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refactor(rbs_skill_servers): update action configuration, dependencies, and skills

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- Removed `assembly_config_service.py` node from launch configuration.
- Added default `goal.duration` setting to `MoveToPose` and `MoveToPoseArray`.
- Replaced `timeout_seconds` with `duration` in action definitions for `MoveitSendJointStates` and `MoveitSendPose`.
- Removed dependencies on TinyXML2 and Gazebo/SDFormat, adding `controller_manager_msgs` and `control_msgs` to CMake configuration.
- Added new action servers `cartesian_move_to_pose` and `move_to_joint_states`, registering them in CMakeLists file.
- Introduced `SkillBase`, a template class for managing action-based skills, providing essential ROS 2 action server support and functionalities for handling goals, cancels, accepted actions, and controller management.
- Implemented methods to load, configure, and switch required controllers with conflict detection for active controllers, along with parameter checking and asynchronous handling for required parameters.
- Enhanced error handling for missing controllers, parameters, and resource conflicts.
- Updated `skills.launch.py` to utilize `ComposableNodeContainer` for skill nodes, incorporating `MoveToJointStateActionServer` and `CartesianMoveToPose` as composable nodes.
- Changed the executable name in `cartesian_move_to_pose_action_server` node configuration.
- Added `cartesian_move_to_pose.cpp`, implementing the `CartesianMoveToPose` action server, including trajectory interpolation, pose adjustment, and controller management.
- Updated `package.xml` to include `rclcpp_components` dependency.
- Refactored `MoveToJointStateActionServer` to extend `SkillBase`, leveraging `FollowJointTrajectory` for joint trajectory execution, while removing redundant code and dependencies.
- Implemented trajectory generation based on initial and target joint positions with parameterized interpolation for smoother execution, enhancing joint state handling to dynamically align current and target joint values.
This commit is contained in:
Ilya Uraev 2024-10-30 17:49:03 +03:00
parent 4dccc2b74c
commit a7b7225dd1
24 changed files with 1864 additions and 1204 deletions
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2
rbs_skill_interfaces/action/MoveitSendJointStates.action
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@ -6,7 +6,7 @@ rbs_skill_interfaces/PropertyValuePair[] joint_pairs # list of joint_pairs (join
float64[] joint_values
float32 joints_velocity_scaling_factor
float32 joints_acceleration_scaling_factor
float32 timeout_seconds #if this action cannot be completed within this time period it should be considered failed.
float32 duration #if this action cannot be completed within this time period it should be considered failed.
---
#result definition
bool success

2
rbs_skill_interfaces/action/MoveitSendPose.action
View file

@ -11,7 +11,7 @@ geometry_msgs/Pose target_pose
string robot_name
float32 end_effector_velocity
float32 end_effector_acceleration
float32 timeout_seconds #if this action cannot be completed within this time period it should be considered failed.
float32 duration #if this action cannot be completed within this time period it should be considered failed.
---
#result definition
bool success