From 6ba0c52f85f851fa8de6a3b810b27ce3c1c31623 Mon Sep 17 00:00:00 2001 From: Igor Brylev Date: Fri, 25 Oct 2024 18:55:39 +0300 Subject: [PATCH 01/27] clean repos --- repos/cartesian_controllers.repos | 13 ------------- repos/real.repos | 21 --------------------- repos/sim.rbs.repos | 8 ++++---- repos/sim.ur.repos | 21 --------------------- 4 files changed, 4 insertions(+), 59 deletions(-) delete mode 100644 repos/cartesian_controllers.repos delete mode 100644 repos/real.repos delete mode 100644 repos/sim.ur.repos diff --git a/repos/cartesian_controllers.repos b/repos/cartesian_controllers.repos deleted file mode 100644 index 02249ec..0000000 --- a/repos/cartesian_controllers.repos +++ /dev/null @@ -1,13 +0,0 @@ -repositories: - cartesian_controllers: - type: git - url: https://github.com/solid-sinusoid/cartesian_controllers.git - version: gazebo-simulation - ros2_control: - type: git - url: https://github.com/solid-sinusoid/ros2_control.git - version: gz-ros2-cartesian-controllers - gz_ros2_control: - type: git - url: https://github.com/solid-sinusoid/gz_ros2_control.git - version: fts-sensor diff --git a/repos/real.repos b/repos/real.repos deleted file mode 100644 index 7f602de..0000000 --- a/repos/real.repos +++ /dev/null @@ -1,21 +0,0 @@ -repositories: - ur_description: - type: git - url: https://github.com/solid-sinusoid/Universal_Robots_ROS2_Description.git - version: cartesian-controllers - ur_driver: - type: git - url: https://github.com/solid-sinusoid/Universal_Robots_ROS2_Driver.git - version: configure-with-gripper - behavior_tree: - type: git - url: https://github.com/solid-sinusoid/behavior_tree.git - version: master - rbs_schunk_40_n_n_b: - type: git - url: https://gitlab.com/robossembler/arm-tools/urdf-model-shrunk-gripper-egp-40-n-n-b.git - version: 2-add-ros2-control - dynamic_message_introspection: - type: git - url: https://github.com/osrf/dynamic_message_introspection.git - version: main diff --git a/repos/sim.rbs.repos b/repos/sim.rbs.repos index 5966b05..2d5bc22 100644 --- a/repos/sim.rbs.repos +++ b/repos/sim.rbs.repos @@ -19,7 +19,7 @@ repositories: type: git url: https://github.com/osrf/dynamic_message_introspection.git version: main - robot_builder: - type: git - url: https://github.com/solid-sinusoid/robot-builder.git - version: main + # gz_ros2_control: + # type: git + # url: https://github.com/solid-sinusoid/gz_ros2_control.git + # version: fts-sensor \ No newline at end of file diff --git a/repos/sim.ur.repos b/repos/sim.ur.repos deleted file mode 100644 index 2092911..0000000 --- a/repos/sim.ur.repos +++ /dev/null @@ -1,21 +0,0 @@ -repositories: - ur_description: - type: git - url: https://github.com/solid-sinusoid/Universal_Robots_ROS2_Description.git - version: cartesian-controllers - ur_moveit_config: - type: git - url: https://github.com/solid-sinusoid/ur_moveit_config.git - version: dev - behavior_tree: - type: git - url: https://github.com/solid-sinusoid/behavior_tree.git - version: master - rbs_schunk_40_n_n_b: - type: git - url: https://gitlab.com/robossembler/arm-tools/urdf-model-shrunk-gripper-egp-40-n-n-b.git - version: 2-add-ros2-control - dynamic_message_introspection: - type: git - url: https://github.com/osrf/dynamic_message_introspection.git - version: main From ac6628f0fbebc73aabe0642704443dce097f5e1d Mon Sep 17 00:00:00 2001 From: Igor Brylev Date: Fri, 25 Oct 2024 18:56:58 +0300 Subject: [PATCH 02/27] flake devshell backup --- .nix/behavior-tree.nix | 24 +++++++ .nix/behaviortree-ros2.nix | 24 +++++++ .nix/btcpp-ros2-interfaces.nix | 24 +++++++ .nix/btcpp-ros2-samples.nix | 24 +++++++ .nix/cartesian-compliance-controller.nix | 25 +++++++ .nix/cartesian-controller-base.nix | 24 +++++++ .nix/cartesian-controller-handles.nix | 24 +++++++ .nix/cartesian-controller-utilities.nix | 24 +++++++ .nix/cartesian-force-controller.nix | 24 +++++++ .nix/cartesian-motion-controller.nix | 22 +++++++ .nix/cartesian-twist-controller.nix | 22 +++++++ .nix/controller-interface.nix | 25 +++++++ .nix/controller-manager-msgs.nix | 25 +++++++ .nix/controller-manager.nix | 25 +++++++ .nix/dynmsg-demo.nix | 25 +++++++ .nix/dynmsg-msgs.nix | 25 +++++++ .nix/dynmsg.nix | 25 +++++++ .nix/env-manager-interfaces.nix | 24 +++++++ .nix/env-manager.nix | 17 +++++ .nix/flake.lock | 84 ++++++++++++++++++++++++ .nix/flake.nix | 73 ++++++++++++++++++++ .nix/gz-ros2-control-tests.nix | 25 +++++++ .nix/hardware-interface-testing.nix | 25 +++++++ .nix/hardware-interface.nix | 25 +++++++ .nix/ign-ros2-control-demos.nix | 25 +++++++ .nix/ign-ros2-control.nix | 25 +++++++ .nix/joint-limits-interface.nix | 25 +++++++ .nix/joint-limits.nix | 25 +++++++ .nix/overlay.nix | 60 +++++++++++++++++ .nix/rbs-arm.nix | 24 +++++++ .nix/rbs-bringup.nix | 24 +++++++ .nix/rbs-bt-executor.nix | 24 +++++++ .nix/rbs-gripper.nix | 23 +++++++ .nix/rbs-gym.nix | 21 ++++++ .nix/rbs-perception.nix | 24 +++++++ .nix/rbs-runtime.nix | 21 ++++++ .nix/rbs-schunk-egp-n-n-b.nix | 22 +++++++ .nix/rbs-simulation.nix | 24 +++++++ .nix/rbs-skill-interfaces.nix | 24 +++++++ .nix/rbs-skill-servers.nix | 24 +++++++ .nix/rbs-task-planner.nix | 24 +++++++ .nix/rbs-utils-interfaces.nix | 23 +++++++ .nix/rbs-utils.nix | 24 +++++++ .nix/rbss-movetopose.nix | 24 +++++++ .nix/rbss-objectdetection.nix | 24 +++++++ .nix/rbss-poseestimation.nix | 24 +++++++ .nix/result | 1 + .nix/robonomics.nix | 22 +++++++ .nix/robot-builder.nix | 21 ++++++ .nix/ros2-control-test-assets.nix | 23 +++++++ .nix/ros2-control.nix | 24 +++++++ .nix/ros2controlcli.nix | 23 +++++++ .nix/rqt-controller-manager.nix | 22 +++++++ .nix/test-dynmsg.nix | 25 +++++++ .nix/transmission-interface.nix | 25 +++++++ .nix/ur-bringup.nix | 24 +++++++ .nix/ur-calibration.nix | 25 +++++++ .nix/ur-controllers.nix | 24 +++++++ .nix/ur-dashboard-msgs.nix | 24 +++++++ .nix/ur-description.nix | 24 +++++++ .nix/ur-moveit-config.nix | 23 +++++++ .nix/ur-robot-driver.nix | 25 +++++++ .nix/ur.nix | 25 +++++++ 63 files changed, 1622 insertions(+) create mode 100644 .nix/behavior-tree.nix create mode 100644 .nix/behaviortree-ros2.nix create mode 100644 .nix/btcpp-ros2-interfaces.nix create mode 100644 .nix/btcpp-ros2-samples.nix create mode 100644 .nix/cartesian-compliance-controller.nix create mode 100644 .nix/cartesian-controller-base.nix create mode 100644 .nix/cartesian-controller-handles.nix create mode 100644 .nix/cartesian-controller-utilities.nix create mode 100644 .nix/cartesian-force-controller.nix create mode 100644 .nix/cartesian-motion-controller.nix create mode 100644 .nix/cartesian-twist-controller.nix create mode 100644 .nix/controller-interface.nix create mode 100644 .nix/controller-manager-msgs.nix create mode 100644 .nix/controller-manager.nix create mode 100644 .nix/dynmsg-demo.nix create mode 100644 .nix/dynmsg-msgs.nix create mode 100644 .nix/dynmsg.nix create mode 100644 .nix/env-manager-interfaces.nix create mode 100644 .nix/env-manager.nix create mode 100644 .nix/flake.lock create mode 100644 .nix/flake.nix create mode 100644 .nix/gz-ros2-control-tests.nix create mode 100644 .nix/hardware-interface-testing.nix create mode 100644 .nix/hardware-interface.nix create mode 100644 .nix/ign-ros2-control-demos.nix create mode 100644 .nix/ign-ros2-control.nix create mode 100644 .nix/joint-limits-interface.nix create mode 100644 .nix/joint-limits.nix create mode 100644 .nix/overlay.nix create mode 100644 .nix/rbs-arm.nix create mode 100644 .nix/rbs-bringup.nix create mode 100644 .nix/rbs-bt-executor.nix create mode 100644 .nix/rbs-gripper.nix create mode 100644 .nix/rbs-gym.nix create mode 100644 .nix/rbs-perception.nix create mode 100644 .nix/rbs-runtime.nix create mode 100644 .nix/rbs-schunk-egp-n-n-b.nix create mode 100644 .nix/rbs-simulation.nix create mode 100644 .nix/rbs-skill-interfaces.nix create mode 100644 .nix/rbs-skill-servers.nix create mode 100644 .nix/rbs-task-planner.nix create mode 100644 .nix/rbs-utils-interfaces.nix create mode 100644 .nix/rbs-utils.nix create mode 100644 .nix/rbss-movetopose.nix create mode 100644 .nix/rbss-objectdetection.nix create mode 100644 .nix/rbss-poseestimation.nix create mode 120000 .nix/result create mode 100644 .nix/robonomics.nix create mode 100644 .nix/robot-builder.nix create mode 100644 .nix/ros2-control-test-assets.nix create mode 100644 .nix/ros2-control.nix create mode 100644 .nix/ros2controlcli.nix create mode 100644 .nix/rqt-controller-manager.nix create mode 100644 .nix/test-dynmsg.nix create mode 100644 .nix/transmission-interface.nix create mode 100644 .nix/ur-bringup.nix create mode 100644 .nix/ur-calibration.nix create mode 100644 .nix/ur-controllers.nix create mode 100644 .nix/ur-dashboard-msgs.nix create mode 100644 .nix/ur-description.nix create mode 100644 .nix/ur-moveit-config.nix create mode 100644 .nix/ur-robot-driver.nix create mode 100644 .nix/ur.nix diff --git a/.nix/behavior-tree.nix b/.nix/behavior-tree.nix new file mode 100644 index 0000000..06de9bc --- /dev/null +++ b/.nix/behavior-tree.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-lint-auto, ament-lint-common, behaviortree-cpp-v3, example-interfaces, geometry-msgs, nav-msgs, rclcpp, rclcpp-action, rclpy, std-msgs, std-srvs }: +buildRosPackage rec { + pname = "ros-jazzy-behavior-tree"; + version = "0.0.0"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "behavior_tree"; + rev = "bb838e2f45c362ee702fa6bd7dea7312130b6461"; + sha256 = "18r6qf4afx5rkdys3fxcc2kii7azksa3djflym243v5fh0wn2knx"; + }; + + buildType = "ament_cmake"; + buildInputs = [ ament-cmake ]; + checkInputs = [ ament-lint-auto ament-lint-common ]; + propagatedBuildInputs = [ behaviortree-cpp-v3 example-interfaces geometry-msgs nav-msgs rclcpp rclcpp-action rclpy std-msgs std-srvs ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "TODO: Package description"; + license = with lib.licenses; [ "TODO-License-declaration" ]; + }; +} diff --git a/.nix/behaviortree-ros2.nix b/.nix/behaviortree-ros2.nix new file mode 100644 index 0000000..e84ca22 --- /dev/null +++ b/.nix/behaviortree-ros2.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, behaviortree-cpp, boost, btcpp-ros2-interfaces, fmt, generate-parameter-library, rclcpp, rclcpp-action }: +buildRosPackage rec { + pname = "ros-jazzy-behaviortree-ros2"; + version = "0.2.0"; + + src = fetchFromGitHub { + owner = "BehaviorTree"; + repo = "BehaviorTree.ROS2"; + rev = "cc31ea7b97947f1aac6e8c37df6cec379c84a7d9"; + sha256 = "0m0n85jab14rfssyjf9sf05rq1rdzs6kqwb467953f26bvcnckkh"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/behaviortree_ros2/"; + buildInputs = [ ament-cmake ]; + propagatedBuildInputs = [ behaviortree-cpp boost btcpp-ros2-interfaces fmt generate-parameter-library rclcpp rclcpp-action ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "This package provides a ROS2 wrapper, on top of BehaviorTree.CPP."; + license = with lib.licenses; [ mit ]; + }; +} diff --git a/.nix/btcpp-ros2-interfaces.nix b/.nix/btcpp-ros2-interfaces.nix new file mode 100644 index 0000000..eb25d17 --- /dev/null +++ b/.nix/btcpp-ros2-interfaces.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy +{ lib, buildRosPackage, fetchFromGitHub, action-msgs, ament-cmake, rosidl-default-generators, rosidl-default-runtime }: +buildRosPackage rec { + pname = "ros-jazzy-btcpp-ros2-interfaces"; + version = "0.2.0"; + + src = fetchFromGitHub { + owner = "BehaviorTree"; + repo = "BehaviorTree.ROS2"; + rev = "cc31ea7b97947f1aac6e8c37df6cec379c84a7d9"; + sha256 = "0m0n85jab14rfssyjf9sf05rq1rdzs6kqwb467953f26bvcnckkh"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/btcpp_ros2_interfaces/"; + buildInputs = [ ament-cmake rosidl-default-generators ]; + propagatedBuildInputs = [ action-msgs rosidl-default-runtime ]; + nativeBuildInputs = [ ament-cmake rosidl-default-generators ]; + + meta = { + description = "ROS2 interfaces, mostly used to demonstrate behaviortree_ros2"; + license = with lib.licenses; [ mit ]; + }; +} diff --git a/.nix/btcpp-ros2-samples.nix b/.nix/btcpp-ros2-samples.nix new file mode 100644 index 0000000..bc2c4fd --- /dev/null +++ b/.nix/btcpp-ros2-samples.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, behaviortree-ros2, btcpp-ros2-interfaces, std-msgs, std-srvs }: +buildRosPackage rec { + pname = "ros-jazzy-btcpp-ros2-samples"; + version = "0.2.0"; + + src = fetchFromGitHub { + owner = "BehaviorTree"; + repo = "BehaviorTree.ROS2"; + rev = "cc31ea7b97947f1aac6e8c37df6cec379c84a7d9"; + sha256 = "0m0n85jab14rfssyjf9sf05rq1rdzs6kqwb467953f26bvcnckkh"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/btcpp_ros2_samples/"; + buildInputs = [ ament-cmake ]; + propagatedBuildInputs = [ behaviortree-ros2 btcpp-ros2-interfaces std-msgs std-srvs ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "Examples related to behaviortree_ros2"; + license = with lib.licenses; [ mit ]; + }; +} diff --git a/.nix/cartesian-compliance-controller.nix b/.nix/cartesian-compliance-controller.nix new file mode 100644 index 0000000..f2e8f2e --- /dev/null +++ b/.nix/cartesian-compliance-controller.nix @@ -0,0 +1,25 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-lint-common, cartesian-controller-base, cartesian-force-controller, cartesian-motion-controller, controller-interface, hardware-interface, pluginlib, rclcpp }: +buildRosPackage rec { + pname = "ros-jazzy-cartesian-compliance-controller"; + version = "0.0.0"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "cartesian_controllers"; + rev = "1218ab5e7153b9aa7a3cd687908671d9f900a838"; + sha256 = "1h0izk742gg4k3v4s8d3c1mj3hqxph390adfccyixggb511c8nvj"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/cartesian_compliance_controller/"; + buildInputs = [ ament-cmake ]; + checkInputs = [ ament-lint-common ]; + propagatedBuildInputs = [ cartesian-controller-base cartesian-force-controller cartesian-motion-controller controller-interface hardware-interface pluginlib rclcpp ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "Control your robot through Cartesian target poses and target wrenches"; + license = with lib.licenses; [ bsd3 ]; + }; +} diff --git a/.nix/cartesian-controller-base.nix b/.nix/cartesian-controller-base.nix new file mode 100644 index 0000000..6fff30c --- /dev/null +++ b/.nix/cartesian-controller-base.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, controller-interface, kdl-parser, pluginlib, rclcpp, realtime-tools, trajectory-msgs }: +buildRosPackage rec { + pname = "ros-jazzy-cartesian-controller-base"; + version = "0.0.0"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "cartesian_controllers"; + rev = "1218ab5e7153b9aa7a3cd687908671d9f900a838"; + sha256 = "1h0izk742gg4k3v4s8d3c1mj3hqxph390adfccyixggb511c8nvj"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/cartesian_controller_base/"; + buildInputs = [ ament-cmake ]; + propagatedBuildInputs = [ controller-interface kdl-parser pluginlib rclcpp realtime-tools trajectory-msgs ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "The cartesian_controller_base package"; + license = with lib.licenses; [ bsd3 ]; + }; +} diff --git a/.nix/cartesian-controller-handles.nix b/.nix/cartesian-controller-handles.nix new file mode 100644 index 0000000..47542b6 --- /dev/null +++ b/.nix/cartesian-controller-handles.