname = "ros-jazzy-rbs-gym"; + version = "0.0.0"; + + src = fetchgit { + url = "git@gitlab.com:robossembler/robossembler-ros2.git"; + rev = "a87d5779895cadca4ef5a121d03156e85387b199"; + sha256 = "0zxx8pd8y5f8qi6phwr88zx502i31clsx3wk78rsjs9zp4q3zlmm"; + }; + + buildType = "ament_python"; + sourceRoot = "${src.name}/env_manager/rbs_gym/"; + checkInputs = [ ament-copyright ament-flake8 ament-pep257 python3Packages.pytest ]; + + meta = { + description = "TODO: Package description"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/nix/rbs-perception.nix b/nix/rbs-perception.nix new file mode 100644 index 0000000..e8c4bde --- /dev/null +++ b/nix/rbs-perception.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --output-dir nix --distro jazzy +{ lib, buildRosPackage, fetchgit, ament-cmake, ament-cmake-python, ament-lint-auto, ament-lint-common, cv-bridge, image-transport, perception-pcl, rbs-skill-interfaces, rclcpp, rclpy, sensor-msgs, std-msgs, tf2-eigen, tf2-ros, visualization-msgs }: +buildRosPackage rec { + pname = "ros-jazzy-rbs-perception"; + version = "0.0.0"; + + src = fetchgit { + url = "git@gitlab.com:robossembler/robossembler-ros2.git"; + rev = "a87d5779895cadca4ef5a121d03156e85387b199"; + sha256 = "0zxx8pd8y5f8qi6phwr88zx502i31clsx3wk78rsjs9zp4q3zlmm"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/rbs_perception/"; + buildInputs = [ ament-cmake ament-cmake-python ]; + checkInputs = [ ament-lint-auto ament-lint-common ]; + propagatedBuildInputs = [ cv-bridge image-transport perception-pcl rbs-skill-interfaces rclcpp rclpy sensor-msgs std-msgs tf2-eigen tf2-ros visualization-msgs ]; + nativeBuildInputs = [ ament-cmake ament-cmake-python ]; + + meta = { + description = "An node for robot perception"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/nix/rbs-runtime.nix b/nix/rbs-runtime.nix new file mode 100644 index 0000000..0bf7a52 --- /dev/null +++ b/nix/rbs-runtime.nix @@ -0,0 +1,22 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --output-dir nix --distro jazzy +{ lib, buildRosPackage, fetchgit, ament-copyright, ament-flake8, ament-pep257, env-manager, env-manager-interfaces, python3Packages, robot-builder }: +buildRosPackage rec { + pname = "ros-jazzy-rbs-runtime"; + version = "0.0.0"; + + src = fetchgit { + url = "git@gitlab.com:robossembler/robossembler-ros2.git"; + rev = "a87d5779895cadca4ef5a121d03156e85387b199"; + sha256 = "0zxx8pd8y5f8qi6phwr88zx502i31clsx3wk78rsjs9zp4q3zlmm"; + }; + + buildType = "ament_python"; + sourceRoot = "${src.name}/env_manager/rbs_runtime/"; + checkInputs = [ ament-copyright ament-flake8 ament-pep257 python3Packages.pytest ]; + propagatedBuildInputs = [ env-manager env-manager-interfaces robot-builder ]; + + meta = { + description = "TODO: Package description"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/nix/rbs-skill-interfaces.nix b/nix/rbs-skill-interfaces.nix new file mode 100644 index 0000000..608c77f --- /dev/null +++ b/nix/rbs-skill-interfaces.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --output-dir nix --distro jazzy +{ lib, buildRosPackage, fetchgit, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, geometry-msgs, moveit-msgs, rosidl-default-generators, rosidl-default-runtime, shape-msgs, std-msgs, test-msgs }: +buildRosPackage rec { + pname = "ros-jazzy-rbs-skill-interfaces"; + version = "0.0.0"; + + src = fetchgit { + url = "git@gitlab.com:robossembler/robossembler-ros2.git"; + rev = "a87d5779895cadca4ef5a121d03156e85387b199"; + sha256 = "0zxx8pd8y5f8qi6phwr88zx502i31clsx3wk78rsjs9zp4q3zlmm"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/rbs_skill_interfaces/"; + buildInputs = [ ament-cmake rosidl-default-generators ]; + checkInputs = [ ament-cmake-gtest ament-lint-auto ament-lint-common test-msgs ]; + propagatedBuildInputs = [ geometry-msgs moveit-msgs rosidl-default-runtime shape-msgs std-msgs ]; + nativeBuildInputs = [ ament-cmake rosidl-default-generators ]; + + meta = { + description = "TODO: Package description"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/nix/rbs-skill-servers.nix b/nix/rbs-skill-servers.nix new file mode 100644 index 0000000..3120c9f --- /dev/null +++ b/nix/rbs-skill-servers.