📝 update READMEs
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README.md
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README.md
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@ -43,26 +43,30 @@ Add source to environment
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```
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source install/setup.bash
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```
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Launch MoveIt2, Gazebo, RViz
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Launch MoveIt2, Gazebo, RViz and PlanSys2 with domain from `pddl/domain.pddl`
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```bash
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ros2 launch rasms_moveit_config rasms_bringup.launch.py
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```
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Launch PlanSys2 with domain from ```pddl/domain.pddl```
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```bash
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ros2 launch robossembler robossembler.launch.py
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ros2 launch robossembler robossembler_bringup.launch.py
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```
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#### With PlanSys2 Terminal
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Launch Plansys2 Terminal
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```bash
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ros2 run plansys2_terminal plansys2_terminal
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```
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Then into plansys2_terminal paste command (see updates into pddl/commands)
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```bash
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set instance rasms_arm_group robot
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set instance rasmt_arm_group robot
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set instance one zone
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set goal (and (robot_move rasms_arm_group one))
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set goal (and (robot_move rasmt_arm_group one))
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run
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```
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#### With C++ node
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```bash
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ros2 run robossembler move_controller_node
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```
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### Links
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* [plansys2_bt](https://intelligentroboticslab.gsyc.urjc.es/ros2_planning_system.github.io/tutorials/docs/bt_actions.html)
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* [bt_v3_cpp](https://www.behaviortree.dev)
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19
rasmt_moveit_config/README.md
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19
rasmt_moveit_config/README.md
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# Robossembler MoveIt2 package
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This package contains the basic robot configuration files for MoveIt2
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.
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├── CMakeLists.txt
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├── config
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│ ├── cartesian_limits.yaml
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│ ├── chomp_planning.yaml
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│ ├── joint_limits.yaml
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│ ├── kinematics.yaml
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│ ├── ompl_planning.yaml
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│ ├── rasmt_moveit_controllers.yaml
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│ ├── rasmt_moveit.rviz
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│ └── rasmt.srdf
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├── launch
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│ └── rasmt_moveit.launch.py
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├── package.xml
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└── README.md
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42
rasmt_support/README.md
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42
rasmt_support/README.md
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@ -0,0 +1,42 @@
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# Robossembler package for description of robot2
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This package consists of files describing the AQUA model of the robot, the entire scene and the gripper device. It also contains startup files for launching robot controllers and simulations in gazebo.
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```
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.
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├── CMakeLists.txt
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├── config
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│ ├── rasmt_ros2_controllers.yaml # File describing the robot controllers
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│ └── rasmt.rviz
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├── launch
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│ ├── rasmt_control.launch.py # Launch file for running robot controlles
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│ ├── rasmt_gazebo.launch.py # File for running gazebo simulation
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│ └── rviz.launch.py # File for running RViz visualisation
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├── meshes
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│ ├── collision
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│ │ ├── Base_Link.STL
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│ │ ├── cube5x.STL
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│ │ ├── Dock_Link.STL
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│ │ ├── Fork_1.STL
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│ │ ├── Fork_2.STL
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│ │ ├── Fork_3.STL
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│ │ ├── Grip_Body.STL
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│ │ ├── Grip_L.STL
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│ │ ├── Grip_R.STL
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│ │ ├── Link_1.STL
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│ │ └── Link_2.STL
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│ └── visual
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├── package.xml
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├── README.md
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└── urdf
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├── cube5x.sdf # The cube inside which the robot works
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├── rasmt.xacro # Main Robot scene description file
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├── robot # Single robot description files
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│ ├── rasmt_single_control.xacro
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│ ├── rasmt_single_gazebo.xacro
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│ └── rasmt_single_macro.xacro
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└── tools # Robot tool description files
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├── rasmt_hand_control.xacro
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├── rasmt_hand_gazebo.xacro
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└── rasmt_hand_macro.xacro
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```
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@ -1,55 +1,37 @@
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# Robossembler Plansys2 example
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# Robossembler Plansys2
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Plansys2 & MoveIt2 example on ROS2 Foxy
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This package is the main one and contains a task planner working in combination with MoveIt2. For more information about the requirements, read the main README.md
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### Install
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Install ```colcon``` with ```mixin``` (it's required to install ```moveit_visual_tools```):
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```bash
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sudo apt install python3-colcon-common-extensions python3-colcon-mixin python3-vcstool
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colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
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colcon mixin update default
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```
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Prepare workspace & install dependencies
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```
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mkdir -p ~/robossembler_ws/src && cd ~/robossembler_ws/src
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git clone https://gitlab.com/robosphere/robossembler-ros2
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vcs import . < robossembler-ros2/rasms.repos
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cd ..
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rosdep install -y -r -q --from-paths src --ignore-src --rosdistro foxy
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colcon build --symlink-install --mixin release
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```
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### Run
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Add source to environment
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```
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source install/setup.bash
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```
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Launch MoveIt2, Gazebo, RViz
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```bash
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ros2 launch rasms_moveit_config rasms_bringup.launch.py
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```
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Launch PlanSys2 with domain from ```pddl/domain.pddl```
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```bash
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ros2 launch task_planner task_planner.launch.py
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```
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Launch Plansys2 Terminal
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```bash
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ros2 run plansys2_terminal plansys2_terminal
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```
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Then into plansys2_terminal paste command (see updates into pddl/commands)
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```bash
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set instance rasms_arm_group robot
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set instance one zone
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set goal (and(robot_move rasms_arm_group one))
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run
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```
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Or you can use move_controller_node to execute action, just run in new terminal
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```bash
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ros2 run task_planner move_controller
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```
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### Links
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* [plansys2_bt](https://intelligentroboticslab.gsyc.urjc.es/ros2_planning_system.github.io/tutorials/docs/bt_actions.html)
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* [bt_v3_cpp](https://www.behaviortree.dev)
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* [moveit2](https://moveit.picknik.ai/foxy/index.html)
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.
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├── behavior_trees_xml # Folder with BT nodes in XML file
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│ └── atomic_skills_xml
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│ ├── EmuPoseEstimation.xml
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│ └── move.xml
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├── CMakeLists.txt
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├── config
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│ └── params.yaml # Config params and waypoints which robot move
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├── include # Libs which used
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│ └── robot_bt
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│ └── behavior_tree_nodes
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│ └── atomic_skills
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│ ├── EmuPoseEstimation.hpp # Lib for get Pose of model from Gazebo
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│ └── Move.hpp # Lib for P2P move
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├── launch
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│ ├── robossembler_bringup.launch.py # Launch file for start all scene
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│ └── task_planner.launch.py
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├── package.xml
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├── pddl
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│ ├── commands # Example commands for PlanSys2 terminal
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│ └── domain.pddl # The main domain file for launch PDDL
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├── README.md
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└── src
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├── atomic_tasks
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├── behavior_tree_nodes
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│ └── atomic_skills
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│ ├── EmuPoseEstimation.cpp
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│ └── Move.cpp
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├── move_action_node.cpp # Temporarily not used
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└── move_controller_node.cpp # Execute plan wthout terminal
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```
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