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, cartesian-controller-base, controller-interface, geometry-msgs, interactive-markers, kdl-parser, pluginlib, rclcpp, urdf }: +buildRosPackage rec { + pname = "ros-jazzy-cartesian-controller-handles"; + version = "0.0.0"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "cartesian_controllers"; + rev = "1218ab5e7153b9aa7a3cd687908671d9f900a838"; + sha256 = "1h0izk742gg4k3v4s8d3c1mj3hqxph390adfccyixggb511c8nvj"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/cartesian_controller_handles/"; + buildInputs = [ ament-cmake ]; + propagatedBuildInputs = [ cartesian-controller-base controller-interface geometry-msgs interactive-markers kdl-parser pluginlib rclcpp urdf ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "The cartesian_controller_handles package"; + license = with lib.licenses; [ bsd3 ]; + }; +} diff --git a/.nix/cartesian-controller-utilities.nix b/.nix/cartesian-controller-utilities.nix new file mode 100644 index 0000000..ef3649f --- /dev/null +++ b/.nix/cartesian-controller-utilities.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, geometry-msgs, launch, launch-ros, rclcpp, sensor-msgs }: +buildRosPackage rec { + pname = "ros-jazzy-cartesian-controller-utilities"; + version = "0.1.0"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "cartesian_controllers"; + rev = "1218ab5e7153b9aa7a3cd687908671d9f900a838"; + sha256 = "1h0izk742gg4k3v4s8d3c1mj3hqxph390adfccyixggb511c8nvj"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/cartesian_controller_utilities/"; + buildInputs = [ ament-cmake ]; + propagatedBuildInputs = [ geometry-msgs launch launch-ros rclcpp sensor-msgs ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "Make the spacemouse a teach device for contact-based teleoperation"; + license = with lib.licenses; [ bsd3 ]; + }; +} diff --git a/.nix/cartesian-force-controller.nix b/.nix/cartesian-force-controller.nix new file mode 100644 index 0000000..47300b6 --- /dev/null +++ b/.nix/cartesian-force-controller.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, cartesian-controller-base, controller-interface, rclcpp }: +buildRosPackage rec { + pname = "ros-jazzy-cartesian-force-controller"; + version = "0.0.0"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "cartesian_controllers"; + rev = "1218ab5e7153b9aa7a3cd687908671d9f900a838"; + sha256 = "1h0izk742gg4k3v4s8d3c1mj3hqxph390adfccyixggb511c8nvj"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/cartesian_force_controller/"; + buildInputs = [ ament-cmake ]; + propagatedBuildInputs = [ cartesian-controller-base controller-interface rclcpp ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "The cartesian_force_controller package"; + license = with lib.licenses; [ bsd3 ]; + }; +} diff --git a/.nix/cartesian-motion-controller.nix b/.nix/cartesian-motion-controller.nix new file mode 100644 index 0000000..b3beedc --- /dev/null +++ b/.nix/cartesian-motion-controller.nix @@ -0,0 +1,22 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, cartesian-controller-base, controller-interface, rclcpp }: +buildRosPackage rec { + pname = "ros-jazzy-cartesian-motion-controller"; + version = "0.0.0"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "cartesian_controllers"; + rev = "1218ab5e7153b9aa7a3cd687908671d9f900a838"; + sha256 = "1h0izk742gg4k3v4s8d3c1mj3hqxph390adfccyixggb511c8nvj"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/cartesian_motion_controller/"; + propagatedBuildInputs = [ cartesian-controller-base controller-interface rclcpp ]; + + meta = { + description = "The cartesian_motion_controller package"; + license = with lib.licenses; [ bsd3 ]; + }; +} diff --git a/.nix/cartesian-twist-controller.nix b/.nix/cartesian-twist-controller.nix new file mode 100644 index 0000000..6c28dee --- /dev/null +++ b/.nix/cartesian-twist-controller.nix @@ -0,0 +1,22 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, cartesian-controller-base, controller-interface, rclcpp }: +buildRosPackage rec { + pname = "ros-jazzy-cartesian-twist-controller"; + version = "0.0.0"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "cartesian_controllers"; + rev = "1218ab5e7153b9aa7a3cd687908671d9f900a838"; + sha256 = "1h0izk742gg4k3v4s8d3c1mj3hqxph390adfccyixggb511c8nvj"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/cartesian_twist_controller/"; + propagatedBuildInputs = [ cartesian-controller-base controller-interface rclcpp ]; + + meta = { + description = "The cartesian_twist_controller package"; + license = with lib.licenses; [ bsd3 ]; + }; +} diff --git a/.nix/controller-interface.nix b/.nix/controller-interface.nix new file mode 100644 index 0000000..b9aa96a --- /dev/null +++ b/.nix/controller-interface.nix @@ -0,0 +1,25 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-cmake-gmock, hardware-interface, rclcpp-lifecycle, sensor-msgs }: +buildRosPackage rec { + pname = "ros-jazzy-controller-interface"; + version = "2.39.1"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "ros2_control"; + rev = "e4a4aade5aa844f2bfb693d389e048ca509ce7db"; + sha256 = "06jl0b3cwqdja8k901gjxnp5dgpnis61m10qwk4ghv17h197y02b"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/controller_interface/"; + buildInputs = [ ament-cmake ]; + checkInputs = [ ament-cmake-gmock ]; + propagatedBuildInputs = [ hardware-interface rclcpp-lifecycle sensor-msgs ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "Description of controller_interface"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/controller-manager-msgs.nix b/.nix/controller-manager-msgs.nix new file mode 100644 index 0000000..c743946 --- /dev/null +++ b/.nix/controller-manager-msgs.nix @@ -0,0 +1,25 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-lint-common, builtin-interfaces, lifecycle-msgs, rosidl-default-generators, rosidl-default-runtime }: +buildRosPackage rec { + pname = "ros-jazzy-controller-manager-msgs"; + version = "2.39.1"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "ros2_control"; + rev = "e4a4aade5aa844f2bfb693d389e048ca509ce7db"; + sha256 = "06jl0b3cwqdja8k901gjxnp5dgpnis61m10qwk4ghv17h197y02b"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/controller_manager_msgs/"; + buildInputs = [ ament-cmake rosidl-default-generators ]; + checkInputs = [ ament-lint-common ]; + propagatedBuildInputs = [ builtin-interfaces lifecycle-msgs rosidl-default-runtime ]; + nativeBuildInputs = [ ament-cmake rosidl-default-generators ]; + + meta = { + description = "Messages and services for the controller manager."; + license = with lib.licenses; [ bsdOriginal ]; + }; +} diff --git a/.nix/controller-manager.nix b/.nix/controller-manager.nix new file mode 100644 index 0000000..6213fe9 --- /dev/null +++ b/.nix/controller-manager.nix @@ -0,0 +1,25 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-cmake-gmock, ament-cmake-python, ament-index-cpp, backward-ros, controller-interface, controller-manager-msgs, hardware-interface, hardware-interface-testing, launch, launch-ros, pluginlib, rclcpp, rcpputils, realtime-tools, ros2-control-test-assets, ros2param, ros2run, std-msgs }: +buildRosPackage rec { + pname = "ros-jazzy-controller-manager"; + version = "2.39.1"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "ros2_control"; + rev = "e4a4aade5aa844f2bfb693d389e048ca509ce7db"; + sha256 = "06jl0b3cwqdja8k901gjxnp5dgpnis61m10qwk4ghv17h197y02b"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/controller_manager/"; + buildInputs = [ ament-cmake ament-cmake-python ]; + checkInputs = [ ament-cmake-gmock hardware-interface-testing ros2-control-test-assets ]; + propagatedBuildInputs = [ ament-index-cpp backward-ros controller-interface controller-manager-msgs hardware-interface launch launch-ros pluginlib rclcpp rcpputils realtime-tools ros2-control-test-assets ros2param ros2run std-msgs ]; + nativeBuildInputs = [ ament-cmake ament-cmake-python ]; + + meta = { + description = "Description of controller_manager"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/dynmsg-demo.nix b/.nix/dynmsg-demo.nix new file mode 100644 index 0000000..7cb3b6e --- /dev/null +++ b/.nix/dynmsg-demo.nix @@ -0,0 +1,25 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-lint-auto, ament-lint-common, dynmsg, dynmsg-msgs, example-interfaces, geometry-msgs, rcl, rcl-action, std-msgs, test-msgs, yaml-cpp-vendor }: +buildRosPackage rec { + pname = "ros-jazzy-dynmsg-demo"; + version = "1.0.0"; + + src = fetchFromGitHub { + owner = "osrf"; + repo = "dynamic_message_introspection"; + rev = "50277e341f61455c42a6015b5718804a4f8588f6"; + sha256 = "1kayqlmgpzz6lg4sfv6hlm1ak0jhmgqlarbj9wk3206as5iwhbhd"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/dynmsg_demo/"; + buildInputs = [ ament-cmake ]; + checkInputs = [ ament-lint-auto ament-lint-common dynmsg-msgs example-interfaces geometry-msgs std-msgs test-msgs ]; + propagatedBuildInputs = [ dynmsg rcl rcl-action yaml-cpp-vendor ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "Demo of dynamic message type loading"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/dynmsg-msgs.nix b/.nix/dynmsg-msgs.nix new file mode 100644 index 0000000..9e000aa --- /dev/null +++ b/.nix/dynmsg-msgs.nix @@ -0,0 +1,25 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-lint-auto, ament-lint-common, rosidl-default-generators, rosidl-default-runtime }: +buildRosPackage rec { + pname = "ros-jazzy-dynmsg-msgs"; + version = "1.0.0"; + + src = fetchFromGitHub { + owner = "osrf"; + repo = "dynamic_message_introspection"; + rev = "50277e341f61455c42a6015b5718804a4f8588f6"; + sha256 = "1kayqlmgpzz6lg4sfv6hlm1ak0jhmgqlarbj9wk3206as5iwhbhd"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/dynmsg_msgs/"; + buildInputs = [ ament-cmake rosidl-default-generators ]; + checkInputs = [ ament-lint-auto ament-lint-common ]; + propagatedBuildInputs = [ rosidl-default-runtime ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "Test messages for dynamic message type loading"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/dynmsg.nix b/.nix/dynmsg.nix new file mode 100644 index 0000000..fae585a --- /dev/null +++ b/.nix/dynmsg.nix @@ -0,0 +1,25 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, rcutils, rosidl-runtime-c, rosidl-runtime-cpp, rosidl-typesupport-introspection-c, rosidl-typesupport-introspection-cpp, std-msgs, yaml-cpp-vendor }: +buildRosPackage rec { + pname = "ros-jazzy-dynmsg"; + version = "1.0.0"; + + src = fetchFromGitHub { + owner = "osrf"; + repo = "dynamic_message_introspection"; + rev = "50277e341f61455c42a6015b5718804a4f8588f6"; + sha256 = "1kayqlmgpzz6lg4sfv6hlm1ak0jhmgqlarbj9wk3206as5iwhbhd"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/dynmsg/"; + buildInputs = [ ament-cmake ]; + checkInputs = [ ament-cmake-gtest ament-lint-auto ament-lint-common std-msgs ]; + propagatedBuildInputs = [ rcutils rosidl-runtime-c rosidl-runtime-cpp rosidl-typesupport-introspection-c rosidl-typesupport-introspection-cpp yaml-cpp-vendor ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "Introspection tools for message to/from YAML conversions"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/env-manager-interfaces.nix b/.nix/env-manager-interfaces.nix new file mode 100644 index 0000000..aea7047 --- /dev/null +++ b/.nix/env-manager-interfaces.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchgit, ament-cmake, ament-lint-auto, ament-lint-common, builtin-interfaces, lifecycle-msgs, rosidl-default-generators, rosidl-default-runtime }: +buildRosPackage rec { + pname = "ros-jazzy-env-manager-interfaces"; + version = "0.0.0"; + + # src = fetchgit { + # url = "git@gitlab.com:robossembler/robossembler-ros2.git"; + # rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; + # sha256 = "06mmi33qq24vkjs5575v86vrq7bvmqwlm8ls3mahlwl68awqw5x2"; + # }; + + buildType = "ament_cmake"; + src = ../env_manager/env_manager_interfaces; + buildInputs = [ ament-cmake rosidl-default-generators ]; + checkInputs = [ ament-lint-auto ament-lint-common ]; + propagatedBuildInputs = [ builtin-interfaces lifecycle-msgs rosidl-default-runtime ]; + nativeBuildInputs = [ ament-cmake rosidl-default-generators ]; + + meta = { + description = "TODO: Package description"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/env-manager.nix b/.nix/env-manager.nix new file mode 100644 index 0000000..a031770 --- /dev/null +++ b/.nix/env-manager.nix @@ -0,0 +1,17 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchgit, ament-copyright, ament-flake8, ament-pep257, pythonPackages }: +buildRosPackage rec { + pname = "ros-jazzy-env-manager"; + version = "0.0.0"; + + src = ../env_manager/env_manager; + + buildType = "ament_python"; + # sourceRoot = "${src.name}/env_manager/env_manager/"; + checkInputs = [ ament-copyright ament-flake8 ament-pep257 pythonPackages.pytest ]; + + meta = { + description = "TODO: Package description"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/flake.lock b/.nix/flake.lock new file mode 100644 index 0000000..d687bf7 --- /dev/null +++ b/.nix/flake.lock @@ -0,0 +1,84 @@ +{ + "nodes": { + "flake-utils": { + "inputs": { + "systems": "systems" + }, + "locked": { + "lastModified": 1726560853, + "narHash": "sha256-X6rJYSESBVr3hBoH0WbKE5KvhPU5bloyZ2L4K60/fPQ=", + "owner": "numtide", + "repo": "flake-utils", + "rev": "c1dfcf08411b08f6b8615f7d8971a2bfa81d5e8a", + "type": "github" + }, + "original": { + "owner": "numtide", + "repo": "flake-utils", + "type": "github" + } + }, + "nix-ros-overlay": { + "inputs": { + "flake-utils": "flake-utils", + "nixpkgs": "nixpkgs" + }, + "locked": { + "lastModified": 1729355159, + "narHash": "sha256-i1qgvODBSFxpzmkgvtY5cLhqAVpe+Z8eJTRVyLEGyx4=", + "owner": "lopsided98", + "repo": "nix-ros-overlay", + "rev": "20e7f58b7377ed3e932e8924d9ee39efaf888aa8", + "type": "github" + }, + "original": { + "owner": "lopsided98", + "ref": "develop", + "repo": "nix-ros-overlay", + "type": "github" + } + }, + "nixpkgs": { + "locked": { + "lastModified": 1726243404, + "narHash": "sha256-sjiGsMh+1cWXb53Tecsm4skyFNag33GPbVgCdfj3n9I=", + "owner": "lopsided98", + "repo": "nixpkgs", + "rev": "345c263f2f53a3710abe117f28a5cb86d0ba4059", + "type": "github" + }, + "original": { + "owner": "lopsided98", + "ref": "nix-ros", + "repo": "nixpkgs", + "type": "github" + } + }, + "root": { + "inputs": { + "nix-ros-overlay": "nix-ros-overlay", + "nixpkgs": [ + "nix-ros-overlay", + "nixpkgs" + ] + } + }, + "systems": { + "locked": { + "lastModified": 1681028828, + "narHash": "sha256-Vy1rq5AaRuLzOxct8nz4T6wlgyUR7zLU309k9mBC768=", + "owner": "nix-systems", + "repo": "default", + "rev": "da67096a3b9bf56a91d16901293e51ba5b49a27e", + "type": "github" + }, + "original": { + "owner": "nix-systems", + "repo": "default", + "type": "github" + } + } + }, + "root": "root", + "version": 7 +} diff --git a/.nix/flake.nix b/.nix/flake.nix new file mode 100644 index 0000000..b2fd76b --- /dev/null +++ b/.nix/flake.nix @@ -0,0 +1,73 @@ + +{ + inputs = { + #nix-ros-overlay.url = "/home/movefasta/Documents/robossembler/nix-ros-overlay"; + nix-ros-overlay.url = "github:lopsided98/nix-ros-overlay/develop"; + nixpkgs.follows = "nix-ros-overlay/nixpkgs"; # IMPORTANT!!! + }; + outputs = { self, nix-ros-overlay, nixpkgs }: + nix-ros-overlay.inputs.flake-utils.lib.eachDefaultSystem (system: + let + applyDistroOverlay = + rosOverlay: rosPackages: + rosPackages + // builtins.mapAttrs ( + rosDistro: rosPkgs: if rosPkgs ? overrideScope then rosPkgs.overrideScope rosOverlay else rosPkgs + ) rosPackages; + rosDistroOverlays = self: super: { + # Apply the overlay to multiple ROS distributions + rosPackages = applyDistroOverlay (import ./overlay.nix) super.rosPackages; + }; + pkgs = import nixpkgs { + inherit system; + overlays = [ + nix-ros-overlay.overlays.default + rosDistroOverlays + ]; + }; + + rosDistro = "jazzy"; + + in { + legacyPackages = pkgs.rosPackages; + packages = builtins.intersectAttrs (import ./overlay.nix null null) pkgs.rosPackages.