update move to pose

rbss_movetopose/rbs_package.json

@@ -1,7 +1,7 @@
 {
     "SkillPackage": { "name": "Robossembler", "version": "1.0", "format": "1" },
-    "Module": { "name": "MoveToPose", "description": "Move to Pose skill with cartesian controllers" },
+    "Module": { "name": "MoveToPose", "description": "Move to Pose skill with cartesian controllers", "node_name": "mtp_cartesian" },
-    "Launch": { "package": "rbss_movetopose", "executable": "mtp_cartesian.py", "name": "mtp_cartesian" },
+    "Launch": { "package": "rbss_movetopose", "executable": "mtp_cartesian.py" },
     "BTAction": [
         {
             "name": "move",
@@ -15,16 +15,28 @@
             ]
         }
     ],
-    "Interface": {
+    "Settings": {
-        "Input": [
+        "result": "{\n  \"params\": \\${ITEM:Array<ITEM>:[]}\n}",
-          { "name": "robotName", "type": "ROBOT" },
+        "context": "type ITEM = {\n\"name\": \\${NAME:string:default},\n\"value\": \\${VALUE:string:default}\n};",
-          { "name": "pose", "type": "POSE" }
+        "form": [
+            "{\"name\":\"ITEM\",\"type\":\"Array\",\"defaultValue\":\"[]\",\"values\":[{\"name\":\"NAME\",\"type\":\"string\",\"defaultValue\":\"default\",\"isOpen\":false,\"id\":\"7d70fba4-63b5-424b-8d6c-16d59a77e037\",\"totalValue\":\"mesh_scale\\n\"},{\"name\":\"VALUE\",\"type\":\"string\",\"defaultValue\":\"default\",\"isOpen\":false,\"id\":\"0d8d8ee4-ba61-4904-beeb-cda218506907\",\"totalValue\":\"0.001\\n\"}],\"totalValue\":[[{\"name\":\"NAME\",\"type\":\"string\",\"defaultValue\":\"default\",\"isOpen\":false,\"id\":\"7d70fba4-63b5-424b-8d6c-16d59a77e037\",\"totalValue\":\"publishDelay\\n\"},{\"name\":\"VALUE\",\"type\":\"string\",\"defaultValue\":\"default\",\"isOpen\":false,\"id\":\"0d8d8ee4-ba61-4904-beeb-cda218506907\",\"totalValue\":\"0.5\\n\"}],[{\"name\":\"NAME\",\"type\":\"string\",\"defaultValue\":\"default\",\"isOpen\":false,\"id\":\"7d70fba4-63b5-424b-8d6c-16d59a77e037\",\"totalValue\":\"publishDelay\\n\"},{\"name\":\"VALUE\",\"type\":\"string\",\"defaultValue\":\"default\",\"isOpen\":false,\"id\":\"0d8d8ee4-ba61-4904-beeb-cda218506907\",\"totalValue\":\"0.5\\n\"}]],\"isOpen\":true,\"subType\":\"ITEM\",\"id\":\"767a59ff-3d25-4c34-84a2-fa5baf074394\"}"
         ],
-        "Output": []
+        "output": {
+            "params": [
+                {
+                    "name": "server_name",
+                    "value": "cartesian_move_to_pose"
                 },
-    "Settings": [
+                {
-        { "name": "server_name", "value": "cartesian_move_to_pose" },
+                    "name": "end_effector_velocity",
-        { "name": "end_effector_velocity", "value": 1.0 }, 
+                    "value": "1.0"
-        { "name": "end_effector_acceleration", "value": 1.0 }
+                },
+                {
+                    "name": "end_effector_acceleration",
+                    "value": "1.0"
+                }
             ]
+        },
+        "type": "formBuilder"
+    }
 }

rbss_movetopose/scripts/mtp_cartesian.py

@@ -3,7 +3,7 @@
   Move_to_pose_cartesian_node_via_interface_node
   ROS 2 program for Move to Pose skill
 
-  @shalenikol release 0.1
+  @shalenikol release 0.2
 """
 import json
 import math
@@ -20,7 +20,7 @@ from geometry_msgs.msg import Pose, PoseStamped
 
 from rbs_skill_interfaces.action import MoveitSendPose
 
-NODE_NAME_DEFAULT = "mtp_cartesian"   # the name doesn't matter in this node (defined in Launch)
+NODE_NAME_DEFAULT = "mtp_cartesian"   # this name must match the name in the description (["Module"]["node_name"])
 PARAM_SKILL_CFG = "mtp_cartesian_cfg"
 SERVER_NAME = "cartesian_movetopose"
 TOPIC_CURRENT_POSE = "/cartesian_motion_controller/current_pose"
@@ -32,15 +32,19 @@ class MoveToPoseCartesianSkill(Node):
     """ <Move to pose> skill node """
     def _Settings(self):
         # Initialization service settings
-        for prop in self.skill_cfg["Settings"]:
+        for prop in self.skill_cfg["Settings"]["output"]["params"]:
             nam = prop["name"]
             val = prop["value"]
             if nam == "server_name":
                 self.server_name = val
             elif nam == "end_effector_velocity":
-                self.end_effector_velocity = val
+                self.end_effector_velocity = float(val)
             elif nam == "end_effector_acceleration":
-                self.end_effector_acceleration = val
+                self.end_effector_acceleration = float(val)
+
+        # for prop in self.skill_cfg["topicsOut"]:
+        #     if prop["type"] == OUT_TOPIC_TYPE:
+        #         self.topicSrv = prop["name"]
 
     def __init__(self, **kwargs):
         self.end_effector_velocity = 1.0
@@ -52,9 +56,9 @@ class MoveToPoseCartesianSkill(Node):
         str_cfg = self.get_parameter(PARAM_SKILL_CFG).get_parameter_value().string_value
 
         self.skill_cfg = json.loads(str_cfg)
-        self.nodeName = self.skill_cfg["Module"]["node_name"] #["Launch"]["name"]
+        self.nodeName = NODE_NAME_DEFAULT
 
