- **Added support for assembly configuration in `rbs_bringup` and `rbs_robot` launches**:
- Introduced new launch arguments: `use_rbs_utils` and `assembly_config_name`.
- Integrated `rbs_utils`'s `utils.launch.py` for handling assembly configurations.
- **Simplified `skills.launch.py`**:
- Removed redundant `assembly_config` node setup.
- **Enhanced `rbs_utils`**:
- Added installation of `launch` files in `CMakeLists.txt`.
- Created a new `utils.launch.py` for dynamically loading assembly configurations.
- Refactored `assembly_config_service.py` to utilize `get_asm_config` for streamlined configuration file resolution.
- Improved `rbs_bringup` setup to include additional parameters and nodes for assembly configuration.
These changes centralize assembly configuration handling and enhance modularity across launch setups.
- Simplified and consolidated launch arguments by removing unused configurations.
- Enhanced `test_env.launch.py` to support dynamic loading of xacro and SRDF arguments via YAML files.
- Added new launch parameters for control space, strategy, and interactive mode to improve flexibility.
- Updated robot description and MoveIt integration to use dynamic configurations.
- Improved clarity and modularity in scene and robot setup processes.
- Rename default controllers file `rbs_arm0_controllers.yaml` to `controllers.yaml` across all launch files
- Enhance `runtime.launch.py` by adding imports (`URDF_parser`, `ControllerManager`, `yaml`) and new arguments (`scene_config_file`, `ee_link_name`, `base_link_name`)
- Implement xacro argument loading via YAML
- Configure `robot_builder` to save controllers to `controllers.yaml` based on URDF parsing
- Add `control.launch.py` in `rbs_bringup` for dynamic controller spawning based on strategies/configurations
- Add `rbs_bringup.launch.py` as a unified entry point for single robot setup, initializing core settings like gripper, robot type, and controllers
- Remove `launch_env.launch.py`
- Remove `multi_robot.launch.py`
- Enhance `rbs_robot.launch.py` with `ee_link_name` and `base_link_name` arguments for end-effector and base link customization
- Add `ee_link_name` and `base_link_name` to `skills.launch.py` for flexible robot setup in skills
- Update `mtp_jtc_cart.cpp` with `base_link` and `robot_ee_link` parameters for KDL chain retrieval
- Remove `single_robot.launch.py` for simplified single robot deployment
- 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.
- Updated `camera.py` to use consistent float literals for default spawn positions.
- Removed unused import statements and organized imports in `robot.py` and `scene.py`.
- Removed debugging import from `scene.py` to clean up codebase.
- Added a new YAML configuration file (`default-scene-config.yaml`) for scene settings.
- Implemented a scene configuration loader function in `rbs_runtime/__init__.py` to read and parse YAML config files.
- Modified `runtime.py` to utilize the newly added scene config loader and removed in-code default scene setup.
- Updated `setup.py` to include `config` directory in package data.
- Changed `rbs_robot.launch.py` to use position control strategy by default.
- Refactored `skills.launch.py` with cleaner parameter definitions and reactivated commented-out nodes.
feat(robot): add support for handling scalar joint positions
- Updated `RobotData` and `RbsArm` to allow joint positions to be passed
as either a list or a scalar value.
- Refactored logic to dynamically handle scalar values and repeat them
across all joints.
- Added new `initial_arm_joint_positions` and
`initial_gripper_joint_positions` properties in `RbsArm`.
- Improved joint position initialization in the `Scene` class to
retrieve robot description asynchronously if not provided.
- Enhanced the launch script to configure environment variables based on
available CPU cores.
- Minor code cleanups and bug fixes, including terrain naming and
corrected joint defaultsd.
git commit --amend