${rosDistro}; + checks = builtins.intersectAttrs (import ./overlay.nix null null) pkgs.rosPackages.${rosDistro}; + devShells.default = pkgs.mkShell { + name = "Example project"; + packages = [ + pkgs.colcon + # ... other non-ROS packages + (with pkgs.rosPackages.${rosDistro}; buildEnv { + paths = [ + ros-core + behavior-tree + controller-interface + controller-manager + dynmsg + # dynmsg-demo # YAML failed + dynmsg-msgs + gz-ros2-control + # gz-ros2-control-tests(demos) # error: 'get_robot_description' was not declared in this scope + hardware-interface + hardware-interface-testing + joint-limits + joint-limits-interface + # rbs-arm # error: 'get_robot_description' was not declared in this scope + robot-builder + ros2controlcli + rqt-controller-manager + # test-dynmsg # YAML + transmission-interface + ros2-controllers + + # ... other ROS packages + ]; + }) + ]; + }; + }); + nixConfig = { + extra-substituters = [ "https://ros.cachix.org" ]; + extra-trusted-public-keys = [ "ros.cachix.org-1:dSyZxI8geDCJrwgvCOHDoAfOm5sV1wCPjBkKL+38Rvo=" ]; + }; +} diff --git a/.nix/gz-ros2-control-tests.nix b/.nix/gz-ros2-control-tests.nix new file mode 100644 index 0000000..6536678 --- /dev/null +++ b/.nix/gz-ros2-control-tests.nix @@ -0,0 +1,25 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-cmake-gtest, ament-index-python, ament-lint-auto, ament-lint-common, control-msgs, geometry-msgs, hardware-interface, gz-ros2-control, joint-state-broadcaster, joint-trajectory-controller, launch, launch-ros, launch-testing-ament-cmake, python3Packages, pythonPackages, rclcpp, rclcpp-action, robot-state-publisher, ros-gz, ros2controlcli, ros2launch, xacro }: +buildRosPackage rec { + pname = "ros-jazzy-gz-ros2-control-tests"; + version = "0.7.9"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "gz_ros2_control"; + rev = "43dd1046295ecef5b25d3caab45591da8fb747ba"; + sha256 = "0gzx2286hc1daym4prh8shrbkrp8dkirxsgbx1ykd5c271krsjfg"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/gz_ros2_control_tests/"; + buildInputs = [ ament-cmake rclcpp-action ]; + checkInputs = [ ament-cmake-gtest ament-lint-auto ament-lint-common ]; + propagatedBuildInputs = [ ament-index-python control-msgs geometry-msgs hardware-interface gz-ros2-control joint-state-broadcaster joint-trajectory-controller launch launch-ros launch-testing-ament-cmake python3Packages.psutil pythonPackages.pytest rclcpp robot-state-publisher ros-gz ros2controlcli ros2launch xacro ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "Gazebo ros2 control tests"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/hardware-interface-testing.nix b/.nix/hardware-interface-testing.nix new file mode 100644 index 0000000..a3fcd7f --- /dev/null +++ b/.nix/hardware-interface-testing.nix @@ -0,0 +1,25 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-cmake-gmock, control-msgs, hardware-interface, lifecycle-msgs, pluginlib, rclcpp-lifecycle, ros2-control-test-assets }: +buildRosPackage rec { + pname = "ros-jazzy-hardware-interface-testing"; + version = "2.39.1"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "ros2_control"; + rev = "e4a4aade5aa844f2bfb693d389e048ca509ce7db"; + sha256 = "06jl0b3cwqdja8k901gjxnp5dgpnis61m10qwk4ghv17h197y02b"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/hardware_interface_testing/"; + buildInputs = [ ament-cmake ]; + checkInputs = [ ament-cmake-gmock ]; + propagatedBuildInputs = [ control-msgs hardware-interface lifecycle-msgs pluginlib rclcpp-lifecycle ros2-control-test-assets ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "ros2_control hardware interface testing"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/hardware-interface.nix b/.nix/hardware-interface.nix new file mode 100644 index 0000000..51362b5 --- /dev/null +++ b/.nix/hardware-interface.nix @@ -0,0 +1,25 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-cmake-gmock, control-msgs, lifecycle-msgs, pluginlib, rclcpp-lifecycle, rcpputils, rcutils, ros2-control-test-assets, tinyxml2-vendor }: +buildRosPackage rec { + pname = "ros-jazzy-hardware-interface"; + version = "2.39.1"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "ros2_control"; + rev = "e4a4aade5aa844f2bfb693d389e048ca509ce7db"; + sha256 = "06jl0b3cwqdja8k901gjxnp5dgpnis61m10qwk4ghv17h197y02b"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/hardware_interface/"; + buildInputs = [ ament-cmake ]; + checkInputs = [ ament-cmake-gmock ros2-control-test-assets ]; + propagatedBuildInputs = [ control-msgs lifecycle-msgs pluginlib rclcpp-lifecycle rcpputils rcutils tinyxml2-vendor ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "ros2_control hardware interface"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/ign-ros2-control-demos.nix b/.nix/ign-ros2-control-demos.nix new file mode 100644 index 0000000..e4fcda3 --- /dev/null +++ b/.nix/ign-ros2-control-demos.nix @@ -0,0 +1,25 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ackermann-steering-controller, ament-cmake, ament-cmake-gtest, ament-index-python, ament-lint-auto, ament-lint-common, control-msgs, diff-drive-controller, effort-controllers, geometry-msgs, hardware-interface, ign-ros2-control, imu-sensor-broadcaster, joint-state-broadcaster, joint-trajectory-controller, launch, launch-ros, rclcpp, rclcpp-action, robot-state-publisher, ros-gz-bridge, ros-ign-gazebo, ros2controlcli, ros2launch, std-msgs, tricycle-controller, velocity-controllers, xacro }: +buildRosPackage rec { + pname = "ros-jazzy-ign-ros2-control-demos"; + version = "0.7.9"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "gz_ros2_control"; + rev = "43dd1046295ecef5b25d3caab45591da8fb747ba"; + sha256 = "0gzx2286hc1daym4prh8shrbkrp8dkirxsgbx1ykd5c271krsjfg"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/ign_ros2_control_demos/"; + buildInputs = [ ament-cmake rclcpp-action ]; + checkInputs = [ ament-cmake-gtest ament-lint-auto ament-lint-common ]; + propagatedBuildInputs = [ ackermann-steering-controller ament-index-python control-msgs diff-drive-controller effort-controllers geometry-msgs hardware-interface ign-ros2-control imu-sensor-broadcaster joint-state-broadcaster joint-trajectory-controller launch launch-ros rclcpp robot-state-publisher ros-gz-bridge ros-ign-gazebo ros2controlcli ros2launch std-msgs tricycle-controller velocity-controllers xacro ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "ign_ros2_control_demos"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/ign-ros2-control.nix b/.nix/ign-ros2-control.nix new file mode 100644 index 0000000..4a7df0f --- /dev/null +++ b/.nix/ign-ros2-control.nix @@ -0,0 +1,25 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-index-cpp, ament-lint-auto, ament-lint-common, controller-manager, hardware-interface, ignition-gazebo6, ignition-plugin, pluginlib, rclcpp, rclcpp-lifecycle, yaml-cpp-vendor }: +buildRosPackage rec { + pname = "ros-jazzy-ign-ros2-control"; + version = "0.7.9"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "gz_ros2_control"; + rev = "43dd1046295ecef5b25d3caab45591da8fb747ba"; + sha256 = "0gzx2286hc1daym4prh8shrbkrp8dkirxsgbx1ykd5c271krsjfg"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/ign_ros2_control/"; + buildInputs = [ ament-cmake ]; + checkInputs = [ ament-lint-auto ament-lint-common ]; + propagatedBuildInputs = [ ament-index-cpp controller-manager hardware-interface ignition-gazebo6 ignition-plugin pluginlib rclcpp rclcpp-lifecycle yaml-cpp-vendor ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "Ignition ros2_control package allows to control simulated robots using ros2_control framework."; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/joint-limits-interface.nix b/.nix/joint-limits-interface.nix new file mode 100644 index 0000000..f90bfe1 --- /dev/null +++ b/.nix/joint-limits-interface.nix @@ -0,0 +1,25 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-cmake-gtest, hardware-interface, launch, launch-ros, launch-testing, launch-testing-ament-cmake, rclcpp, urdf }: +buildRosPackage rec { + pname = "ros-jazzy-joint-limits-interface"; + version = "0.0.0"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "ros2_control"; + rev = "e4a4aade5aa844f2bfb693d389e048ca509ce7db"; + sha256 = "06jl0b3cwqdja8k901gjxnp5dgpnis61m10qwk4ghv17h197y02b"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/joint_limits_interface/"; + buildInputs = [ ament-cmake ]; + checkInputs = [ ament-cmake-gtest hardware-interface launch launch-ros launch-testing launch-testing-ament-cmake ]; + propagatedBuildInputs = [ hardware-interface rclcpp urdf ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "Interface for enforcing joint limits."; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/joint-limits.nix b/.nix/joint-limits.nix new file mode 100644 index 0000000..a29117d --- /dev/null +++ b/.nix/joint-limits.nix @@ -0,0 +1,25 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-cmake-gtest, launch-testing-ament-cmake, rclcpp, rclcpp-lifecycle }: +buildRosPackage rec { + pname = "ros-jazzy-joint-limits"; + version = "2.39.1"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "ros2_control"; + rev = "e4a4aade5aa844f2bfb693d389e048ca509ce7db"; + sha256 = "06jl0b3cwqdja8k901gjxnp5dgpnis61m10qwk4ghv17h197y02b"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/joint_limits/"; + buildInputs = [ ament-cmake ]; + checkInputs = [ ament-cmake-gtest launch-testing-ament-cmake ]; + propagatedBuildInputs = [ rclcpp rclcpp-lifecycle ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "Interfaces for handling of joint limits for controllers or hardware."; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/overlay.nix b/.nix/overlay.nix new file mode 100644 index 0000000..7aea738 --- /dev/null +++ b/.nix/overlay.nix @@ -0,0 +1,60 @@ +self: super: +{ + behavior-tree = super.callPackage ./behavior-tree.nix {}; + behaviortree-ros2 = super.callPackage ./behaviortree-ros2.nix {}; + btcpp-ros2-interfaces = super.callPackage ./btcpp-ros2-interfaces.nix {}; + btcpp-ros2-samples = super.callPackage ./btcpp-ros2-samples.nix {}; + cartesian-compliance-controller = super.callPackage ./cartesian-compliance-controller.nix {}; + cartesian-controller-base = super.callPackage ./cartesian-controller-base.nix {}; + cartesian-controller-handles = super.callPackage ./cartesian-controller-handles.nix {}; + cartesian-controller-utilities = super.callPackage ./cartesian-controller-utilities.nix {}; + cartesian-force-controller = super.callPackage ./cartesian-force-controller.nix {}; + cartesian-motion-controller = super.callPackage ./cartesian-motion-controller.nix {}; + cartesian-twist-controller = super.callPackage ./cartesian-twist-controller.nix {}; + # controller-interface = super.callPackage ./controller-interface.nix {}; + # controller-manager = super.callPackage ./controller-manager.nix {}; + # controller-manager-msgs = super.callPackage ./controller-manager-msgs.nix {}; + dynmsg = super.callPackage ./dynmsg.nix {}; + dynmsg-demo = super.callPackage ./dynmsg-demo.nix {}; + dynmsg-msgs = super.callPackage ./dynmsg-msgs.nix {}; + env-manager = super.callPackage ./env-manager.nix {}; + env-manager-interfaces = super.callPackage ./env-manager-interfaces.nix {}; + # gz-ros2-control-tests = super.callPackage ./gz-ros2-control-tests.nix {}; + # hardware-interface = super.callPackage ./hardware-interface.nix {}; + # hardware-interface-testing = super.callPackage ./hardware-interface-testing.nix {}; + ign-ros2-control = super.callPackage ./ign-ros2-control.nix {}; + ign-ros2-control-demos = super.callPackage ./ign-ros2-control-demos.nix {}; + # joint-limits = super.callPackage ./joint-limits.nix {}; + # joint-limits-interface = super.callPackage ./joint-limits-interface.nix {}; + rbs-arm = super.callPackage ./rbs-arm.nix {}; + rbs-bringup = super.callPackage ./rbs-bringup.nix {}; + rbs-bt-executor = super.callPackage ./rbs-bt-executor.nix {}; + rbs-gripper = super.callPackage ./rbs-gripper.nix {}; + rbs-gym = super.callPackage ./rbs-gym.nix {}; + rbs-perception = super.callPackage ./rbs-perception.nix {}; + rbs-runtime = super.callPackage ./rbs-runtime.nix {}; + rbs-schunk-egp-n-n-b = super.callPackage ./rbs-schunk-egp-n-n-b.nix {}; + rbs-simulation = super.callPackage ./rbs-simulation.nix {}; + rbs-skill-interfaces = super.callPackage ./rbs-skill-interfaces.nix {}; + rbs-skill-servers = super.callPackage ./rbs-skill-servers.nix {}; + rbs-task-planner = super.callPackage ./rbs-task-planner.nix {}; + rbs-utils = super.callPackage ./rbs-utils.nix {}; + rbs-utils-interfaces = super.callPackage ./rbs-utils-interfaces.nix {}; + rbss-movetopose = super.callPackage ./rbss-movetopose.nix {}; + rbss-objectdetection = super.callPackage ./rbss-objectdetection.nix {}; + rbss-poseestimation = super.callPackage ./rbss-poseestimation.nix {}; + robonomics = super.callPackage ./robonomics.nix {}; + robot-builder = super.callPackage ./robot-builder.nix {}; + ros2controlcli = super.callPackage ./ros2controlcli.nix {}; + rqt-controller-manager = super.callPackage ./rqt-controller-manager.nix {}; + test-dynmsg = super.callPackage ./test-dynmsg.nix {}; + # transmission-interface = super.callPackage ./transmission-interface.nix {}; + ur = super.callPackage ./ur.nix {}; + ur-bringup = super.callPackage ./ur-bringup.nix {}; + ur-calibration = super.callPackage ./ur-calibration.nix {}; + ur-controllers = super.callPackage ./ur-controllers.nix {}; + ur-dashboard-msgs = super.callPackage ./ur-dashboard-msgs.nix {}; + ur-description = super.callPackage ./ur-description.nix {}; + ur-moveit-config = super.callPackage ./ur-moveit-config.nix {}; + ur-robot-driver = super.callPackage ./ur-robot-driver.nix {}; +} diff --git a/.nix/rbs-arm.nix b/.nix/rbs-arm.nix new file mode 100644 index 0000000..05330ed --- /dev/null +++ b/.nix/rbs-arm.