-        self.server_name = SERVER_NAME #"cartesian_move_to_pose"
+        self.server_name = SERVER_NAME
         self._Settings()
 
         self._action_client = ActionClient(self, MoveitSendPose, self.server_name) # "/"+ robot_name + 

rbss_poseestimation/rbs_package.json

@@ -1,17 +1,21 @@
 {
+  "_id": "670cedc848170be91d62984a",
+  "bgColor": "rgba(5, 26, 39, 1)",
+  "borderColor": "rgba(25, 130, 196, 1)",
+  "sid": "cca620d1-bb94-4430-ba2f-874ec49ad43f",
   "SkillPackage": {
       "name": "Robossembler",
       "version": "1.0",
       "format": "1"
   },
   "Module": {
+      "node_name": "lc_dope",
       "name": "PoseEstimation",
-    "description": "Pose Estimation skill with DOPE",
+      "description": "Pose Estimation skill with DOPE"
-    "node_name": "lc_dope"
   },
   "Launch": {
-    "package": "rbss_poseestimation",
+    "executable": "pe_dope_lc.py",
-    "executable": "pe_dope_lc.py"
+    "package": "rbss_poseestimation"
   },
   "BTAction": [
       {
@@ -23,53 +27,53 @@
                   "dependency": {
                       "object_name": "knight",
                       "weights_file": "/home/shalenikol/0_rbs/w_knight.pth",
-            "dimensions": [
+                      "dimensions": [ 0.03, 0.026, 0.065 ]
-              0.03,
-              0.026,
-              0.065
-            ]
                   }
-        }
-      ]
               },
               {
-      "name": "peStop",
+                  "type": "topic",
-      "type": "stop",
+                  "dependency": {
-      "param": [],
+                      "type": "topic",
-      "result": []
+                      "topicType": "sensor_msgs/msg/Image",
+                      "topicOut": "/rgbd_camera/image"
+                  },
+                  "isFilled": true
+              },
+              {
+                  "type": "topic",
+                  "dependency": {
+                      "type": "topic",
+                      "topicType": "sensor_msgs/msg/CameraInfo",
+                      "topicOut": "/rgbd_camera/camera_info"
+                  },
+                  "isFilled": true
               }
           ],
-  "Interface": {
+          "result": [],
-    "Input": [
+          "typeAction": "ACTION"
-      {
-        "name": "cameraLink",
-        "type": "CAMERA"
-      },
-      {
-        "name": "object_name",
-        "type": "MODEL"
       }
   ],
-    "Output": [
+  "topicsOut": [
       {
-        "name": "object_detection",
+          "name": "lc_dope/pose_estimation",
-        "type": "BoundBox",
+          "type": "geometry_msgs/msg/Pose"
-        "description": "Topic for publisher"
+      }
+  ],
+  "Settings": {
+      "result": "{\n  \"params\": \\${ITEM:Array<ITEM>:[]}\n}",
+      "context": "type ITEM = {\n\"name\": \\${NAME:string:default},\n\"value\": \\${VALUE:string:default}\n};",
+      "form": [
+          "{\"name\":\"ITEM\",\"type\":\"Array\",\"defaultValue\":\"[]\",\"values\":[{\"name\":\"NAME\",\"type\":\"string\",\"defaultValue\":\"default\",\"isOpen\":false,\"id\":\"7d70fba4-63b5-424b-8d6c-16d59a77e037\",\"totalValue\":\"mesh_scale\\n\"},{\"name\":\"VALUE\",\"type\":\"string\",\"defaultValue\":\"default\",\"isOpen\":false,\"id\":\"0d8d8ee4-ba61-4904-beeb-cda218506907\",\"totalValue\":\"0.001\\n\"}],\"totalValue\":[[{\"name\":\"NAME\",\"type\":\"string\",\"defaultValue\":\"default\",\"isOpen\":false,\"id\":\"7d70fba4-63b5-424b-8d6c-16d59a77e037\",\"totalValue\":\"publishDelay\\n\"},{\"name\":\"VALUE\",\"type\":\"string\",\"defaultValue\":\"default\",\"isOpen\":false,\"id\":\"0d8d8ee4-ba61-4904-beeb-cda218506907\",\"totalValue\":\"0.5\\n\"}],[{\"name\":\"NAME\",\"type\":\"string\",\"defaultValue\":\"default\",\"isOpen\":false,\"id\":\"7d70fba4-63b5-424b-8d6c-16d59a77e037\",\"totalValue\":\"publishDelay\\n\"},{\"name\":\"VALUE\",\"type\":\"string\",\"defaultValue\":\"default\",\"isOpen\":false,\"id\":\"0d8d8ee4-ba61-4904-beeb-cda218506907\",\"totalValue\":\"0.5\\n\"}]],\"isOpen\":true,\"subType\":\"ITEM\",\"id\":\"767a59ff-3d25-4c34-84a2-fa5baf074394\"}"
+      ],
+      "output": {
+          "params": [
+              {
+                  "name": "tf2_send_pose",
+                  "value": "1"
               }
           ]
       },
-  "Settings": [
+      "type": "formBuilder"
-    {
-      "name": "cameraLink",
-      "value": "rgbd_camera"
   },
-    {
+  "__v": 0
-      "name": "publishDelay",
-      "value": 0.5
-    },
-    {
-      "name": "is_image_mode",
-      "value": true
-    }
-  ]
 }