robossembler/runtime
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Author SHA1 Message Date
Bill Finger
ef4b015491 Add assembly configuration integration and refactor launches 
- **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.
 2024-12-06 12:14:29 +03:00
Bill Finger
de0d5d4440 refactor launch configuration for robot and environment setup 
- 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.
 2024-11-30 19:30:13 +03:00
Bill Finger
d0788041e9 refactor launch files for enhanced MoveIt integration and cleanup 
- **RBS Bringup Launch File:**
  - Enabled MoveIt by default (`use_moveit: true`).
  - Removed unused arguments (`gripper_name`, `hardware`) for cleaner configuration.
  - Updated `robot_description_kinematics` to use the new kinematics file path handling.

- **RBS Robot Launch File:**
  - Streamlined robot description setup, removing unnecessary parameters like `gripper_name`, `hardware`, and pose arguments (`x`, `y`, `z`, `roll`, etc.).
  - Updated robot description and semantic description to use launch configurations.
  - Refactored kinematics file handling for clarity.

- **Skills Launch File:**
  - Updated kinematics YAML loading to use `load_yaml_abs` for absolute path resolution.
  - Standardized `robot_description`, `robot_description_semantic`, and `kinematics` parameters.

- **General Improvements:**
  - Consolidated redundant logic across launch files.
  - Improved maintainability by removing hardcoded and unused configurations.
 2024-11-22 02:16:20 +03:00
Bill Finger
17401c29a7 add interactive argument to control robot with interactive marker 2024-11-19 00:05:50 +03:00
Bill Finger
85eec1b7d7 added doc on how to use framework with your robot or how to add new robot 2024-11-18 13:36:56 +03:00
Bill Finger
ea4ae0ed69 feat(rbs): refactor controller paths and launch configuration 
- 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
 2024-11-12 22:23:12 +03:00