- Set success flags on results when actions complete successfully in both `mtp_jeet_cart.cpp` and `mtp_jtc.cpp`, providing proper feedback to clients.
- Increased trajectory planning granularity by adjusting the divisor from 0.01 to 0.001 in `mtp_jtc_cart.cpp`, resulting in smoother robot movements.
- Introduced a new service `GetNamedPose` defined in `GetNamedPose.srv`, allowing nodes to request specific poses by name, enhancing modularity and reusability.
- Optimized motion planning in `mtp_jtc.cpp` by immediately succeeding when no movement is needed, reducing unnecessary computations.
- Updated `CMakeLists.txt` to include the new service
- Removed dynamic_message_introspection, ros2_contro, and gz_ros2_controllers from all-deps.repos file
- Removed AssemblyConfigLoader due to it being deprecated (migrated to Python)
- Fixed a potential issue where `gripper_actuated_joint_names` might be None by adding a conditional check before appending joint positions.
- Updated `rbs_bringup.launch.py` to:
- Change `with_gripper` default to `false`
- Modify `ee_link_name` from `gripper_grasp_point` to `tool0`
- Set `interactive` mode to `true`
- Ensured proper initialization by passing an empty vector or other necessary parameters.
- Maintained existing logging but updated the `create_topic` call to use more complete syntax, ensuring compatibility and correct configuration.
- Added `GetPlacePose` skill client library and associated service node to handle place pose retrieval, including preplace and postplace poses.
- Created new behavior trees (`pick_and_place.xml`, `place_object.xml`) for handling pick-and-place operations with enhanced modularity.
- Updated `AssemblyConfig` to include `place_poses` alongside `grasp_poses`, improving flexibility in assembly workflows.
- Refactored YAML parsing and codebase to differentiate between `grasp_poses` and `place_poses` for better clarity and maintainability.
- Updated related XML behavior tree nodes, scripts, and skill structures to integrate `GetPlacePose` functionality.
- Adjusted gripper command maximum effort to `3.0` for improved control.
- Added a new message definition for `GetPlacePose` service in the `rbs_utils_interfaces` package.
- Updated CMakeLists.txt to include the new service and ensure proper build configuration.
- Improved `get_grasp_pose_callback` with regex for grasp pose matching and added fallback mechanisms for `pregrasp_pose` and `postgrasp_pose`.
- Introduced `_create_pose_msg` and `_create_pose_msg_from_name` helper functions for dynamic transform-to-pose conversion.
- Updated `GetGraspPose.srv` to include `pregrasp_pose` and `postgrasp_pose` in the service response structure.
- Enhanced TF listener integration in `assembly_config_service.py` for dynamic pose retrieval and parameter management.
- Added `rbs_utils_interfaces` dependency in `CMakeLists.txt` and introduced new `GetGraspPose` node for behavior tree integration.
- Replaced `MoveGripper` with `GripperCommand` to improve gripper state transitions.
- Refactored `MoveToPose` and `GetWorkspace` nodes for enhanced logging and parameter handling.
- Updated `workspace_movement.xml` and `grasp_object.xml` with improved actions and configurations.
- Added `branch = main` to the `env_manager` submodule in `.gitmodules`.
- Set the `success` flag in `m_current_result` on goal success in `mtp_jtc.cpp`.
- **CMakeLists.txt**:
- Commented out the unused `rbs_env_manager_starter` library.
- **Behavior Trees**:
- Added new `grasp_object.xml` behavior tree for grasping operations.
- Modified `test_tree.xml` to update `robot_name` in the `WorkspaceMovement` subtree.
- **Source Code Updates**:
- Removed `EnvManager.cpp`, deprecating its functionality.
- Formatting `GetWorkspace.cpp`
- Formatting `MoveGripper.cpp`
- Formatting `MoveToJointStates.cpp`
- Formatting `PoseEstimation.cpp` and `TreeRunner.cpp`
- **Assembly Config Service**:
- Added broadcasting for grasp pose transformations in `assembly_config_service.py`.
These updates enhance modularity, maintainability, and the overall functionality of the behavior tree executor.
- Updated `.gitlab-ci.yml` to use `all-deps.repos` and install additional Python dependencies via `requirements.txt`.
- Enhanced `Dockerfile` with better dependency management:
- Added `SHELL` declaration for consistent script execution.
- Installed `libgeos-dev` for geometry processing.
- Included `python3-rosdep` and `python3-colcon-common-extensions` for ROS2 tooling.
- Streamlined ROS2 and dependency installation steps.
- Refined `requirements.txt` to adjust package versions and include new dependencies such as `tensorflow` and `torch`.
- Updated repository URL for `rbs_assets_library` in `requirements.txt`.
These changes improve dependency resolution, enhance build reproducibility, and align with updated requirements.
- Replaced object names and updated configurations:
- Renamed `hole` to `star` and adjusted its position.
- Renamed `peg` to `box`, added mass and size attributes, and refined position and randomization settings.
- Added a new `cylinder` object with mass, radius, length, and position attributes.
- Introduced a static `board` object with specified position and randomization settings.
- Improved structure and flexibility for object definitions in the default scene.