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --output-dir nix --distro jazzy +{ lib, buildRosPackage, fetchgit, action-msgs, ament-cmake, ament-lint-auto, ament-lint-common, cartesian-compliance-controller, cartesian-controller-base, cartesian-controller-handles, cartesian-controller-utilities, cartesian-force-controller, cartesian-motion-controller, cartesian-twist-controller, controller-manager-msgs, geometric-shapes, geometry-msgs, moveit-core, moveit-msgs, moveit-ros-planning, moveit-ros-planning-interface, rbs-skill-interfaces, rbs-utils, rclcpp, rclcpp-action, rclcpp-components, tf2-eigen, tf2-ros }: +buildRosPackage rec { + pname = "ros-jazzy-rbs-skill-servers"; + version = "0.0.0"; + + src = fetchgit { + url = "git@gitlab.com:robossembler/robossembler-ros2.git"; + rev = "a87d5779895cadca4ef5a121d03156e85387b199"; + sha256 = "0zxx8pd8y5f8qi6phwr88zx502i31clsx3wk78rsjs9zp4q3zlmm"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/rbs_skill_servers/"; + buildInputs = [ ament-cmake cartesian-compliance-controller cartesian-controller-base cartesian-controller-handles cartesian-controller-utilities cartesian-force-controller cartesian-motion-controller cartesian-twist-controller controller-manager-msgs ]; + checkInputs = [ ament-lint-auto ament-lint-common ]; + propagatedBuildInputs = [ action-msgs geometric-shapes geometry-msgs moveit-core moveit-msgs moveit-ros-planning moveit-ros-planning-interface rbs-skill-interfaces rbs-utils rclcpp rclcpp-action rclcpp-components tf2-eigen tf2-ros ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "TODO: Package description"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/nix/rbs-task-planner.nix b/nix/rbs-task-planner.nix new file mode 100644 index 0000000..913418e --- /dev/null +++ b/nix/rbs-task-planner.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --output-dir nix --distro jazzy +{ lib, buildRosPackage, fetchgit, ament-cmake, ament-cmake-gtest, ament-index-cpp, ament-lint-auto, ament-lint-common, plansys2-bringup, plansys2-bt-actions, plansys2-domain-expert, plansys2-executor, plansys2-msgs, plansys2-pddl-parser, plansys2-planner, plansys2-problem-expert, plansys2-terminal, popf, test-msgs }: +buildRosPackage rec { + pname = "ros-jazzy-rbs-task-planner"; + version = "0.0.1"; + + src = fetchgit { + url = "git@gitlab.com:robossembler/robossembler-ros2.git"; + rev = "a87d5779895cadca4ef5a121d03156e85387b199"; + sha256 = "0zxx8pd8y5f8qi6phwr88zx502i31clsx3wk78rsjs9zp4q3zlmm"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/rbs_task_planner/"; + buildInputs = [ ament-cmake ]; + checkInputs = [ ament-cmake-gtest ament-lint-auto ament-lint-common test-msgs ]; + propagatedBuildInputs = [ ament-index-cpp plansys2-bringup plansys2-bt-actions plansys2-domain-expert plansys2-executor plansys2-msgs plansys2-pddl-parser plansys2-planner plansys2-problem-expert plansys2-terminal popf ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "ROS2 task planner for manipulator"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/nix/rbs-tests.nix b/nix/rbs-tests.nix new file mode 100644 index 0000000..2c8026c --- /dev/null +++ b/nix/rbs-tests.nix @@ -0,0 +1,21 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --output-dir nix --distro jazzy +{ lib, buildRosPackage, fetchgit, launch, launch-ros, launch-testing-ament-cmake, rbs-utils }: +buildRosPackage rec { + pname = "ros-jazzy-rbs-tests"; + version = "0.0.1"; + + src = fetchgit { + url = "git@gitlab.com:robossembler/robossembler-ros2.git"; + rev = "a87d5779895cadca4ef5a121d03156e85387b199"; + sha256 = "0zxx8pd8y5f8qi6phwr88zx502i31clsx3wk78rsjs9zp4q3zlmm"; + }; + + buildType = "catkin"; + sourceRoot = "${src.name}/rbs_tests/"; + checkInputs = [ launch launch-ros launch-testing-ament-cmake rbs-utils ]; + + meta = { + description = "Integration tests for the Robossembler-ROS2"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/nix/rbs-utils-interfaces.nix b/nix/rbs-utils-interfaces.nix new file mode 100644 index 0000000..a500a5e --- /dev/null +++ b/nix/rbs-utils-interfaces.nix @@ -0,0 +1,23 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --output-dir nix --distro jazzy +{ lib, buildRosPackage, fetchgit, ament-cmake, geometry-msgs, rosidl-default-generators, rosidl-default-runtime }: +buildRosPackage rec { + pname = "ros-jazzy-rbs-utils-interfaces"; + version = "0.0.0"; + + src = fetchgit { + url = "git@gitlab.com:robossembler/robossembler-ros2.git"; + rev = "a87d5779895cadca4ef5a121d03156e85387b199"; + sha256 = "0zxx8pd8y5f8qi6phwr88zx502i31clsx3wk78rsjs9zp4q3zlmm"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/rbs_utils/rbs_utils_interfaces/"; + buildInputs = [ ament-cmake rosidl-default-generators ]; + propagatedBuildInputs = [ geometry-msgs rosidl-default-runtime ]; + nativeBuildInputs = [ ament-cmake rosidl-default-generators ]; + + meta = { + description = "Interfaces for read robossembler_db config"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/nix/rbs-utils.nix b/nix/rbs-utils.nix new file mode 100644 index 0000000..fdc3b22 --- /dev/null +++ b/nix/rbs-utils.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --output-dir nix --distro jazzy +{ lib, buildRosPackage, fetchgit, ament-cmake, ament-cmake-python, ament-lint-auto, ament-lint-common, controller-manager-msgs, geometry-msgs, image-transport, nlohmann_json, rbs-utils-interfaces, rclcpp, rclcpp-lifecycle, rclpy, rosbag2-cpp, rosidl-default-generators, rviz-visual-tools, sensor-msgs, std-msgs, tf2-eigen, tf2-ros }: +buildRosPackage rec { + pname = "ros-jazzy-rbs-utils"; + version = "0.0.0"; + + src = fetchgit { + url = "git@gitlab.com:robossembler/robossembler-ros2.git"; + rev = "a87d5779895cadca4ef5a121d03156e85387b199"; + sha256 = "0zxx8pd8y5f8qi6phwr88zx502i31clsx3wk78rsjs9zp4q3zlmm"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/rbs_utils/rbs_utils/"; + buildInputs = [ ament-cmake ament-cmake-python ]; + checkInputs = [ ament-lint-auto ament-lint-common ]; + propagatedBuildInputs = [ controller-manager-msgs geometry-msgs image-transport nlohmann_json rbs-utils-interfaces rclcpp rclcpp-lifecycle rclpy rosbag2-cpp rosidl-default-generators rviz-visual-tools sensor-msgs std-msgs tf2-eigen tf2-ros ]; + nativeBuildInputs = [ ament-cmake ament-cmake-python ]; + + meta = { + description = "TODO: Package description"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/nix/rbss-aruco-pe.nix b/nix/rbss-aruco-pe.nix new file mode 100644 index 0000000..a680f4c --- /dev/null +++ b/nix/rbss-aruco-pe.