Commit graph

43 commits

Author SHA1 Message Date
a8874fa0d7 Update Dockerfile and dependencies, add installation guide
- Switched base image in `Dockerfile` to `nvidia/cuda:12.6.2-cudnn-devel-ubuntu22.04`.
- Added non-interactive mode for Debian and streamlined package installation.
- Removed unused JSON library build steps.
- Enhanced ROS2 installation with keyring and repository setup.
- Simplified Python package and framework dependencies installation.
- Added commands for `git-lfs` installation and cloning `rbs_assets_library`.
- Introduced a new Russian installation guide (`doc/ru/installation.md`) with detailed steps for setting up the framework and dependencies.
- Fixed import paths in `octree.py` for consistency with project structure.
- Added `all-deps.repos` and `requirements.txt` for managing dependencies.
2024-11-20 21:07:19 +03:00
17401c29a7 add interactive argument to control robot with interactive marker 2024-11-19 00:05:50 +03:00
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
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
a7b7225dd1 refactor(rbs_skill_servers): update action configuration, dependencies, and skills
- 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.
2024-11-06 23:57:47 +03:00
dba3b8682a refactor: (env_manager, rbs_runtime) and add YAML config loading
- 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.
2024-10-14 14:23:49 +03:00
b42c2e633e feat: enhance scene management and object handling with new features and improvements
- Updated Sphere, Cylinder, Box classes to support random color generation by accepting an optional color parameter and implementing random color assignment if none is provided.
- Improved documentation formatting in the RbsArm class for better readability and consistency.
- Refactored scene management to integrate both Model and Mesh classes, allowing for more flexible object handling. This includes updating object instantiation and adding comments for future color randomization implementation.
- Added `trimesh` as a dependency in the setup configuration to ensure proper functionality for mesh handling.
- Cleaned up node initialization in the runtime launch setup for improved readability.
- Enhanced the default scene configuration by including new ModelData and MeshData objects, with random color generation configured for MeshData.
- Renamed `MeshObjectData` to `ModelData` for clarity and introduced a new `MeshData` class to specifically handle mesh properties.
- Added a `random_color` attribute to `ObjectRandomizerData` and updated `ObjectData` to include a `color` attribute for better object customization.
- Introduced new gripper data classes for better organization and added a `GripperEnum` to categorize different gripper types.
- Implemented a new Mesh class for handling 3D mesh objects in Gazebo simulation, including methods for calculating inertia and generating SDF strings, with error handling for missing mesh files.
2024-10-04 18:44:13 +03:00
31d2afe6e2 docs(env_manager): Update docstrings and refactor code
- Added detailed docstrings to the env_manager package for improved documentation and clarity.
- Refactored code in multiple files to enhance readability and maintainability.
2024-09-30 23:30:04 +03:00
860f7d6566 build: migrate env_manager, rbs_gym, rbs_runtime to ament_python
Migrate `env_manager`, `rbs_gym`, and `rbs_runtime` from ament_cmake to ament_python.
Removed unnecessary files including .json and .yaml config files
2024-09-30 18:34:57 +03:00
e4e3e4e3af add external robot_description parameter for rbs_robot.launch.py
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
2024-09-30 13:41:36 +03:00
bc8745abe5 refactor env_manager and rbs_gym to work with rbs_runtime 2024-09-25 14:59:08 +03:00
1a562b05ca rbs_gym multi camera and multi object setup 2024-09-13 22:22:47 +03:00
b58307dea1 Added rbs_gym package for RL & multi-robot launch setup 2024-07-04 11:38:08 +00:00
fa03887099 fix rbs_utils 2024-05-13 12:21:17 +03:00
57d13516d9 parse rbs asm config from yaml to ros2 msg 2024-04-22 15:42:47 +03:00
ae48c5ee6a asssembly config simple publisher 2024-04-22 15:17:40 +03:00
e8ea09e020 update main 2024-04-22 15:06:46 +03:00
d5e7768d90 Multi-Robot Setup 2024-04-18 13:29:36 +00:00
a211c198ca rename default assembly config name in code 2024-02-16 15:21:59 +03:00
192887ab8b add workspace base functional
Workspace functional includes basic read from workspace and trajectory calculation for inspection
2023-12-30 23:39:43 +03:00
e5e8110697 load default enviroment 2023-12-30 14:31:01 +03:00
d7d3950052 env_manager: clear variables on cleanup, remove mutex 2023-12-19 11:11:42 +03:00
6d81f59204 env_manager: removed default runtime environment 2023-12-19 11:10:35 +03:00
86fd3d1055 env_manager: fix target pose loader 2023-12-19 08:17:38 +03:00
7637f835b1 add starter env service in env_manager_interfaces 2023-12-19 08:16:13 +03:00
4fafc9e7c4 remove header file dependencies in cpp file 2023-12-19 08:15:38 +03:00
894c9c9b69 add cb for starter and fix unload func 2023-12-19 08:12:49 +03:00
df335c0cd0 add env starter for BT 2023-12-19 08:11:17 +03:00
34c8961723 rbs_utils in env_manager and clear code 2023-12-14 12:00:35 +03:00
d32f44682d add new env_manager to project 2023-12-11 22:08:43 +03:00
6eee02bacc clang-format 2023-11-09 15:39:19 +03:00
18d2772cef adapted the environment for EnvInterfaceBase 2023-10-17 15:41:04 +03:00
71063b19aa enviroment base interface class 2023-10-15 16:24:30 +03:00
48e17c2481 add gz env 2023-09-26 23:18:28 +03:00
49660eb926 add gz_enviroment 2023-09-17 15:19:05 +03:00
78d890b62e 🚧 add logic to env_manager lib 2023-09-16 20:45:37 +03:00
8596ff0011 remove env_manager for refactoring 2023-09-16 19:16:30 +03:00
6fa469be36 update README and update launch files 2023-07-24 16:06:39 +03:00
Roman Andrianov
000ddb4831 Motion planner (MoveIt) and Task planner (Plansys) integration 2023-04-30 11:46:52 +00:00
ae1fb714a5 add test camera in scene 2023-04-18 22:44:16 +03:00
Roman Andrianov
209e99a4b3 Added camera component 2023-03-14 05:42:00 +00:00
Roman Andrianov
1177140a0c update README.md 2023-02-09 01:31:50 +08:00
Roman Andrianov
9f27ad0af3 Environment manager base architecture implemented 2023-02-08 15:06:48 +00:00