🔨 change robossembler to robot2

rasmt_moveit_config/config/joint_limits.yaml

@@ -2,8 +2,8 @@
 
 # For beginners, we downscale velocity and acceleration limits.
 # You can always specify higher scaling factors (<= 1.0) in your motion requests.  # Increase the values below to 1.0 to always move at maximum speed.
-default_velocity_scaling_factor: 0.1
+default_velocity_scaling_factor: 1
-default_acceleration_scaling_factor: 0.1
+default_acceleration_scaling_factor: 1
 
 # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
 # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]

rasmt_moveit_config/config/rasmt_moveit.rviz

@@ -7,7 +7,7 @@ Panels:
         - /Global Options1
         - /Status1
       Splitter Ratio: 0.5
-    Tree Height: 787
+    Tree Height: 389
   - Class: rviz_common/Selection
     Name: Selection
   - Class: rviz_common/Tool Properties
@@ -63,67 +63,13 @@ Visualization Manager:
           Expand Link Details: false
           Expand Tree: false
           Link Tree Style: Links in Alphabetic Order
-          rasmt_Base_Link:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-            Value: true
-          rasmt_Dock_Link:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-            Value: true
-          rasmt_Fork_1:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-            Value: true
-          rasmt_Fork_2:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-            Value: true
-          rasmt_Fork_3:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-            Value: true
-          rasmt_Grip_Body:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-            Value: true
-          rasmt_Grip_L:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-            Value: true
-          rasmt_Grip_R:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-            Value: true
-          rasmt_Link_1:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-            Value: true
-          rasmt_Link_2:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-            Value: true
-          world:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
         Robot Alpha: 1
         Show Robot Collision: false
         Show Robot Visual: true
       Value: false
-    - Acceleration_Scaling_Factor: 0.1
+    - Acceleration_Scaling_Factor: 1
       Class: moveit_rviz_plugin/MotionPlanning
-      Enabled: false
+      Enabled: true
       Move Group Namespace: ""
       MoveIt_Allow_Approximate_IK: false
       MoveIt_Allow_External_Program: false
@@ -310,8 +256,8 @@ Visualization Manager:
         Robot Alpha: 1
         Show Robot Collision: false
         Show Robot Visual: true
-      Value: false
+      Value: true
-      Velocity_Scaling_Factor: 0.1
+      Velocity_Scaling_Factor: 1
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -376,16 +322,16 @@ Visualization Manager:
       Yaw: 5.318596363067627
     Saved: ~
 Window Geometry:
-  "":
-    collapsed: false
-  " - Trajectory Slider":
-    collapsed: false
   Displays:
     collapsed: false
   Height: 1016
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd0000000400000000000001f30000039efc020000000cfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000039e000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000020a000001d10000000000000000fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000001600000016fbffffffff0000000253000001880000018800ffffff000000010000010f0000039efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000039e000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000042a0000039e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  MotionPlanning:
+    collapsed: false
+  MotionPlanning - Trajectory Slider:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd0000000400000000000001f30000039efc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000210000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004100fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000253000001880000017d00fffffffb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000000000010000010f0000039efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000039e000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000042a0000039e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Tool Properties:

robossembler/config/params.yaml

@@ -2,7 +2,7 @@ move:
   ros__parameters:
     plugins:
       - robossembler_move_bt_node
-    arm_group: ["rasms_arm_group"]
+    arm_group: ["rasmt_arm_group"]
     waypoints: ["one"]
     waypoint_coords:
       one: [0.01, 0.01, 0.6,

robossembler/launch/robossembler_bringup.launch.py

@@ -40,7 +40,7 @@ def generate_launch_description():
         # get error if xacro file if missing
         assert os.path.exists(xacro_file), "The xacro file of neptun_description doesnt exist"+str(xacro_file)
         # parse xacro file from file with arguments
-        robot_description = xacro.process_file(xacro_file, mappings={'grip':"true",'sim':"false",'robot_name':"rasmt"})
+        robot_description = xacro.process_file(xacro_file, mappings={'grip':"true",'sim':"true",'robot_name':"rasmt"})
         # convert file to xml format
         robot_description_content = robot_description.toxml()
 