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-lint-auto, ament-lint-common, joint-trajectory-controller, ros-gz, ros2-control, ros2-controllers }: +buildRosPackage rec { + pname = "ros-jazzy-rbs-arm"; + version = "0.0.0"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "rbs-arm"; + rev = "bc13ea275cffdaa062d225bf3934918a6dbaafb3"; + sha256 = "0f3j8vlshq19qkcxy7fiv9ij3zz70k5lhn4y4184zfr4czdkpmf0"; + }; + + buildType = "ament_cmake"; + buildInputs = [ ament-cmake ]; + checkInputs = [ ament-lint-auto ament-lint-common ]; + propagatedBuildInputs = [ joint-trajectory-controller ros-gz ros2-control ros2-controllers ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "TODO: Package description"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/rbs-bringup.nix b/.nix/rbs-bringup.nix new file mode 100644 index 0000000..10a0082 --- /dev/null +++ b/.nix/rbs-bringup.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchgit, ament-cmake, ament-lint-auto, ament-lint-common, nav2-common }: +buildRosPackage rec { + pname = "ros-jazzy-rbs-bringup"; + version = "0.0.0"; + + src = fetchgit { + url = "git@gitlab.com:robossembler/robossembler-ros2.git"; + rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; + sha256 = "06mmi33qq24vkjs5575v86vrq7bvmqwlm8ls3mahlwl68awqw5x2"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/rbs_bringup/"; + buildInputs = [ ament-cmake ]; + checkInputs = [ ament-lint-auto ament-lint-common ]; + propagatedBuildInputs = [ nav2-common ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "TODO: Package description"; + license = with lib.licenses; [ "TODO-License-declaration" ]; + }; +} diff --git a/.nix/rbs-bt-executor.nix b/.nix/rbs-bt-executor.nix new file mode 100644 index 0000000..dc2d8b5 --- /dev/null +++ b/.nix/rbs-bt-executor.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchgit, ament-cmake, ament-cmake-python, ament-lint-auto, ament-lint-common, behaviortree-cpp, behaviortree-ros2, env-manager-interfaces, rbs-skill-interfaces, rbs-utils, rclpy }: +buildRosPackage rec { + pname = "ros-jazzy-rbs-bt-executor"; + version = "0.0.0"; + + # src = fetchgit { + # url = "git@gitlab.com:robossembler/robossembler-ros2.git"; + # rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; + # sha256 = "06mmi33qq24vkjs5575v86vrq7bvmqwlm8ls3mahlwl68awqw5x2"; + # }; + + buildType = "ament_cmake"; + src = "./rbs_bt_executor/"; + buildInputs = [ ament-cmake ament-cmake-python ]; + checkInputs = [ ament-lint-auto ament-lint-common ]; + propagatedBuildInputs = [ behaviortree-cpp behaviortree-ros2 env-manager-interfaces rbs-skill-interfaces rbs-utils rclpy ]; + nativeBuildInputs = [ ament-cmake ament-cmake-python ]; + + meta = { + description = "TODO: Package description"; + license = with lib.licenses; [ "TODO-License-declaration" ]; + }; +} diff --git a/.nix/rbs-gripper.nix b/.nix/rbs-gripper.nix new file mode 100644 index 0000000..54d9fbd --- /dev/null +++ b/.nix/rbs-gripper.nix @@ -0,0 +1,23 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-lint-auto, ament-lint-common }: +buildRosPackage rec { + pname = "ros-jazzy-rbs-gripper"; + version = "0.0.0"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "rbs-gripper"; + rev = "d34d28ab88f04bfd981f7f36293d501212795c47"; + sha256 = "0kyjm3q10w55hibypknx9rz69brkp10kdcpl79wwkz2d0fya6d5j"; + }; + + buildType = "ament_cmake"; + buildInputs = [ ament-cmake ]; + checkInputs = [ ament-lint-auto ament-lint-common ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "TODO: Package description"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/rbs-gym.nix b/.nix/rbs-gym.nix new file mode 100644 index 0000000..7916f2e --- /dev/null +++ b/.nix/rbs-gym.nix @@ -0,0 +1,21 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchgit, ament-copyright, ament-flake8, ament-pep257, pythonPackages }: +buildRosPackage rec { + pname = "ros-jazzy-rbs-gym"; + version = "0.0.0"; + + src = fetchgit { + url = "git@gitlab.com:robossembler/robossembler-ros2.git"; + rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; + sha256 = "06mmi33qq24vkjs5575v86vrq7bvmqwlm8ls3mahlwl68awqw5x2"; + }; + + buildType = "ament_python"; + sourceRoot = "${src.name}/env_manager/rbs_gym/"; + checkInputs = [ ament-copyright ament-flake8 ament-pep257 pythonPackages.pytest ]; + + meta = { + description = "TODO: Package description"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/rbs-perception.nix b/.nix/rbs-perception.nix new file mode 100644 index 0000000..7d2ede6 --- /dev/null +++ b/.nix/rbs-perception.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchgit, ament-cmake, ament-cmake-python, ament-lint-auto, ament-lint-common, cv-bridge, image-transport, perception-pcl, rbs-skill-interfaces, rclcpp, rclpy, sensor-msgs, std-msgs }: +buildRosPackage rec { + pname = "ros-jazzy-rbs-perception"; + version = "0.0.0"; + + src = fetchgit { + url = "git@gitlab.com:robossembler/robossembler-ros2.git"; + rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; + sha256 = "06mmi33qq24vkjs5575v86vrq7bvmqwlm8ls3mahlwl68awqw5x2"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/rbs_perception/"; + buildInputs = [ ament-cmake ament-cmake-python ]; + checkInputs = [ ament-lint-auto ament-lint-common ]; + propagatedBuildInputs = [ cv-bridge image-transport perception-pcl rbs-skill-interfaces rclcpp rclpy sensor-msgs std-msgs ]; + nativeBuildInputs = [ ament-cmake ament-cmake-python ]; + + meta = { + description = "An node for robot perception"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/rbs-runtime.nix b/.nix/rbs-runtime.nix new file mode 100644 index 0000000..38130bb --- /dev/null +++ b/.nix/rbs-runtime.nix @@ -0,0 +1,21 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchgit, ament-copyright, ament-flake8, ament-pep257, pythonPackages }: +buildRosPackage rec { + pname = "ros-jazzy-rbs-runtime"; + version = "0.0.0"; + + src = fetchgit { + url = "git@gitlab.com:robossembler/robossembler-ros2.git"; + rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; + sha256 = "06mmi33qq24vkjs5575v86vrq7bvmqwlm8ls3mahlwl68awqw5x2"; + }; + + buildType = "ament_python"; + sourceRoot = "${src.name}/env_manager/rbs_runtime/"; + checkInputs = [ ament-copyright ament-flake8 ament-pep257 pythonPackages.pytest ]; + + meta = { + description = "TODO: Package description"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/rbs-schunk-egp-n-n-b.nix b/.nix/rbs-schunk-egp-n-n-b.nix new file mode 100644 index 0000000..7830f6b --- /dev/null +++ b/.nix/rbs-schunk-egp-n-n-b.nix @@ -0,0 +1,22 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchgit, ament-cmake, ament-lint-auto, ament-lint-common }: +buildRosPackage rec { + pname = "ros-jazzy-rbs-schunk-egp-n-n-b"; + version = "0.0.0"; + + src = fetchgit { + url = "https://gitlab.com/robossembler/arm-tools/urdf-model-shrunk-gripper-egp-40-n-n-b.git"; + rev = "d22a39da75767ed97bc27a16ca771cdc637561d7"; + sha256 = "1immr3iq56sxk5aavrky5gqbb8z8akcsjzlskra2z071n741jyrm"; + }; + + buildType = "ament_cmake"; + buildInputs = [ ament-cmake ]; + checkInputs = [ ament-lint-auto ament-lint-common ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "TODO: Package description"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/rbs-simulation.nix b/.nix/rbs-simulation.nix new file mode 100644 index 0000000..966aafc --- /dev/null +++ b/.nix/rbs-simulation.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchgit, ament-cmake, ament-lint-auto, ament-lint-common, geometry-msgs, rclcpp, std-msgs, tf2, tf2-ros }: +buildRosPackage rec { + pname = "ros-jazzy-rbs-simulation"; + version = "0.0.0"; + + src = fetchgit { + url = "git@gitlab.com:robossembler/robossembler-ros2.git"; + rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; + sha256 = "06mmi33qq24vkjs5575v86vrq7bvmqwlm8ls3mahlwl68awqw5x2"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/rbs_simulation/"; + buildInputs = [ ament-cmake ]; + checkInputs = [ ament-lint-auto ament-lint-common ]; + propagatedBuildInputs = [ geometry-msgs rclcpp std-msgs tf2 tf2-ros ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "TODO: Package description"; + license = with lib.licenses; [ "TODO-License-declaration" ]; + }; +} diff --git a/.nix/rbs-skill-interfaces.nix b/.nix/rbs-skill-interfaces.nix new file mode 100644 index 0000000..97b23d3 --- /dev/null +++ b/.nix/rbs-skill-interfaces.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchgit, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, geometry-msgs, rosidl-default-generators, rosidl-default-runtime, shape-msgs, std-msgs, test-msgs }: +buildRosPackage rec { + pname = "ros-jazzy-rbs-skill-interfaces"; + version = "0.0.0"; + + src = fetchgit { + url = "git@gitlab.com:robossembler/robossembler-ros2.git"; + rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; + sha256 = "06mmi33qq24vkjs5575v86vrq7bvmqwlm8ls3mahlwl68awqw5x2"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/rbs_skill_interfaces/"; + buildInputs = [ ament-cmake rosidl-default-generators ]; + checkInputs = [ ament-cmake-gtest ament-lint-auto ament-lint-common test-msgs ]; + propagatedBuildInputs = [ geometry-msgs rosidl-default-runtime shape-msgs std-msgs ]; + nativeBuildInputs = [ ament-cmake rosidl-default-generators ]; + + meta = { + description = "TODO: Package description"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/rbs-skill-servers.nix b/.nix/rbs-skill-servers.nix new file mode 100644 index 0000000..9443582 --- /dev/null +++ b/.nix/rbs-skill-servers.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchgit, action-msgs, ament-cmake, ament-lint-auto, ament-lint-common, geometric-shapes, geometry-msgs, ign-ros2-control, moveit-core, moveit-msgs, moveit-ros-planning, moveit-ros-planning-interface, rbs-skill-interfaces, rbs-utils, rclcpp, rclcpp-action, tf2-eigen, tf2-ros }: +buildRosPackage rec { + pname = "ros-jazzy-rbs-skill-servers"; + version = "0.0.0"; + + src = fetchgit { + url = "git@gitlab.com:robossembler/robossembler-ros2.git"; + rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; + sha256 = "06mmi33qq24vkjs5575v86vrq7bvmqwlm8ls3mahlwl68awqw5x2"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/rbs_skill_servers/"; + buildInputs = [ ament-cmake ]; + checkInputs = [ ament-lint-auto ament-lint-common ]; + propagatedBuildInputs = [ action-msgs geometric-shapes geometry-msgs ign-ros2-control moveit-core moveit-msgs moveit-ros-planning moveit-ros-planning-interface rbs-skill-interfaces rbs-utils rclcpp rclcpp-action tf2-eigen tf2-ros ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "TODO: Package description"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/rbs-task-planner.nix b/.nix/rbs-task-planner.nix new file mode 100644 index 0000000..4c31cf6 --- /dev/null +++ b/.nix/rbs-task-planner.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchgit, ament-cmake, ament-cmake-gtest, ament-index-cpp, ament-lint-auto, ament-lint-common, behavior-tree, behaviortree-cpp-v3, plansys2-bringup, plansys2-bt-actions, plansys2-domain-expert, plansys2-executor, plansys2-msgs, plansys2-pddl-parser, plansys2-planner, plansys2-problem-expert, plansys2-terminal, popf, test-msgs }: +buildRosPackage rec { + pname = "ros-jazzy-rbs-task-planner"; + version = "0.0.1"; + + src = fetchgit { + url = "git@gitlab.com:robossembler/robossembler-ros2.git"; + rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; + sha256 = "06mmi33qq24vkjs5575v86vrq7bvmqwlm8ls3mahlwl68awqw5x2"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/rbs_task_planner/"; + buildInputs = [ ament-cmake ]; + checkInputs = [ ament-cmake-gtest ament-lint-auto ament-lint-common test-msgs ]; + propagatedBuildInputs = [ ament-index-cpp behavior-tree behaviortree-cpp-v3 plansys2-bringup plansys2-bt-actions plansys2-domain-expert plansys2-executor plansys2-msgs plansys2-pddl-parser plansys2-planner plansys2-problem-expert plansys2-terminal popf ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "ROS2 task planner for manipulator"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/rbs-utils-interfaces.nix b/.nix/rbs-utils-interfaces.nix new file mode 100644 index 0000000..31f949b --- /dev/null +++ b/.nix/rbs-utils-interfaces.nix @@ -0,0 +1,23 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchgit, ament-cmake, rosidl-default-generators, rosidl-default-runtime }: +buildRosPackage rec { + pname = "ros-jazzy-rbs-utils-interfaces"; + version = "0.0.0"; + + src = fetchgit { + url = "git@gitlab.com:robossembler/robossembler-ros2.git"; + rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; + sha256 = "06mmi33qq24vkjs5575v86vrq7bvmqwlm8ls3mahlwl68awqw5x2"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/rbs_utils/rbs_utils_interfaces/"; + buildInputs = [ ament-cmake rosidl-default-generators ]; + propagatedBuildInputs = [ rosidl-default-runtime ]; + nativeBuildInputs = [ ament-cmake rosidl-default-generators ]; + + meta = { + description = "Interfaces for read robossembler_db config"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/rbs-utils.nix b/.nix/rbs-utils.nix new file mode 100644 index 0000000..c48e938 --- /dev/null +++ b/.nix/rbs-utils.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchgit, ament-cmake, ament-lint-auto, ament-lint-common, dynmsg, geometry-msgs, rbs-utils-interfaces, rclcpp, rclcpp-lifecycle, rclpy, rosidl-default-generators, rviz-visual-tools, sensor-msgs, std-msgs, tf2-eigen, tf2-ros }: +buildRosPackage rec { + pname = "ros-jazzy-rbs-utils"; + version = "0.0.0"; + + src = fetchgit { + url = "git@gitlab.com:robossembler/robossembler-ros2.git"; + rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; + sha256 = "06mmi33qq24vkjs5575v86vrq7bvmqwlm8ls3mahlwl68awqw5x2"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/rbs_utils/rbs_utils/"; + buildInputs = [ ament-cmake ]; + checkInputs = [ ament-lint-auto ament-lint-common ]; + propagatedBuildInputs = [ dynmsg geometry-msgs rbs-utils-interfaces rclcpp rclcpp-lifecycle rclpy rosidl-default-generators rviz-visual-tools sensor-msgs std-msgs tf2-eigen tf2-ros ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "TODO: Package description"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/rbss-movetopose.nix b/.nix/rbss-movetopose.nix new file mode 100644 index 0000000..061bedb --- /dev/null +++ b/.nix/rbss-movetopose.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchgit, ament-cmake, ament-cmake-python, ament-lint-auto, ament-lint-common, rbs-skill-interfaces, rclcpp, rclpy, std-msgs }: +buildRosPackage rec { + pname = "ros-jazzy-rbss-movetopose"; + version = "0.0.1"; + + src = fetchgit { + url = "git@gitlab.com:robossembler/robossembler-ros2.git"; + rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; + sha256 = "06mmi33qq24vkjs5575v86vrq7bvmqwlm8ls3mahlwl68awqw5x2"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/rbss_movetopose/"; + buildInputs = [ ament-cmake ament-cmake-python ]; + checkInputs = [ ament-lint-auto ament-lint-common ]; + propagatedBuildInputs = [ rbs-skill-interfaces rclcpp rclpy std-msgs ]; + nativeBuildInputs = [ ament-cmake ament-cmake-python ]; + + meta = { + description = "The Move to pose skill"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/rbss-objectdetection.nix b/.nix/rbss-objectdetection.nix new file mode 100644 index 0000000..6e22e8e --- /dev/null +++ b/.nix/rbss-objectdetection.