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --output-dir nix --distro jazzy +{ lib, buildRosPackage, fetchgit, ament-cmake, ament-cmake-python, ament-lint-auto, ament-lint-common, cv-bridge, geometry-msgs, lifecycle-msgs, rbs-skill-interfaces, rclpy, sensor-msgs, std-msgs, tf-transformations }: +buildRosPackage rec { + pname = "ros-jazzy-rbss-aruco-pe"; + version = "0.0.1"; + + src = fetchgit { + url = "git@gitlab.com:robossembler/robossembler-ros2.git"; + rev = "a87d5779895cadca4ef5a121d03156e85387b199"; + sha256 = "0zxx8pd8y5f8qi6phwr88zx502i31clsx3wk78rsjs9zp4q3zlmm"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/rbss_aruco_pe/"; + buildInputs = [ ament-cmake ament-cmake-python ]; + checkInputs = [ ament-lint-auto ament-lint-common ]; + propagatedBuildInputs = [ cv-bridge geometry-msgs lifecycle-msgs rbs-skill-interfaces rclpy sensor-msgs std-msgs tf-transformations ]; + nativeBuildInputs = [ ament-cmake ament-cmake-python ]; + + meta = { + description = "Aruco Marker Tracking and Pose Estimation wrapper for ROS2, using RGB cameras"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/nix/rbss-movetopose.nix b/nix/rbss-movetopose.nix new file mode 100644 index 0000000..8e928a3 --- /dev/null +++ b/nix/rbss-movetopose.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --output-dir nix --distro jazzy +{ lib, buildRosPackage, fetchgit, ament-cmake, ament-cmake-python, ament-lint-auto, ament-lint-common, geometry-msgs, rbs-skill-interfaces, rclcpp, rclpy, std-msgs }: +buildRosPackage rec { + pname = "ros-jazzy-rbss-movetopose"; + version = "0.0.1"; + + src = fetchgit { + url = "git@gitlab.com:robossembler/robossembler-ros2.git"; + rev = "a87d5779895cadca4ef5a121d03156e85387b199"; + sha256 = "0zxx8pd8y5f8qi6phwr88zx502i31clsx3wk78rsjs9zp4q3zlmm"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/rbss_movetopose/"; + buildInputs = [ ament-cmake ament-cmake-python ]; + checkInputs = [ ament-lint-auto ament-lint-common ]; + propagatedBuildInputs = [ geometry-msgs rbs-skill-interfaces rclcpp rclpy std-msgs ]; + nativeBuildInputs = [ ament-cmake ament-cmake-python ]; + + meta = { + description = "The Move to pose skill"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/nix/rbss-objectdetection.nix b/nix/rbss-objectdetection.nix new file mode 100644 index 0000000..5897926 --- /dev/null +++ b/nix/rbss-objectdetection.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --output-dir nix --distro jazzy +{ lib, buildRosPackage, fetchgit, ament-cmake, ament-cmake-python, ament-lint-auto, ament-lint-common, cv-bridge, image-transport, lifecycle-msgs, rbs-skill-interfaces, rclpy, sensor-msgs, std-msgs }: +buildRosPackage rec { + pname = "ros-jazzy-rbss-objectdetection"; + version = "0.0.1"; + + src = fetchgit { + url = "git@gitlab.com:robossembler/robossembler-ros2.git"; + rev = "a87d5779895cadca4ef5a121d03156e85387b199"; + sha256 = "0zxx8pd8y5f8qi6phwr88zx502i31clsx3wk78rsjs9zp4q3zlmm"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/rbss_objectdetection/"; + buildInputs = [ ament-cmake ament-cmake-python ]; + checkInputs = [ ament-lint-auto ament-lint-common ]; + propagatedBuildInputs = [ cv-bridge image-transport lifecycle-msgs rbs-skill-interfaces rclpy sensor-msgs std-msgs ]; + nativeBuildInputs = [ ament-cmake ament-cmake-python ]; + + meta = { + description = "The Object Detection skill"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/nix/rbss-poseestimation.nix b/nix/rbss-poseestimation.nix new file mode 100644 index 0000000..b075268 --- /dev/null +++ b/nix/rbss-poseestimation.