b22a64e5e9
fix: rewrite recording_demo.py as node
2025-05-28 18:20:46 +03:00
3e36193606
feat: add recorder interfaces
2025-05-28 18:19:56 +03:00
1107295f4f
feat(rbs_robot.launch.py): add 'interactive' launch argument
2025-05-28 11:52:23 +03:00
3eeab7e1e5
feat: add cartesian_twist_controller to launch pipeline
2025-05-28 11:52:23 +03:00
2d3d2b4951
remove old repos file
2025-05-28 11:52:23 +03:00
6356d1d0fe
fix TypeHash
2025-05-26 18:08:01 +03:00
125fb14cb7
add settings: compressed and serialization format
2025-05-22 14:27:22 +03:00
9c6cdfa291
del scenario,gym_gz from env_manager + refactoring
2025-05-20 12:07:15 +03:00
8d83e3d708
add Example of using demo recording to rosbag
2025-05-20 11:21:03 +03:00
2399293e01
add README for rbs_tests
2025-05-20 10:59:01 +03:00
e6851c85f1
add package rbs_tests (with testing recording demo)
2025-05-20 10:25:11 +03:00
52b0fa5378
add API for recording_demo
2025-05-16 16:07:39 +03:00
ac265f74a3
update bt_path param
2025-05-16 11:15:29 +03:00
c4cb3f2141
add launch for compressed images
2025-05-07 17:45:46 +03:00
c83a5bfd48
add aubo robot support
2025-04-28 14:52:13 +03:00
f6ef0f122e
add condition "isAruco"
2025-04-16 10:25:09 +03:00
9d0098a115
update interface node: to start BT with rbss-nodes
2025-04-11 19:41:08 +03:00
698f8734ac
refactor(MoveToPose): add input ports try_plan_untill_success and allowed_planning time
2025-04-08 14:43:53 +03:00
0bfa17c30b
ADD: skill - pose estimation for Aruco markers
2025-04-08 11:44:54 +03:00
0798720a4c
fix: concurency in skill nodes
2025-04-07 13:02:28 +03:00
adf84ebec7
add TaskFromQueue.srv
2025-03-27 22:34:45 +03:00
5da2cf7e9b
AddTasks service
2025-03-21 23:22:54 +03:00
6028717a5e
fix(MoveToPose): Add input validation for setGoal function
...
- Added include for rclcpp logging
- Modified setGoal() to validate inputs using getInput()
- Added fatal error logging when input retrieval fails
- Return false if any input is missing or invalid
2025-03-17 18:10:38 +03:00
c87ace262d
add twist_cmd skill with condition
2025-03-17 14:14:14 +03:00
41522772eb
add moveit skill with orientation constraints to launch file
2025-03-12 20:56:55 +03:00
ec95ec521a
refactor(rbs_skill_interfaces): add planner_id and pipeline_id to MoveitSendPose.action
2025-03-12 20:56:55 +03:00
d6976281e3
output image format: 'bgr' to 'rgb'
2025-03-12 12:43:25 +03:00
fe7d966dcc
fix deletion after rebase
2025-03-12 11:34:53 +03:00
049227dac5
add mtp with orientation constraint
2025-03-12 11:13:07 +03:00
cf692ff4c1
launching a unified behavior tree (+rbss)
2025-03-11 15:58:38 +03:00
4c64536b80
refactor(base_skill): better if condition
2025-03-10 13:49:55 +03:00
6b19b8bb9b
tmp fixes in launch files
2025-03-10 13:49:35 +03:00
9bc4774e8c
refactor(MoveitMtp): MoveGroupInterface as shared_ptr
2025-03-10 13:49:35 +03:00
276f59f434
refactor(mtp_jtc): better joint_position waiting
2025-03-10 13:49:35 +03:00
3eda33fc8b
print action id in logger
2025-03-10 13:44:36 +03:00
3460f4eae9
update object detection skill
2025-03-05 14:03:53 +03:00
d7f1c0cb1b
Improve Error Handling, Add Named Pose Service, Optimize Motion Planning, and Enhance Feedback Mechanisms
...
- 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
2025-03-03 16:16:06 +03:00
1e63fa4c6e
update GetPickPlacePoses srv message format
2025-03-03 12:40:46 +03:00
70aacb9e3e
update nix.repos
2025-02-19 15:34:04 +03:00
e6b3bad515
remove include directory installation from cmake
2025-02-19 15:27:08 +03:00
42361d0b40
update RU installation instruction to jazzy
2025-02-18 14:26:42 +03:00
50a97b0cbd
Remove deprecated files and dependencies from CMakeLists.txt and rbs_utils
...
- 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)
2025-02-06 18:59:49 +03:00
c48edd0d82
Fix gripper joint handling and update launch defaults to new rbs_arm
...
- 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`
2025-02-06 15:21:59 +03:00
6b376f40a6
move xacro_args loader to utils
2025-02-06 15:21:00 +03:00
Bill Finger
942bafab4d
fix gym_gz packge name in package.xml
...
Python dependencies was commented due to the new version of python and
it will need to be updated and tested
2025-02-01 17:01:57 +03:00
7b6a4ce878
add flake.lock
2025-02-01 16:45:53 +03:00
e891e45869
update(.gitignore): add .envrc for nix flakes
2025-02-01 16:45:53 +03:00
35a373f51a
fix:(nix) remove rbs-simulation from rbs-bringup
2025-02-01 16:45:53 +03:00
0a868b5163
add env_manager folder
2025-02-01 16:45:53 +03:00
2d8c7217fe
revert submodule into folder
2025-02-01 16:45:53 +03:00