@@ -83,10 +83,23 @@ def generate_launch_description():
                 ]
         )
 
+        task_planner_init = IncludeLaunchDescription(
+                PythonLaunchDescriptionSource(
+                        PathJoinSubstitution([
+                                FindPackageShare("robossembler"),
+                                "launch",
+                                "task_planner.launch.py"
+                        ])
+                ), launch_arguments=[
+                        ("robot_description", robot_description_content)
+                ]
+        )
+
         launch_nodes = []
         launch_nodes.append(control)
         launch_nodes.append(simulation)
         launch_nodes.append(moveit)
+        launch_nodes.append(task_planner_init)
 
 
         return LaunchDescription(launch_args + launch_nodes)

robossembler/launch/task_planner.launch.py

@@ -33,34 +33,35 @@ def load_yaml(package_name, file_path):
 
 def generate_launch_description():
 
-     # planning_context
-    robot_description_config = load_file(
-        "rasms_description", "urdf/rasms_description.urdf.xacro"
-    )
-    robot_description = {"robot_description": robot_description_config}
-
     robot_description_semantic_config = load_file(
-        "rasms_moveit_config", "srdf/rasms_description.srdf"
+        "rasmt_moveit_config", "config/rasmt.srdf"
     )
     robot_description_semantic = {
         "robot_description_semantic": robot_description_semantic_config
     }
 
     kinematics_yaml = load_yaml(
-        "rasms_moveit_config", "config/kinematics.yml"
+        "rasmt_moveit_config", "config/kinematics.yaml"
     )
 
-    pkg_dir = get_package_share_directory('task_planner')
+    pkg_dir = get_package_share_directory('robossembler')
     namespace = LaunchConfiguration('namespace')
 
     declare_namespace_cmd = DeclareLaunchArgument(
-        'namespace',
+        name="namespace",
         default_value='',
         description='Namespace')
 
+    declare_robot_description = DeclareLaunchArgument(
+        name="robot_description",
+        description="Robot description XML file"
+    )
+
     # stdout_linebuf_envvar = SetEnvironmentVariable(
     #     'RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1')
 
+    robot_description = {"robot_description":LaunchConfiguration("robot_description")}
+
     plansys2_cmd = IncludeLaunchDescription(
       PythonLaunchDescriptionSource(os.path.join(
         get_package_share_directory('plansys2_bringup'),
@@ -89,7 +90,7 @@ def generate_launch_description():
         ])
 
     transport_1 = Node(
-        package='task_planner',
+        package='robossembler',
         executable='move_action_node',
         name='transport_1',
         namespace=namespace,
@@ -99,6 +100,7 @@ def generate_launch_description():
     ld = LaunchDescription()
 
     ld.add_action(declare_namespace_cmd)
+    ld.add_action(declare_robot_description)
 
     # Declare the launch options
     ld.add_action(plansys2_cmd)

robossembler/src/move_controller_node.cpp

@@ -37,7 +37,7 @@ public:
 
     void init_knowledge()
     {
-        problem_expert_->addInstance(plansys2::Instance{"rasms", "robot"});
+        problem_expert_->addInstance(plansys2::Instance{"rasmt", "robot"});
         problem_expert_->addInstance(plansys2::Instance{"one", "zone"});
     }
 
@@ -68,7 +68,7 @@ public:
 
     void step()
     {
-        problem_expert_->setGoal(plansys2::Goal("(and(robot_move rasms one))"));
+        problem_expert_->setGoal(plansys2::Goal("(and(robot_move rasmt one))"));
 
         auto domain = domain_expert_->getDomain();
         auto problem = problem_expert_->getProblem();