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchgit, ament-cmake, ament-cmake-python, ament-lint-auto, ament-lint-common, cv-bridge, image-transport, rbs-skill-interfaces, rclcpp, rclpy, sensor-msgs, std-msgs }: +buildRosPackage rec { + pname = "ros-jazzy-rbss-objectdetection"; + version = "0.0.1"; + + src = fetchgit { + url = "git@gitlab.com:robossembler/robossembler-ros2.git"; + rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; + sha256 = "06mmi33qq24vkjs5575v86vrq7bvmqwlm8ls3mahlwl68awqw5x2"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/rbss_objectdetection/"; + buildInputs = [ ament-cmake ament-cmake-python ]; + checkInputs = [ ament-lint-auto ament-lint-common ]; + propagatedBuildInputs = [ cv-bridge image-transport rbs-skill-interfaces rclcpp rclpy sensor-msgs std-msgs ]; + nativeBuildInputs = [ ament-cmake ament-cmake-python ]; + + meta = { + description = "The Object Detection skill"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/rbss-poseestimation.nix b/.nix/rbss-poseestimation.nix new file mode 100644 index 0000000..1ae791f --- /dev/null +++ b/.nix/rbss-poseestimation.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchgit, ament-cmake, ament-cmake-python, ament-lint-auto, ament-lint-common, cv-bridge, image-transport, rbs-skill-interfaces, rclpy, sensor-msgs, std-msgs }: +buildRosPackage rec { + pname = "ros-jazzy-rbss-poseestimation"; + version = "0.0.1"; + + src = fetchgit { + url = "git@gitlab.com:robossembler/robossembler-ros2.git"; + rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; + sha256 = "06mmi33qq24vkjs5575v86vrq7bvmqwlm8ls3mahlwl68awqw5x2"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/rbss_poseestimation/"; + buildInputs = [ ament-cmake ament-cmake-python ]; + checkInputs = [ ament-lint-auto ament-lint-common ]; + propagatedBuildInputs = [ cv-bridge image-transport rbs-skill-interfaces rclpy sensor-msgs std-msgs ]; + nativeBuildInputs = [ ament-cmake ament-cmake-python ]; + + meta = { + description = "The Pose Estimation skill"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/result b/.nix/result new file mode 120000 index 0000000..28fd9ce --- /dev/null +++ b/.nix/result @@ -0,0 +1 @@ +/nix/store/m92f2wcjw5q4bdwclqxc4yp8x3jlq7jg-ros-jazzy-rbs-arm-0.0.0 \ No newline at end of file diff --git a/.nix/robonomics.nix b/.nix/robonomics.nix new file mode 100644 index 0000000..5f9069c --- /dev/null +++ b/.nix/robonomics.nix @@ -0,0 +1,22 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchgit, ament-copyright, ament-flake8, ament-pep257, pythonPackages, rclpy }: +buildRosPackage rec { + pname = "ros-jazzy-robonomics"; + version = "0.1.0"; + + src = fetchgit { + url = "git@gitlab.com:robossembler/robossembler-ros2.git"; + rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; + sha256 = "06mmi33qq24vkjs5575v86vrq7bvmqwlm8ls3mahlwl68awqw5x2"; + }; + + buildType = "ament_python"; + sourceRoot = "${src.name}/robonomics/"; + checkInputs = [ ament-copyright ament-flake8 ament-pep257 pythonPackages.pytest ]; + propagatedBuildInputs = [ rclpy ]; + + meta = { + description = "Package for Robossember-Robonomics interoperability"; + license = with lib.licenses; [ "Apache-license-2.0" ]; + }; +} diff --git a/.nix/robot-builder.nix b/.nix/robot-builder.nix new file mode 100644 index 0000000..2659bf4 --- /dev/null +++ b/.nix/robot-builder.nix @@ -0,0 +1,21 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ament-copyright, ament-flake8, ament-pep257, pythonPackages }: +buildRosPackage rec { + pname = "ros-jazzy-robot-builder"; + version = "0.0.0"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "robot-builder"; + rev = "5f02b5868047767df2ab8f4bc026fe40a420e94d"; + sha256 = "08wi1lk584r6nm9j169rg7d944wp167xk5aw0x5b1smbqnsgcdq5"; + }; + + buildType = "ament_python"; + checkInputs = [ ament-copyright ament-flake8 ament-pep257 pythonPackages.pytest ]; + + meta = { + description = "TODO: Package description"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/ros2-control-test-assets.nix b/.nix/ros2-control-test-assets.nix new file mode 100644 index 0000000..6f0be2e --- /dev/null +++ b/.nix/ros2-control-test-assets.nix @@ -0,0 +1,23 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake }: +buildRosPackage rec { + pname = "ros-jazzy-ros2-control-test-assets"; + version = "2.39.1"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "ros2_control"; + rev = "e4a4aade5aa844f2bfb693d389e048ca509ce7db"; + sha256 = "06jl0b3cwqdja8k901gjxnp5dgpnis61m10qwk4ghv17h197y02b"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/ros2_control_test_assets/"; + buildInputs = [ ament-cmake ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "The package provides shared test resources for ros2_control stack"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/ros2-control.nix b/.nix/ros2-control.nix new file mode 100644 index 0000000..79f7ea3 --- /dev/null +++ b/.nix/ros2-control.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, controller-interface, controller-manager, controller-manager-msgs, hardware-interface, joint-limits, ros2-control-test-assets, ros2controlcli, transmission-interface }: +buildRosPackage rec { + pname = "ros-jazzy-ros2-control"; + version = "2.39.1"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "ros2_control"; + rev = "e4a4aade5aa844f2bfb693d389e048ca509ce7db"; + sha256 = "06jl0b3cwqdja8k901gjxnp5dgpnis61m10qwk4ghv17h197y02b"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/ros2_control/"; + buildInputs = [ ament-cmake ]; + propagatedBuildInputs = [ controller-interface controller-manager controller-manager-msgs hardware-interface joint-limits ros2-control-test-assets ros2controlcli transmission-interface ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "Metapackage for ROS2 control related packages"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/ros2controlcli.nix b/.nix/ros2controlcli.nix new file mode 100644 index 0000000..e5071aa --- /dev/null +++ b/.nix/ros2controlcli.nix @@ -0,0 +1,23 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ament-copyright, ament-flake8, ament-pep257, ament-xmllint, controller-manager, controller-manager-msgs, python3Packages, rcl-interfaces, rclpy, ros2cli, ros2node, ros2param, rosidl-runtime-py }: +buildRosPackage rec { + pname = "ros-jazzy-ros2controlcli"; + version = "2.39.1"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "ros2_control"; + rev = "e4a4aade5aa844f2bfb693d389e048ca509ce7db"; + sha256 = "06jl0b3cwqdja8k901gjxnp5dgpnis61m10qwk4ghv17h197y02b"; + }; + + buildType = "ament_python"; + sourceRoot = "${src.name}/ros2controlcli/"; + checkInputs = [ ament-copyright ament-flake8 ament-pep257 ament-xmllint ]; + propagatedBuildInputs = [ controller-manager controller-manager-msgs python3Packages.pygraphviz rcl-interfaces rclpy ros2cli ros2node ros2param rosidl-runtime-py ]; + + meta = { + description = "The ROS 2 command line tools for ROS2 Control."; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/rqt-controller-manager.nix b/.nix/rqt-controller-manager.nix new file mode 100644 index 0000000..08a4b98 --- /dev/null +++ b/.nix/rqt-controller-manager.nix @@ -0,0 +1,22 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, controller-manager-msgs, rclpy, rqt-gui, rqt-gui-py }: +buildRosPackage rec { + pname = "ros-jazzy-rqt-controller-manager"; + version = "2.39.1"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "ros2_control"; + rev = "e4a4aade5aa844f2bfb693d389e048ca509ce7db"; + sha256 = "06jl0b3cwqdja8k901gjxnp5dgpnis61m10qwk4ghv17h197y02b"; + }; + + buildType = "ament_python"; + sourceRoot = "${src.name}/rqt_controller_manager/"; + propagatedBuildInputs = [ controller-manager-msgs rclpy rqt-gui rqt-gui-py ]; + + meta = { + description = "Graphical frontend for interacting with the controller manager."; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/test-dynmsg.nix b/.nix/test-dynmsg.nix new file mode 100644 index 0000000..1d99df1 --- /dev/null +++ b/.nix/test-dynmsg.nix @@ -0,0 +1,25 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, builtin-interfaces, dynmsg, rcl-interfaces, std-msgs, test-msgs }: +buildRosPackage rec { + pname = "ros-jazzy-test-dynmsg"; + version = "1.0.0"; + + src = fetchFromGitHub { + owner = "osrf"; + repo = "dynamic_message_introspection"; + rev = "50277e341f61455c42a6015b5718804a4f8588f6"; + sha256 = "1kayqlmgpzz6lg4sfv6hlm1ak0jhmgqlarbj9wk3206as5iwhbhd"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/test_dynmsg/"; + buildInputs = [ ament-cmake ]; + checkInputs = [ ament-cmake-gtest ament-lint-auto ament-lint-common builtin-interfaces rcl-interfaces test-msgs ]; + propagatedBuildInputs = [ dynmsg std-msgs ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "Tests for the dynmsg package"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/transmission-interface.nix b/.nix/transmission-interface.nix new file mode 100644 index 0000000..5fd4e4d --- /dev/null +++ b/.nix/transmission-interface.nix @@ -0,0 +1,25 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-cmake-gmock, hardware-interface, pluginlib }: +buildRosPackage rec { + pname = "ros-jazzy-transmission-interface"; + version = "2.39.1"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "ros2_control"; + rev = "e4a4aade5aa844f2bfb693d389e048ca509ce7db"; + sha256 = "06jl0b3cwqdja8k901gjxnp5dgpnis61m10qwk4ghv17h197y02b"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/transmission_interface/"; + buildInputs = [ ament-cmake ]; + checkInputs = [ ament-cmake-gmock ]; + propagatedBuildInputs = [ hardware-interface pluginlib ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "transmission_interface contains data structures for representing mechanical transmissions, methods for propagating values between actuator and joint spaces and tooling to support this."; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/ur-bringup.nix b/.nix/ur-bringup.nix new file mode 100644 index 0000000..e05f923 --- /dev/null +++ b/.nix/ur-bringup.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-cmake-python, controller-manager, force-torque-sensor-broadcaster, joint-state-broadcaster, joint-state-publisher, joint-trajectory-controller, launch, launch-ros, position-controllers, rclpy, robot-state-publisher, ros2-controllers-test-nodes, rviz2, ur-controllers, ur-description, urdf, velocity-controllers, xacro }: +buildRosPackage rec { + pname = "ros-jazzy-ur-bringup"; + version = "2.2.9"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "Universal_Robots_ROS2_Driver"; + rev = "5a26d5376b58d1fd7d147a836d416eba551c45df"; + sha256 = "1v1j8rbwq1i2pyadmhcvv94bs4jgfprs8ylgbd7aaff3z9n52dcb"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/ur_bringup/"; + buildInputs = [ ament-cmake ament-cmake-python ]; + propagatedBuildInputs = [ controller-manager force-torque-sensor-broadcaster joint-state-broadcaster joint-state-publisher joint-trajectory-controller launch launch-ros position-controllers rclpy robot-state-publisher ros2-controllers-test-nodes rviz2 ur-controllers ur-description urdf velocity-controllers xacro ]; + nativeBuildInputs = [ ament-cmake ament-cmake-python ]; + + meta = { + description = "Launch file and run-time configurations, e.g. controllers."; + license = with lib.licenses; [ bsd3 ]; + }; +} diff --git a/.nix/ur-calibration.nix b/.nix/ur-calibration.nix new file mode 100644 index 0000000..063a794 --- /dev/null +++ b/.nix/ur-calibration.nix @@ -0,0 +1,25 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-cmake-gmock, ament-cmake-gtest, ament-lint-auto, ament-lint-common, eigen, rclcpp, ur-client-library, ur-robot-driver, yaml-cpp }: +buildRosPackage rec { + pname = "ros-jazzy-ur-calibration"; + version = "2.2.9"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "Universal_Robots_ROS2_Driver"; + rev = "5a26d5376b58d1fd7d147a836d416eba551c45df"; + sha256 = "1v1j8rbwq1i2pyadmhcvv94bs4jgfprs8ylgbd7aaff3z9n52dcb"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/ur_calibration/"; + buildInputs = [ ament-cmake ]; + checkInputs = [ ament-cmake-gmock ament-cmake-gtest ament-lint-auto ament-lint-common ]; + propagatedBuildInputs = [ eigen rclcpp ur-client-library ur-robot-driver yaml-cpp ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "Package for extracting the factory calibration from a UR robot and change it such that it can be used by ur_description to gain a correct URDF"; + license = with lib.licenses; [ bsd3 ]; + }; +} diff --git a/.nix/ur-controllers.nix b/.nix/ur-controllers.nix new file mode 100644 index 0000000..ccf5cd2 --- /dev/null +++ b/.nix/ur-controllers.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, angles, controller-interface, joint-trajectory-controller, lifecycle-msgs, pluginlib, rclcpp-lifecycle, rcutils, realtime-tools, std-msgs, std-srvs, ur-dashboard-msgs, ur-msgs }: +buildRosPackage rec { + pname = "ros-jazzy-ur-controllers"; + version = "2.2.9"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "Universal_Robots_ROS2_Driver"; + rev = "5a26d5376b58d1fd7d147a836d416eba551c45df"; + sha256 = "1v1j8rbwq1i2pyadmhcvv94bs4jgfprs8ylgbd7aaff3z9n52dcb"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/ur_controllers/"; + buildInputs = [ ament-cmake ]; + propagatedBuildInputs = [ angles controller-interface joint-trajectory-controller lifecycle-msgs pluginlib rclcpp-lifecycle rcutils realtime-tools std-msgs std-srvs ur-dashboard-msgs ur-msgs ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "Provides controllers that use the speed scaling interface of Universal Robots."; + license = with lib.licenses; [ bsd3 ]; + }; +} diff --git a/.nix/ur-dashboard-msgs.nix b/.nix/ur-dashboard-msgs.nix new file mode 100644 index 0000000..86f1cff --- /dev/null +++ b/.nix/ur-dashboard-msgs.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, action-msgs, ament-cmake, rosidl-default-generators, rosidl-default-runtime }: +buildRosPackage rec { + pname = "ros-jazzy-ur-dashboard-msgs"; + version = "2.2.9"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "Universal_Robots_ROS2_Driver"; + rev = "5a26d5376b58d1fd7d147a836d416eba551c45df"; + sha256 = "1v1j8rbwq1i2pyadmhcvv94bs4jgfprs8ylgbd7aaff3z9n52dcb"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/ur_dashboard_msgs/"; + buildInputs = [ ament-cmake rosidl-default-generators ]; + propagatedBuildInputs = [ action-msgs rosidl-default-runtime ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "Messages around the UR Dashboard server."; + license = with lib.licenses; [ bsd3 ]; + }; +} diff --git a/.nix/ur-description.nix b/.nix/ur-description.nix new file mode 100644 index 0000000..8034feb --- /dev/null +++ b/.nix/ur-description.