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --output-dir nix --distro jazzy +{ lib, buildRosPackage, fetchgit, ament-cmake, ament-cmake-python, ament-lint-auto, ament-lint-common, cv-bridge, geometry-msgs, image-transport, rclpy, sensor-msgs, std-msgs }: +buildRosPackage rec { + pname = "ros-jazzy-rbss-poseestimation"; + version = "0.0.1"; + + src = fetchgit { + url = "git@gitlab.com:robossembler/robossembler-ros2.git"; + rev = "a87d5779895cadca4ef5a121d03156e85387b199"; + sha256 = "0zxx8pd8y5f8qi6phwr88zx502i31clsx3wk78rsjs9zp4q3zlmm"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/rbss_poseestimation/"; + buildInputs = [ ament-cmake ament-cmake-python ]; + checkInputs = [ ament-lint-auto ament-lint-common ]; + propagatedBuildInputs = [ cv-bridge geometry-msgs image-transport rclpy sensor-msgs std-msgs ]; + nativeBuildInputs = [ ament-cmake ament-cmake-python ]; + + meta = { + description = "The Pose Estimation skill"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/nix/robonomics.nix b/nix/robonomics.nix new file mode 100644 index 0000000..229adf5 --- /dev/null +++ b/nix/robonomics.nix @@ -0,0 +1,22 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --output-dir nix --distro jazzy +{ lib, buildRosPackage, fetchgit, ament-copyright, ament-flake8, ament-pep257, python3Packages, rclpy }: +buildRosPackage rec { + pname = "ros-jazzy-robonomics"; + version = "0.1.0"; + + src = fetchgit { + url = "git@gitlab.com:robossembler/robossembler-ros2.git"; + rev = "a87d5779895cadca4ef5a121d03156e85387b199"; + sha256 = "0zxx8pd8y5f8qi6phwr88zx502i31clsx3wk78rsjs9zp4q3zlmm"; + }; + + buildType = "ament_python"; + sourceRoot = "${src.name}/robonomics/"; + checkInputs = [ ament-copyright ament-flake8 ament-pep257 python3Packages.pytest ]; + propagatedBuildInputs = [ rclpy ]; + + meta = { + description = "Package for Robossember-Robonomics interoperability"; + license = with lib.licenses; [ "Apache-license-2.0" ]; + }; +} diff --git a/nix/robot-builder.nix b/nix/robot-builder.nix new file mode 100644 index 0000000..faddde5 --- /dev/null +++ b/nix/robot-builder.nix @@ -0,0 +1,21 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --output-dir nix --distro jazzy +{ lib, buildRosPackage, fetchFromGitHub, ament-copyright, ament-flake8, ament-pep257, python3Packages }: +buildRosPackage rec { + pname = "ros-jazzy-robot-builder"; + version = "0.0.0"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "robot-builder"; + rev = "abad78494eea370d825c0e60805639f5f3b8af02"; + sha256 = "1sl3gghi3fgp946ddj5dhzx7p500yaqgklnyc15nchym0xh144lf"; + }; + + buildType = "ament_python"; + checkInputs = [ ament-copyright ament-flake8 ament-pep257 python3Packages.pytest ]; + + meta = { + description = "TODO: Package description"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/nix/scenario.nix b/nix/scenario.nix new file mode 100644 index 0000000..9f27e3d --- /dev/null +++ b/nix/scenario.nix @@ -0,0 +1,22 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --output-dir nix --distro jazzy +{ lib, buildRosPackage, fetchgit, ament-cmake, gz-math-vendor, gz-msgs-vendor, gz-sim-vendor, gz-transport-vendor }: +buildRosPackage rec { + pname = "ros-jazzy-scenario"; + version = "1.5.0"; + + src = fetchgit { + url = "rad://z3RBwHLb4j66Q12dwkK1RGQj3ufhi"; + rev = "cb8227d85455d32fd6df4f931b4ce031c3063007"; + sha256 = "05110l7l533crkk632mvsz5li5ws3pvh8s2l5j11qsi6qfsx291d"; + }; + + buildType = "ament_cmake"; + buildInputs = [ ament-cmake ]; + propagatedBuildInputs = [ gz-math-vendor gz-msgs-vendor gz-sim-vendor gz-transport-vendor ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "TODO: Package description"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/repos/all-deps.repos b/repos/all-deps.repos index 06aee04..9e378b4 100644 --- a/repos/all-deps.repos +++ b/repos/all-deps.repos @@ -19,3 +19,7 @@ repositories: type: git url: https://github.com/solid-sinusoid/cartesian_controllers.git version: gazebo-simulation + ai_worker: + type: git + url: https://github.com/ROBOTIS-GIT/ai_worker + version: jazzy \ No newline at end of file