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-cmake-pytest, joint-state-publisher-gui, launch, launch-ros, launch-testing-ament-cmake, launch-testing-ros, robot-state-publisher, rviz2, urdf, urdfdom, xacro }: +buildRosPackage rec { + pname = "ros-jazzy-ur-description"; + version = "2.1.1"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "Universal_Robots_ROS2_Description"; + rev = "1d89319dcf78bdaadc44481285caf64dde9b3ff1"; + sha256 = "0x8wy19rsvp2bp7b7d3wwnvnc611z48msplzr49ybsdwxjsqbfm0"; + }; + + buildType = "ament_cmake"; + buildInputs = [ ament-cmake ]; + checkInputs = [ ament-cmake-pytest launch-testing-ament-cmake launch-testing-ros urdfdom xacro ]; + propagatedBuildInputs = [ joint-state-publisher-gui launch launch-ros robot-state-publisher rviz2 urdf xacro ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "URDF description for Universal Robots"; + license = with lib.licenses; [ bsd3 "Universal-Robots-A-S’-Terms-and-Conditions-for-Use-of-Graphical-Documentation" ]; + }; +} diff --git a/.nix/ur-moveit-config.nix b/.nix/ur-moveit-config.nix new file mode 100644 index 0000000..28b4118 --- /dev/null +++ b/.nix/ur-moveit-config.nix @@ -0,0 +1,23 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-cmake-python, launch, launch-ros, moveit-kinematics, moveit-planners-ompl, moveit-ros-move-group, moveit-ros-visualization, moveit-servo, moveit-simple-controller-manager, rviz2, ur-description, urdf, warehouse-ros-sqlite, xacro }: +buildRosPackage rec { + pname = "ros-jazzy-ur-moveit-config"; + version = "2.2.4"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "ur_moveit_config"; + rev = "4d745a96f0798519816c5553c51199edb9e6f74c"; + sha256 = "0nancpam0v4jx2fpn7h0kz49sff3wz6mna5765b28cbdgnhizmla"; + }; + + buildType = "ament_cmake"; + buildInputs = [ ament-cmake ament-cmake-python ]; + propagatedBuildInputs = [ launch launch-ros moveit-kinematics moveit-planners-ompl moveit-ros-move-group moveit-ros-visualization moveit-servo moveit-simple-controller-manager rviz2 ur-description urdf warehouse-ros-sqlite xacro ]; + nativeBuildInputs = [ ament-cmake ament-cmake-python ]; + + meta = { + description = "An example package with MoveIt2 configurations for UR robots."; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/ur-robot-driver.nix b/.nix/ur-robot-driver.nix new file mode 100644 index 0000000..9678aaf --- /dev/null +++ b/.nix/ur-robot-driver.nix @@ -0,0 +1,25 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-cmake-python, backward-ros, controller-manager, controller-manager-msgs, docker, force-torque-sensor-broadcaster, geometry-msgs, hardware-interface, joint-state-broadcaster, joint-state-publisher, joint-trajectory-controller, launch, launch-ros, launch-testing-ament-cmake, pluginlib, position-controllers, rclcpp, rclcpp-lifecycle, rclpy, robot-state-publisher, ros2-controllers-test-nodes, rviz2, socat, std-msgs, std-srvs, tf2-geometry-msgs, ur-client-library, ur-controllers, ur-dashboard-msgs, ur-description, ur-msgs, urdf, velocity-controllers, xacro }: +buildRosPackage rec { + pname = "ros-jazzy-ur-robot-driver"; + version = "2.2.9"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "Universal_Robots_ROS2_Driver"; + rev = "5a26d5376b58d1fd7d147a836d416eba551c45df"; + sha256 = "1v1j8rbwq1i2pyadmhcvv94bs4jgfprs8ylgbd7aaff3z9n52dcb"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/ur_robot_driver/"; + buildInputs = [ ament-cmake ament-cmake-python ]; + checkInputs = [ docker launch-testing-ament-cmake ]; + propagatedBuildInputs = [ backward-ros controller-manager controller-manager-msgs force-torque-sensor-broadcaster geometry-msgs hardware-interface joint-state-broadcaster joint-state-publisher joint-trajectory-controller launch launch-ros pluginlib position-controllers rclcpp rclcpp-lifecycle rclpy robot-state-publisher ros2-controllers-test-nodes rviz2 socat std-msgs std-srvs tf2-geometry-msgs ur-client-library ur-controllers ur-dashboard-msgs ur-description ur-msgs urdf velocity-controllers xacro ]; + nativeBuildInputs = [ ament-cmake ament-cmake-python ]; + + meta = { + description = "The new driver for Universal Robots UR3, UR5 and UR10 robots with CB3 controllers and the e-series."; + license = with lib.licenses; [ bsd3 ]; + }; +} diff --git a/.nix/ur.nix b/.nix/ur.nix new file mode 100644 index 0000000..852212a --- /dev/null +++ b/.nix/ur.nix @@ -0,0 +1,25 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-lint-auto, ament-lint-common, ur-calibration, ur-controllers, ur-dashboard-msgs, ur-moveit-config, ur-robot-driver }: +buildRosPackage rec { + pname = "ros-jazzy-ur"; + version = "2.2.9"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "Universal_Robots_ROS2_Driver"; + rev = "5a26d5376b58d1fd7d147a836d416eba551c45df"; + sha256 = "1v1j8rbwq1i2pyadmhcvv94bs4jgfprs8ylgbd7aaff3z9n52dcb"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/ur/"; + buildInputs = [ ament-cmake ]; + checkInputs = [ ament-lint-auto ament-lint-common ]; + propagatedBuildInputs = [ ur-calibration ur-controllers ur-dashboard-msgs ur-moveit-config ur-robot-driver ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "Metapackage for universal robots"; + license = with lib.licenses; [ bsd3 ]; + }; +} From 83d127b00cfc59ec135f7a6f6f6fff2e9d0e6e86 Mon Sep 17 00:00:00 2001 From: Igor Brylev Date: Fri, 25 Oct 2024 19:32:24 +0300 Subject: [PATCH 03/27] auto-generated jazzy clean without forks --- .nix/behavior-tree.nix | 24 -------- .nix/cartesian-compliance-controller.nix | 25 -------- .nix/cartesian-controller-base.nix | 24 -------- .nix/cartesian-controller-handles.nix | 24 -------- .nix/cartesian-controller-utilities.nix | 24 -------- .nix/cartesian-force-controller.nix | 24 -------- .nix/cartesian-motion-controller.nix | 22 ------- .nix/cartesian-twist-controller.nix | 22 ------- .nix/controller-interface.nix | 25 -------- .nix/controller-manager-msgs.nix | 25 -------- .nix/controller-manager.nix | 25 -------- .nix/gz-ros2-control-tests.nix | 25 -------- .nix/hardware-interface-testing.nix | 25 -------- .nix/hardware-interface.nix | 25 -------- .nix/ign-ros2-control-demos.nix | 25 -------- .nix/ign-ros2-control.nix | 25 -------- .nix/joint-limits-interface.nix | 25 -------- .nix/joint-limits.nix | 25 -------- .nix/overlay.nix | 60 ------------------- .nix/rbs-schunk-egp-n-n-b.nix | 22 ------- .nix/result | 1 - .nix/ros2-control-test-assets.nix | 23 ------- .nix/ros2-control.nix | 24 -------- .nix/ros2controlcli.nix | 23 ------- .nix/rqt-controller-manager.nix | 22 ------- .nix/transmission-interface.nix | 25 -------- .nix/ur-bringup.nix | 24 -------- .nix/ur-calibration.nix | 25 -------- .nix/ur-controllers.nix | 24 -------- .nix/ur-dashboard-msgs.nix | 24 -------- .nix/ur-description.nix | 24 -------- .nix/ur-moveit-config.nix | 23 ------- .nix/ur-robot-driver.nix | 25 -------- .nix/ur.nix | 25 -------- ...viortree-ros2.nix => behaviortree-ros2.nix | 0 ...nterfaces.nix => btcpp-ros2-interfaces.nix | 0 ...ros2-samples.nix => btcpp-ros2-samples.nix | 0 .nix/dynmsg-demo.nix => dynmsg-demo.nix | 2 +- .nix/dynmsg-msgs.nix => dynmsg-msgs.nix | 2 +- .nix/dynmsg.nix => dynmsg.nix | 2 +- ...terfaces.nix => env-manager-interfaces.nix | 14 ++--- .nix/env-manager.nix => env-manager.nix | 10 +++- .nix/flake.lock => flake.lock | 0 .nix/flake.nix => flake.nix | 24 +------- overlay.nix | 30 ++++++++++ .nix/rbs-arm.nix => rbs-arm.nix | 2 +- .nix/rbs-bringup.nix => rbs-bringup.nix | 6 +- ...rbs-bt-executor.nix => rbs-bt-executor.nix | 14 ++--- .nix/rbs-gripper.nix => rbs-gripper.nix | 2 +- .nix/rbs-gym.nix => rbs-gym.nix | 6 +- .nix/rbs-perception.nix => rbs-perception.nix | 6 +- .nix/rbs-runtime.nix => rbs-runtime.nix | 6 +- .nix/rbs-simulation.nix => rbs-simulation.nix | 6 +- ...interfaces.nix => rbs-skill-interfaces.nix | 6 +- ...skill-servers.nix => rbs-skill-servers.nix | 6 +- ...s-task-planner.nix => rbs-task-planner.nix | 6 +- ...interfaces.nix => rbs-utils-interfaces.nix | 6 +- .nix/rbs-utils.nix => rbs-utils.nix | 6 +- ...rbss-movetopose.nix => rbss-movetopose.nix | 6 +- ...tdetection.nix => rbss-objectdetection.nix | 6 +- ...eestimation.nix => rbss-poseestimation.nix | 6 +- .nix/robonomics.nix => robonomics.nix | 6 +- .nix/robot-builder.nix => robot-builder.nix | 2 +- .nix/test-dynmsg.nix => test-dynmsg.nix | 2 +- 64 files changed, 102 insertions(+), 921 deletions(-) delete mode 100644 .nix/behavior-tree.nix delete mode 100644 .nix/cartesian-compliance-controller.nix delete mode 100644 .nix/cartesian-controller-base.nix delete mode 100644 .nix/cartesian-controller-handles.nix delete mode 100644 .nix/cartesian-controller-utilities.nix delete mode 100644 .nix/cartesian-force-controller.nix delete mode 100644 .nix/cartesian-motion-controller.nix delete mode 100644 .nix/cartesian-twist-controller.nix delete mode 100644 .nix/controller-interface.nix delete mode 100644 .nix/controller-manager-msgs.nix delete mode 100644 .nix/controller-manager.nix delete mode 100644 .nix/gz-ros2-control-tests.nix delete mode 100644 .nix/hardware-interface-testing.nix delete mode 100644 .nix/hardware-interface.nix delete mode 100644 .nix/ign-ros2-control-demos.nix delete mode 100644 .nix/ign-ros2-control.nix delete mode 100644 .nix/joint-limits-interface.nix delete mode 100644 .nix/joint-limits.nix delete mode 100644 .nix/overlay.nix delete mode 100644 .nix/rbs-schunk-egp-n-n-b.nix delete mode 120000 .nix/result delete mode 100644 .nix/ros2-control-test-assets.nix delete mode 100644 .nix/ros2-control.nix delete mode 100644 .nix/ros2controlcli.nix delete mode 100644 .nix/rqt-controller-manager.nix delete mode 100644 .nix/transmission-interface.nix delete mode 100644 .nix/ur-bringup.nix delete mode 100644 .nix/ur-calibration.nix delete mode 100644 .nix/ur-controllers.nix delete mode 100644 .nix/ur-dashboard-msgs.nix delete mode 100644 .nix/ur-description.nix delete mode 100644 .nix/ur-moveit-config.nix delete mode 100644 .nix/ur-robot-driver.nix delete mode 100644 .nix/ur.nix rename .nix/behaviortree-ros2.nix => behaviortree-ros2.nix (100%) rename .nix/btcpp-ros2-interfaces.nix => btcpp-ros2-interfaces.nix (100%) rename .nix/btcpp-ros2-samples.nix => btcpp-ros2-samples.nix (100%) rename .nix/dynmsg-demo.nix => dynmsg-demo.nix (95%) rename .nix/dynmsg-msgs.nix => dynmsg-msgs.nix (95%) rename .nix/dynmsg.nix => dynmsg.nix (95%) rename .nix/env-manager-interfaces.nix => env-manager-interfaces.nix (69%) rename .nix/env-manager.nix => env-manager.nix (61%) rename .nix/flake.lock => flake.lock (100%) rename .nix/flake.nix => flake.nix (65%) create mode 100644 overlay.nix rename .nix/rbs-arm.nix => rbs-arm.nix (94%) rename .nix/rbs-bringup.nix => rbs-bringup.nix (80%) rename .nix/rbs-bt-executor.nix => rbs-bt-executor.nix (72%) rename .nix/rbs-gripper.nix => rbs-gripper.nix (93%) rename .nix/rbs-gym.nix => rbs-gym.nix (77%) rename .nix/rbs-perception.nix => rbs-perception.nix (84%) rename .nix/rbs-runtime.nix => rbs-runtime.nix (78%) rename .nix/rbs-simulation.nix => rbs-simulation.nix (81%) rename .nix/rbs-skill-interfaces.nix => rbs-skill-interfaces.nix (84%) rename .nix/rbs-skill-servers.nix => rbs-skill-servers.nix (86%) rename .nix/rbs-task-planner.nix => rbs-task-planner.nix (87%) rename .nix/rbs-utils-interfaces.nix => rbs-utils-interfaces.nix (81%) rename .nix/rbs-utils.nix => rbs-utils.nix (85%) rename .nix/rbss-movetopose.nix => rbss-movetopose.nix (82%) rename .nix/rbss-objectdetection.nix => rbss-objectdetection.nix (84%) rename .nix/rbss-poseestimation.nix => rbss-poseestimation.nix (83%) rename .nix/robonomics.nix => robonomics.nix (79%) rename .nix/robot-builder.nix => robot-builder.nix (93%) rename .nix/test-dynmsg.nix => test-dynmsg.nix (95%) diff --git a/.nix/behavior-tree.nix b/.nix/behavior-tree.nix deleted file mode 100644 index 06de9bc..0000000 --- a/.nix/behavior-tree.nix +++ /dev/null @@ -1,24 +0,0 @@ -# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix -{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-lint-auto, ament-lint-common, behaviortree-cpp-v3, example-interfaces, geometry-msgs, nav-msgs, rclcpp, rclcpp-action, rclpy, std-msgs, std-srvs }: -buildRosPackage rec { - pname = "ros-jazzy-behavior-tree"; - version = "0.0.0"; - - src = fetchFromGitHub { - owner = "solid-sinusoid"; - repo = "behavior_tree"; - rev = "bb838e2f45c362ee702fa6bd7dea7312130b6461"; - sha256 = "18r6qf4afx5rkdys3fxcc2kii7azksa3djflym243v5fh0wn2knx"; - }; - - buildType = "ament_cmake"; - buildInputs = [ ament-cmake ]; - checkInputs = [ ament-lint-auto ament-lint-common ]; - propagatedBuildInputs = [ behaviortree-cpp-v3 example-interfaces geometry-msgs nav-msgs rclcpp rclcpp-action rclpy std-msgs std-srvs ]; - nativeBuildInputs = [ ament-cmake ]; - - meta = { - description = "TODO: Package description"; - license = with lib.licenses; [ "TODO-License-declaration" ]; - }; -} diff --git a/.nix/cartesian-compliance-controller.nix b/.nix/cartesian-compliance-controller.nix deleted file mode 100644 index f2e8f2e..0000000 --- a/.nix/cartesian-compliance-controller.nix +++ /dev/null @@ -1,25 +0,0 @@ -# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix -{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-lint-common, cartesian-controller-base, cartesian-force-controller, cartesian-motion-controller, controller-interface, hardware-interface, pluginlib, rclcpp }: -buildRosPackage rec { - pname = "ros-jazzy-cartesian-compliance-controller"; - version = "0.0.0"; - - src = fetchFromGitHub { - owner = "solid-sinusoid"; - repo = "cartesian_controllers"; - rev = "1218ab5e7153b9aa7a3cd687908671d9f900a838"; - sha256 = "1h0izk742gg4k3v4s8d3c1mj3hqxph390adfccyixggb511c8nvj"; - }; - - buildType = "ament_cmake"; - sourceRoot = "${src.name}/cartesian_compliance_controller/"; - buildInputs = [ ament-cmake ]; - checkInputs = [ ament-lint-common ]; - propagatedBuildInputs = [ cartesian-controller-base cartesian-force-controller cartesian-motion-controller controller-interface hardware-interface pluginlib rclcpp ]; - nativeBuildInputs = [ ament-cmake ]; - - meta = { - description = "Control your robot through Cartesian target poses and target wrenches"; - license = with lib.licenses; [ bsd3 ]; - }; -} diff --git a/.nix/cartesian-controller-base.nix b/.nix/cartesian-controller-base.nix deleted file mode 100644 index 6fff30c..0000000 --- a/.nix/cartesian-controller-base.nix +++ /dev/null @@ -1,24 +0,0 @@ -# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix -{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, controller-interface, kdl-parser, pluginlib, rclcpp, realtime-tools, trajectory-msgs }: -buildRosPackage rec { - pname = "ros-jazzy-cartesian-controller-base"; - version = "0.0.0"; - - src = fetchFromGitHub { - owner = "solid-sinusoid"; - repo = "cartesian_controllers"; - rev = "1218ab5e7153b9aa7a3cd687908671d9f900a838"; - sha256 = "1h0izk742gg4k3v4s8d3c1mj3hqxph390adfccyixggb511c8nvj"; - }; - - buildType = "ament_cmake"; - sourceRoot = "${src.name}/cartesian_controller_base/"; - buildInputs = [ ament-cmake ]; - propagatedBuildInputs = [ controller-interface kdl-parser pluginlib rclcpp realtime-tools trajectory-msgs ]; - nativeBuildInputs = [ ament-cmake ]; - - meta = { - description = "The cartesian_controller_base package"; - license = with lib.licenses; [ bsd3 ]; - }; -} diff --git a/.nix/cartesian-controller-handles.nix b/.nix/cartesian-controller-handles.nix deleted file mode 100644 index 47542b6..0000000 --- a/.nix/cartesian-controller-handles.nix +++ /dev/null @@ -1,24 +0,0 @@ -# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix -{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, cartesian-controller-base, controller-interface, geometry-msgs, interactive-markers, kdl-parser, pluginlib, rclcpp, urdf }: -buildRosPackage rec { - pname = "ros-jazzy-cartesian-controller-handles"; - version = "0.0.0"; - - src = fetchFromGitHub { - owner = "solid-sinusoid"; - repo = "cartesian_controllers"; - rev = "1218ab5e7153b9aa7a3cd687908671d9f900a838"; - sha256 = "1h0izk742gg4k3v4s8d3c1mj3hqxph390adfccyixggb511c8nvj"; - }; - - buildType = "ament_cmake"; - sourceRoot = "${src.name}/cartesian_controller_handles/"; - buildInputs = [ ament-cmake ]; - propagatedBuildInputs = [ cartesian-controller-base controller-interface geometry-msgs interactive-markers kdl-parser pluginlib rclcpp urdf ]; - nativeBuildInputs = [ ament-cmake ]; - - meta = { - description = "The cartesian_controller_handles package"; - license = with lib.licenses; [ bsd3 ]; - }; -} diff --git a/.nix/cartesian-controller-utilities.nix b/.nix/cartesian-controller-utilities.nix deleted file mode 100644 index ef3649f..0000000 --- a/.nix/cartesian-controller-utilities.nix +++ /dev/null @@ -1,24 +0,0 @@ -# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix -{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, geometry-msgs, launch, launch-ros, rclcpp, sensor-msgs }: -buildRosPackage rec { - pname = "ros-jazzy-cartesian-controller-utilities"; - version = "0.1.0"; - - src = fetchFromGitHub { - owner = "solid-sinusoid"; - repo = "cartesian_controllers"; - rev = "1218ab5e7153b9aa7a3cd687908671d9f900a838"; - sha256 = "1h0izk742gg4k3v4s8d3c1mj3hqxph390adfccyixggb511c8nvj"; - }; - - buildType = "ament_cmake"; - sourceRoot = "${src.name}/cartesian_controller_utilities/"; - buildInputs = [ ament-cmake ]; - propagatedBuildInputs = [ geometry-msgs launch launch-ros rclcpp sensor-msgs ]; - nativeBuildInputs = [ ament-cmake ]; - - meta = { - description = "Make the spacemouse a teach device for contact-based teleoperation"; - license = with lib.licenses; [ bsd3 ]; - }; -} diff --git a/.nix/cartesian-force-controller.nix b/.nix/cartesian-force-controller.nix deleted file mode 100644 index 47300b6..0000000 --- a/.nix/cartesian-force-controller.nix +++ /dev/null @@ -1,24 +0,0 @@ -# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix -{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, cartesian-controller-base, controller-interface, rclcpp }: -buildRosPackage rec { - pname = "ros-jazzy-cartesian-force-controller"; - version = "0.0.0"; - - src = fetchFromGitHub { - owner = "solid-sinusoid"; - repo = "cartesian_controllers"; - rev = "1218ab5e7153b9aa7a3cd687908671d9f900a838"; - sha256 = "1h0izk742gg4k3v4s8d3c1mj3hqxph390adfccyixggb511c8nvj"; - }; - - buildType = "ament_cmake"; - sourceRoot = "${src.name}/cartesian_force_controller/"; - buildInputs = [ ament-cmake ]; - propagatedBuildInputs = [ cartesian-controller-base controller-interface rclcpp ]; - nativeBuildInputs = [ ament-cmake ]; - - meta = { - description = "The cartesian_force_controller package"; - license = with lib.licenses; [ bsd3 ]; - }; -} diff --git a/.nix/cartesian-motion-controller.nix b/.nix/cartesian-motion-controller.nix deleted file mode 100644 index b3beedc..0000000 --- a/.nix/cartesian-motion-controller.nix +++ /dev/null @@ -1,22 +0,0 @@ -# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix -{ lib, buildRosPackage, fetchFromGitHub, cartesian-controller-base, controller-interface, rclcpp }: -buildRosPackage rec { - pname = "ros-jazzy-cartesian-motion-controller"; - version = "0.0.0"; - - src = fetchFromGitHub { - owner = "solid-sinusoid"; - repo = "cartesian_controllers"; - rev = "1218ab5e7153b9aa7a3cd687908671d9f900a838"; - sha256 = "1h0izk742gg4k3v4s8d3c1mj3hqxph390adfccyixggb511c8nvj"; - }; - - buildType = "ament_cmake"; - sourceRoot = "${src.name}/cartesian_motion_controller/"; - propagatedBuildInputs = [ cartesian-controller-base controller-interface rclcpp ]; - - meta = { - description = "The cartesian_motion_controller package"; - license = with lib.licenses; [ bsd3 ]; - }; -} diff --git a/.nix/cartesian-twist-controller.nix b/.nix/cartesian-twist-controller.nix deleted file mode 100644 index 6c28dee..0000000 --- a/.nix/cartesian-twist-controller.nix +++ /dev/null @@ -1,22 +0,0 @@ -# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix -{ lib, buildRosPackage, fetchFromGitHub, cartesian-controller-base, controller-interface, rclcpp }: -buildRosPackage rec { - pname = "ros-jazzy-cartesian-twist-controller"; - version = "0.0.0"; - - src = fetchFromGitHub { - owner = "solid-sinusoid"; - repo = "cartesian_controllers"; - rev = "1218ab5e7153b9aa7a3cd687908671d9f900a838"; - sha256 = "1h0izk742gg4k3v4s8d3c1mj3hqxph390adfccyixggb511c8nvj"; - }; - - buildType = "ament_cmake"; - sourceRoot = "${src.name}/cartesian_twist_controller/"; - propagatedBuildInputs = [ cartesian-controller-base controller-interface rclcpp ]; - - meta = { - description = "The cartesian_twist_controller package"; - license = with lib.licenses; [ bsd3 ]; - }; -} diff --git a/.nix/controller-interface.nix b/.nix/controller-interface.nix deleted file mode 100644 index b9aa96a..0000000 --- a/.nix/controller-interface.nix +++ /dev/null @@ -1,25 +0,0 @@ -# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix -{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-cmake-gmock, hardware-interface, rclcpp-lifecycle, sensor-msgs }: -buildRosPackage rec { - pname = "ros-jazzy-controller-interface"; - version = "2.39.1"; - - src = fetchFromGitHub { - owner = "solid-sinusoid"; - repo = "ros2_control"; - rev = "e4a4aade5aa844f2bfb693d389e048ca509ce7db"; - sha256 = "06jl0b3cwqdja8k901gjxnp5dgpnis61m10qwk4ghv17h197y02b"; - }; - - buildType = "ament_cmake"; - sourceRoot = "${src.name}/controller_interface/"; - buildInputs = [ ament-cmake ]; - checkInputs = [ ament-cmake-gmock ]; - propagatedBuildInputs = [ hardware-interface rclcpp-lifecycle sensor-msgs ]; - nativeBuildInputs = [ ament-cmake ]; - - meta = { - description = "Description of controller_interface"; - license = with lib.licenses; [ asl20 ]; - }; -} diff --git a/.nix/controller-manager-msgs.nix b/.nix/controller-manager-msgs.nix deleted file mode 100644 index c743946..0000000 --- a/.nix/controller-manager-msgs.nix +++ /dev/null @@ -1,25 +0,0 @@ -# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix -{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-lint-common, builtin-interfaces, lifecycle-msgs, rosidl-default-generators, rosidl-default-runtime }: -buildRosPackage rec { - pname = "ros-jazzy-controller-manager-msgs"; - version = "2.39.1"; - - src = fetchFromGitHub { - owner = "solid-sinusoid"; - repo = "ros2_control"; - rev = "e4a4aade5aa844f2bfb693d389e048ca509ce7db"; - sha256 = "06jl0b3cwqdja8k901gjxnp5dgpnis61m10qwk4ghv17h197y02b"; - }; - - buildType = "ament_cmake"; - sourceRoot = "${src.name}/controller_manager_msgs/"; - buildInputs = [ ament-cmake rosidl-default-generators ]; - checkInputs = [ ament-lint-common ]; - propagatedBuildInputs = [ builtin-interfaces lifecycle-msgs rosidl-default-runtime ]; - nativeBuildInputs = [ ament-cmake rosidl-default-generators ]; - - meta = { - description = "Messages and services for the controller manager."; - license = with lib.licenses; [ bsdOriginal ]; - }; -} diff --git a/.nix/controller-manager.nix b/.nix/controller-manager.nix deleted file mode 100644 index 6213fe9..0000000 --- a/.nix/controller-manager.nix +++ /dev/null @@ -1,25 +0,0 @@ -# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix -{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-cmake-gmock, ament-cmake-python, ament-index-cpp, backward-ros, controller-interface, controller-manager-msgs, hardware-interface, hardware-interface-testing, launch, launch-ros, pluginlib, rclcpp, rcpputils, realtime-tools, ros2-control-test-assets, ros2param, ros2run, std-msgs }: -buildRosPackage rec { - pname = "ros-jazzy-controller-manager"; - version = "2.39.1"; - - src = fetchFromGitHub { - owner = "solid-sinusoid"; - repo = "ros2_control"; - rev = "e4a4aade5aa844f2bfb693d389e048ca509ce7db"; - sha256 = "06jl0b3cwqdja8k901gjxnp5dgpnis61m10qwk4ghv17h197y02b"; - }; - - buildType = "ament_cmake"; - sourceRoot = "${src.name}/controller_manager/"; - buildInputs = [ ament-cmake ament-cmake-python ]; - checkInputs = [ ament-cmake-gmock hardware-interface-testing ros2-control-test-assets ]; - propagatedBuildInputs = [ ament-index-cpp backward-ros controller-interface controller-manager-msgs hardware-interface launch launch-ros pluginlib rclcpp rcpputils realtime-tools ros2-control-test-assets ros2param ros2run std-msgs ]; - nativeBuildInputs = [ ament-cmake ament-cmake-python ]; - - meta = { - description = "Description of controller_manager"; - license = with lib.licenses; [ asl20 ]; - }; -} diff --git a/.nix/gz-ros2-control-tests.nix b/.nix/gz-ros2-control-tests.nix deleted file mode 100644 index 6536678..0000000 --- a/.nix/gz-ros2-control-tests.nix +++ /dev/null @@ -1,25 +0,0 @@ -# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix -{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-cmake-gtest, ament-index-python, ament-lint-auto, ament-lint-common, control-msgs, geometry-msgs, hardware-interface, gz-ros2-control, joint-state-broadcaster, joint-trajectory-controller, launch, launch-ros, launch-testing-ament-cmake, python3Packages, pythonPackages, rclcpp, rclcpp-action, robot-state-publisher, ros-gz, ros2controlcli, ros2launch, xacro }: -buildRosPackage rec { - pname = "ros-jazzy-gz-ros2-control-tests"; - version = "0.7.9"; - - src = fetchFromGitHub { - owner = "solid-sinusoid"; - repo = "gz_ros2_control"; - rev = "43dd1046295ecef5b25d3caab45591da8fb747ba"; - sha256 = "0gzx2286hc1daym4prh8shrbkrp8dkirxsgbx1ykd5c271krsjfg"; - }; - - buildType = "ament_cmake"; - sourceRoot = "${src.name}/gz_ros2_control_tests/"; - buildInputs = [ ament-cmake rclcpp-action ]; - checkInputs = [ ament-cmake-gtest ament-lint-auto ament-lint-common ]; - propagatedBuildInputs = [ ament-index-python control-msgs geometry-msgs hardware-interface gz-ros2-control joint-state-broadcaster joint-trajectory-controller launch launch-ros launch-testing-ament-cmake python3Packages.psutil pythonPackages.pytest rclcpp robot-state-publisher ros-gz ros2controlcli ros2launch xacro ]; - nativeBuildInputs = [ ament-cmake ]; - - meta = { - description = "Gazebo ros2 control tests"; - license = with lib.licenses; [ asl20 ]; - }; -} diff --git a/.nix/hardware-interface-testing.nix b/.nix/hardware-interface-testing.nix deleted file mode 100644 index a3fcd7f..0000000 --- a/.nix/hardware-interface-testing.nix +++ /dev/null @@ -1,25 +0,0 @@ -# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix -{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-cmake-gmock, control-msgs, hardware-interface, lifecycle-msgs, pluginlib, rclcpp-lifecycle, ros2-control-test-assets }: -buildRosPackage rec { - pname = "ros-jazzy-hardware-interface-testing"; - version = "2.39.1"; - - src = fetchFromGitHub { - owner = "solid-sinusoid"; - repo = "ros2_control"; - rev = "e4a4aade5aa844f2bfb693d389e048ca509ce7db"; - sha256 = "06jl0b3cwqdja8k901gjxnp5dgpnis61m10qwk4ghv17h197y02b"; - }; - - buildType = "ament_cmake"; - sourceRoot = "${src.name}/hardware_interface_testing/"; - buildInputs = [ ament-cmake ]; - checkInputs = [ ament-cmake-gmock ]; - propagatedBuildInputs = [ control-msgs hardware-interface lifecycle-msgs pluginlib rclcpp-lifecycle ros2-control-test-assets ]; - nativeBuildInputs = [ ament-cmake ]; - - meta = { - description = "ros2_control hardware interface testing"; - license = with lib.licenses; [ asl20 ]; - }; -} diff --git a/.nix/hardware-interface.nix b/.nix/hardware-interface.nix deleted file mode 100644 index 51362b5..0000000 --- a/.nix/hardware-interface.nix +++ /dev/null @@ -1,25 +0,0 @@ -# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix -{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-cmake-gmock, control-msgs, lifecycle-msgs, pluginlib, rclcpp-lifecycle, rcpputils, rcutils, ros2-control-test-assets, tinyxml2-vendor }: -buildRosPackage rec { - pname = "ros-jazzy-hardware-interface"; - version = "2.39.1"; - - src = fetchFromGitHub { - owner = "solid-sinusoid"; - repo = "ros2_control"; - rev = "e4a4aade5aa844f2bfb693d389e048ca509ce7db"; - sha256 = "06jl0b3cwqdja8k901gjxnp5dgpnis61m10qwk4ghv17h197y02b"; - }; - - buildType = "ament_cmake"; - sourceRoot = "${src.name}/hardware_interface/"; - buildInputs = [ ament-cmake ]; - checkInputs = [ ament-cmake-gmock ros2-control-test-assets ]; - propagatedBuildInputs = [ control-msgs lifecycle-msgs pluginlib rclcpp-lifecycle rcpputils rcutils tinyxml2-vendor ]; - nativeBuildInputs = [ ament-cmake ]; - - meta = { - description = "ros2_control hardware interface"; - license = with lib.licenses; [ asl20 ]; - }; -} diff --git a/.nix/ign-ros2-control-demos.nix b/.nix/ign-ros2-control-demos.nix deleted file mode 100644 index e4fcda3..0000000 --- a/.nix/ign-ros2-control-demos.nix +++ /dev/null @@ -1,25 +0,0 @@ -# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix -{ lib, buildRosPackage, fetchFromGitHub, ackermann-steering-controller, ament-cmake, ament-cmake-gtest, ament-index-python, ament-lint-auto, ament-lint-common, control-msgs, diff-drive-controller, effort-controllers, geometry-msgs, hardware-interface, ign-ros2-control, imu-sensor-broadcaster, joint-state-broadcaster, joint-trajectory-controller, launch, launch-ros, rclcpp, rclcpp-action, robot-state-publisher, ros-gz-bridge, ros-ign-gazebo, ros2controlcli, ros2launch, std-msgs, tricycle-controller, velocity-controllers, xacro }: -buildRosPackage rec { - pname = "ros-jazzy-ign-ros2-control-demos"; - version = "0.7.9"; - - src = fetchFromGitHub { - owner = "solid-sinusoid"; - repo = "gz_ros2_control"; - rev = "43dd1046295ecef5b25d3caab45591da8fb747ba"; - sha256 = "0gzx2286hc1daym4prh8shrbkrp8dkirxsgbx1ykd5c271krsjfg"; - }; - - buildType = "ament_cmake"; - sourceRoot = "${src.name}/ign_ros2_control_demos/"; - buildInputs = [ ament-cmake rclcpp-action ]; - checkInputs = [ ament-cmake-gtest ament-lint-auto ament-lint-common ]; - propagatedBuildInputs = [ ackermann-steering-controller ament-index-python control-msgs diff-drive-controller effort-controllers geometry-msgs hardware-interface ign-ros2-control imu-sensor-broadcaster joint-state-broadcaster joint-trajectory-controller launch launch-ros rclcpp robot-state-publisher ros-gz-bridge ros-ign-gazebo ros2controlcli ros2launch std-msgs tricycle-controller velocity-controllers xacro ]; - nativeBuildInputs = [ ament-cmake ]; - - meta = { - description = "ign_ros2_control_demos"; - license = with lib.licenses; [ asl20 ]; - }; -} diff --git a/.nix/ign-ros2-control.nix b/.nix/ign-ros2-control.nix deleted file mode 100644 index 4a7df0f..0000000 --- a/.nix/ign-ros2-control.nix +++ /dev/null @@ -1,25 +0,0 @@ -# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix -{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-index-cpp, ament-lint-auto, ament-lint-common, controller-manager, hardware-interface, ignition-gazebo6, ignition-plugin, pluginlib, rclcpp, rclcpp-lifecycle, yaml-cpp-vendor }: -buildRosPackage rec { - pname = "ros-jazzy-ign-ros2-control"; - version = "0.7.9"; - - src = fetchFromGitHub { - owner = "solid-sinusoid"; - repo = "gz_ros2_control"; - rev = "43dd1046295ecef5b25d3caab45591da8fb747ba"; - sha256 = "0gzx2286hc1daym4prh8shrbkrp8dkirxsgbx1ykd5c271krsjfg"; - }; - - buildType = "ament_cmake"; - sourceRoot = "${src.name}/ign_ros2_control/"; - buildInputs = [ ament-cmake ]; - checkInputs = [ ament-lint-auto ament-lint-common ]; - propagatedBuildInputs = [ ament-index-cpp controller-manager hardware-interface ignition-gazebo6 ignition-plugin pluginlib rclcpp rclcpp-lifecycle yaml-cpp-vendor ]; - nativeBuildInputs = [ ament-cmake ]; - - meta = { - description = "Ignition ros2_control package allows to control simulated robots using ros2_control framework."; - license = with lib.licenses; [ asl20 ]; - }; -} diff --git a/.nix/joint-limits-interface.nix b/.nix/joint-limits-interface.nix deleted file mode 100644 index f90bfe1..0000000 --- a/.nix/joint-limits-interface.nix +++ /dev/null @@ -1,25 +0,0 @@ -# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix -{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-cmake-gtest, hardware-interface, launch, launch-ros, launch-testing, launch-testing-ament-cmake, rclcpp, urdf }: -buildRosPackage rec { - pname = "ros-jazzy-joint-limits-interface"; - version = "0.0.0"; - - src = fetchFromGitHub { - owner = "solid-sinusoid"; - repo = "ros2_control"; - rev = "e4a4aade5aa844f2bfb693d389e048ca509ce7db"; - sha256 = "06jl0b3cwqdja8k901gjxnp5dgpnis61m10qwk4ghv17h197y02b"; - }; - - buildType = "ament_cmake"; - sourceRoot = "${src.name}/joint_limits_interface/"; - buildInputs = [ ament-cmake ]; - checkInputs = [ ament-cmake-gtest hardware-interface launch launch-ros launch-testing launch-testing-ament-cmake ]; - propagatedBuildInputs = [ hardware-interface rclcpp urdf ]; - nativeBuildInputs = [ ament-cmake ]; - - meta = { - description = "Interface for enforcing joint limits."; - license = with lib.licenses; [ asl20 ]; - }; -} diff --git a/.nix/joint-limits.nix b/.nix/joint-limits.nix deleted file mode 100644 index a29117d..0000000 --- a/.nix/joint-limits.nix +++ /dev/null @@ -1,25 +0,0 @@ -# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix -{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-cmake-gtest, launch-testing-ament-cmake, rclcpp, rclcpp-lifecycle }: -buildRosPackage rec { - pname = "ros-jazzy-joint-limits"; - version = "2.39.1"; - - src = fetchFromGitHub { - owner = "solid-sinusoid"; - repo = "ros2_control"; - rev = "e4a4aade5aa844f2bfb693d389e048ca509ce7db"; - sha256 = "06jl0b3cwqdja8k901gjxnp5dgpnis61m10qwk4ghv17h197y02b"; - }; - - buildType = "ament_cmake"; - sourceRoot = "${src.name}/joint_limits/"; - buildInputs = [ ament-cmake ]; - checkInputs = [ ament-cmake-gtest launch-testing-ament-cmake ]; - propagatedBuildInputs = [ rclcpp rclcpp-lifecycle ]; - nativeBuildInputs = [ ament-cmake ]; - - meta = { - description = "Interfaces for handling of joint limits for controllers or hardware."; - license = with lib.licenses; [ asl20 ]; - }; -} diff --git a/.nix/overlay.nix b/.nix/overlay.nix deleted file mode 100644 index 7aea738..0000000 --- a/.nix/overlay.nix +++ /dev/null @@ -1,60 +0,0 @@ -self: super: -{ - behavior-tree = super.callPackage ./behavior-tree.nix {}; - behaviortree-ros2 = super.callPackage ./behaviortree-ros2.nix {}; - btcpp-ros2-interfaces = super.callPackage ./btcpp-ros2-interfaces.nix {}; - btcpp-ros2-samples = super.callPackage ./btcpp-ros2-samples.nix {}; - cartesian-compliance-controller = super.callPackage ./cartesian-compliance-controller.nix {}; - cartesian-controller-base = super.callPackage ./cartesian-controller-base.nix {}; - cartesian-controller-handles = super.callPackage ./cartesian-controller-handles.nix {}; - cartesian-controller-utilities = super.callPackage ./cartesian-controller-utilities.nix {}; - cartesian-force-controller = super.callPackage ./cartesian-force-controller.nix {}; - cartesian-motion-controller = super.callPackage ./cartesian-motion-controller.nix {}; - cartesian-twist-controller = super.callPackage ./cartesian-twist-controller.nix {}; - # controller-interface = super.callPackage ./controller-interface.nix {}; - # controller-manager = super.callPackage ./controller-manager.nix {}; - # controller-manager-msgs = super.callPackage ./controller-manager-msgs.nix {}; - dynmsg = super.callPackage ./dynmsg.nix {}; - dynmsg-demo = super.callPackage ./dynmsg-demo.nix {}; - dynmsg-msgs = super.callPackage ./dynmsg-msgs.nix {}; - env-manager = super.callPackage ./env-manager.nix {}; - env-manager-interfaces = super.callPackage ./env-manager-interfaces.nix {}; - # gz-ros2-control-tests = super.callPackage ./gz-ros2-control-tests.nix {}; - # hardware-interface = super.callPackage ./hardware-interface.nix {}; - # hardware-interface-testing = super.callPackage ./hardware-interface-testing.nix {}; - ign-ros2-control = super.callPackage ./ign-ros2-control.nix {}; - ign-ros2-control-demos = super.callPackage ./ign-ros2-control-demos.nix {}; - # joint-limits = super.callPackage ./joint-limits.nix {}; - # joint-limits-interface = super.callPackage ./joint-limits-interface.nix {}; - rbs-arm = super.callPackage ./rbs-arm.nix {}; - rbs-bringup = super.callPackage ./rbs-bringup.nix {}; - rbs-bt-executor = super.callPackage ./rbs-bt-executor.nix {}; - rbs-gripper = super.callPackage ./rbs-gripper.nix {}; - rbs-gym = super.callPackage ./rbs-gym.nix {}; - rbs-perception = super.callPackage ./rbs-perception.nix {}; - rbs-runtime = super.callPackage ./rbs-runtime.nix {}; - rbs-schunk-egp-n-n-b = super.callPackage ./rbs-schunk-egp-n-n-b.nix {}; - rbs-simulation = super.callPackage ./rbs-simulation.nix {}; - rbs-skill-interfaces = super.callPackage ./rbs-skill-interfaces.nix {}; - rbs-skill-servers = super.callPackage ./rbs-skill-servers.nix {}; - rbs-task-planner = super.callPackage ./rbs-task-planner.nix {}; - rbs-utils = super.callPackage ./rbs-utils.nix {}; - rbs-utils-interfaces = super.callPackage ./rbs-utils-interfaces.nix {}; - rbss-movetopose = super.callPackage ./rbss-movetopose.nix {}; - rbss-objectdetection = super.callPackage ./rbss-objectdetection.nix {}; - rbss-poseestimation = super.callPackage ./rbss-poseestimation.nix {}; - robonomics = super.callPackage ./robonomics.nix {}; - robot-builder = super.callPackage ./robot-builder.nix {}; - ros2controlcli = super.callPackage ./ros2controlcli.nix {}; - rqt-controller-manager = super.callPackage ./rqt-controller-manager.nix {}; - test-dynmsg = super.callPackage ./test-dynmsg.nix {}; - # transmission-interface = super.callPackage ./transmission-interface.nix {}; - ur = super.callPackage ./ur.nix {}; - ur-bringup = super.callPackage ./ur-bringup.nix {}; - ur-calibration = super.callPackage ./ur-calibration.nix {}; - ur-controllers = super.callPackage ./ur-controllers.nix {}; - ur-dashboard-msgs = super.callPackage ./ur-dashboard-msgs.nix {}; - ur-description = super.callPackage ./ur-description.nix {}; - ur-moveit-config = super.callPackage ./ur-moveit-config.nix {}; - ur-robot-driver = super.callPackage ./ur-robot-driver.nix {}; -} diff --git a/.nix/rbs-schunk-egp-n-n-b.nix b/.nix/rbs-schunk-egp-n-n-b.nix deleted file mode 100644 index 7830f6b..0000000 --- a/.nix/rbs-schunk-egp-n-n-b.nix +++ /dev/null @@ -1,22 +0,0 @@ -# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix -{ lib, buildRosPackage, fetchgit, ament-cmake, ament-lint-auto, ament-lint-common }: -buildRosPackage rec { - pname = "ros-jazzy-rbs-schunk-egp-n-n-b"; - version = "0.0.0"; - - src = fetchgit { - url = "https://gitlab.com/robossembler/arm-tools/urdf-model-shrunk-gripper-egp-40-n-n-b.git"; - rev = "d22a39da75767ed97bc27a16ca771cdc637561d7"; - sha256 = "1immr3iq56sxk5aavrky5gqbb8z8akcsjzlskra2z071n741jyrm"; - }; - - buildType = "ament_cmake"; - buildInputs = [ ament-cmake ]; - checkInputs = [ ament-lint-auto ament-lint-common ]; - nativeBuildInputs = [ ament-cmake ]; - - meta = { - description = "TODO: Package description"; - license = with lib.licenses; [ asl20 ]; - }; -} diff --git a/.nix/result b/.nix/result deleted file mode 120000 index 28fd9ce..0000000 --- a/.nix/result +++ /dev/null @@ -1 +0,0 @@ -/nix/store/m92f2wcjw5q4bdwclqxc4yp8x3jlq7jg-ros-jazzy-rbs-arm-0.0.0 \ No newline at end of file diff --git a/.nix/ros2-control-test-assets.nix b/.nix/ros2-control-test-assets.nix deleted file mode 100644 index 6f0be2e..0000000 --- a/.nix/ros2-control-test-assets.nix +++ /dev/null @@ -1,23 +0,0 @@ -# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix -{ lib, buildRosPackage, fetchFromGitHub, ament-cmake }: -buildRosPackage rec { - pname = "ros-jazzy-ros2-control-test-assets"; - version = "2.39.1"; - - src = fetchFromGitHub { - owner = "solid-sinusoid"; - repo = "ros2_control"; - rev = "e4a4aade5aa844f2bfb693d389e048ca509ce7db"; - sha256 = "06jl0b3cwqdja8k901gjxnp5dgpnis61m10qwk4ghv17h197y02b"; - }; - - buildType = "ament_cmake"; - sourceRoot = "${src.name}/ros2_control_test_assets/"; - buildInputs = [ ament-cmake ]; - nativeBuildInputs = [ ament-cmake ]; - - meta = { - description = "The package provides shared test resources for ros2_control stack"; - license = with lib.licenses; [ asl20 ]; - }; -} diff --git a/.nix/ros2-control.nix b/.nix/ros2-control.nix deleted file mode 100644 index 79f7ea3..0000000 --- a/.nix/ros2-control.nix +++ /dev/null @@ -1,24 +0,0 @@ -# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix -{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, controller-interface, controller-manager, controller-manager-msgs, hardware-interface, joint-limits, ros2-control-test-assets, ros2controlcli, transmission-interface }: -buildRosPackage rec { - pname = "ros-jazzy-ros2-control"; - version = "2.39.1"; - - src = fetchFromGitHub { - owner = "solid-sinusoid"; - repo = "ros2_control"; - rev = "e4a4aade5aa844f2bfb693d389e048ca509ce7db"; - sha256 = "06jl0b3cwqdja8k901gjxnp5dgpnis61m10qwk4ghv17h197y02b"; - }; - - buildType = "ament_cmake"; - sourceRoot = "${src.name}/ros2_control/"; - buildInputs = [ ament-cmake ]; - propagatedBuildInputs = [ controller-interface controller-manager controller-manager-msgs hardware-interface joint-limits ros2-control-test-assets ros2controlcli transmission-interface ]; - nativeBuildInputs = [ ament-cmake ]; - - meta = { - description = "Metapackage for ROS2 control related packages"; - license = with lib.licenses; [ asl20 ]; - }; -} diff --git a/.nix/ros2controlcli.nix b/.nix/ros2controlcli.nix deleted file mode 100644 index e5071aa..0000000 --- a/.nix/ros2controlcli.nix +++ /dev/null @@ -1,23 +0,0 @@ -# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix -{ lib, buildRosPackage, fetchFromGitHub, ament-copyright, ament-flake8, ament-pep257, ament-xmllint, controller-manager, controller-manager-msgs, python3Packages, rcl-interfaces, rclpy, ros2cli, ros2node, ros2param, rosidl-runtime-py }: -buildRosPackage rec { - pname = "ros-jazzy-ros2controlcli"; - version = "2.39.1"; - - src = fetchFromGitHub { - owner = "solid-sinusoid"; - repo = "ros2_control"; - rev = "e4a4aade5aa844f2bfb693d389e048ca509ce7db"; - sha256 = "06jl0b3cwqdja8k901gjxnp5dgpnis61m10qwk4ghv17h197y02b"; - }; - - buildType = "ament_python"; - sourceRoot = "${src.name}/ros2controlcli/"; - checkInputs = [ ament-copyright ament-flake8 ament-pep257 ament-xmllint ]; - propagatedBuildInputs = [ controller-manager controller-manager-msgs python3Packages.pygraphviz rcl-interfaces rclpy ros2cli ros2node ros2param rosidl-runtime-py ]; - - meta = { - description = "The ROS 2 command line tools for ROS2 Control."; - license = with lib.licenses; [ asl20 ]; - }; -} diff --git a/.nix/rqt-controller-manager.nix b/.nix/rqt-controller-manager.nix deleted file mode 100644 index 08a4b98..0000000 --- a/.nix/rqt-controller-manager.nix +++ /dev/null @@ -1,22 +0,0 @@ -# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix -{ lib, buildRosPackage, fetchFromGitHub, controller-manager-msgs, rclpy, rqt-gui, rqt-gui-py }: -buildRosPackage rec { - pname = "ros-jazzy-rqt-controller-manager"; - version = "2.39.1"; - - src = fetchFromGitHub { - owner = "solid-sinusoid"; - repo = "ros2_control"; - rev = "e4a4aade5aa844f2bfb693d389e048ca509ce7db"; - sha256 = "06jl0b3cwqdja8k901gjxnp5dgpnis61m10qwk4ghv17h197y02b"; - }; - - buildType = "ament_python"; - sourceRoot = "${src.name}/rqt_controller_manager/"; - propagatedBuildInputs = [ controller-manager-msgs rclpy rqt-gui rqt-gui-py ]; - - meta = { - description = "Graphical frontend for interacting with the controller manager."; - license = with lib.licenses; [ asl20 ]; - }; -} diff --git a/.nix/transmission-interface.nix b/.nix/transmission-interface.nix deleted file mode 100644 index 5fd4e4d..0000000 --- a/.nix/transmission-interface.nix +++ /dev/null @@ -1,25 +0,0 @@ -# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix -{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-cmake-gmock, hardware-interface, pluginlib }: -buildRosPackage rec { - pname = "ros-jazzy-transmission-interface"; - version = "2.39.1"; - - src = fetchFromGitHub { - owner = "solid-sinusoid"; - repo = "ros2_control"; - rev = "e4a4aade5aa844f2bfb693d389e048ca509ce7db"; - sha256 = "06jl0b3cwqdja8k901gjxnp5dgpnis61m10qwk4ghv17h197y02b"; - }; - - buildType = "ament_cmake"; - sourceRoot = "${src.name}/transmission_interface/"; - buildInputs = [ ament-cmake ]; - checkInputs = [ ament-cmake-gmock ]; - propagatedBuildInputs = [ hardware-interface pluginlib ]; - nativeBuildInputs = [ ament-cmake ]; - - meta = { - description = "transmission_interface contains data structures for representing mechanical transmissions, methods for propagating values between actuator and joint spaces and tooling to support this."; - license = with lib.licenses; [ asl20 ]; - }; -} diff --git a/.nix/ur-bringup.nix b/.nix/ur-bringup.nix deleted file mode 100644 index e05f923..0000000 --- a/.nix/ur-bringup.nix +++ /dev/null @@ -1,24 +0,0 @@ -# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix -{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-cmake-python, controller-manager, force-torque-sensor-broadcaster, joint-state-broadcaster, joint-state-publisher, joint-trajectory-controller, launch, launch-ros, position-controllers, rclpy, robot-state-publisher, ros2-controllers-test-nodes, rviz2, ur-controllers, ur-description, urdf, velocity-controllers, xacro }: -buildRosPackage rec { - pname = "ros-jazzy-ur-bringup"; - version = "2.2.9"; - - src = fetchFromGitHub { - owner = "solid-sinusoid"; - repo = "Universal_Robots_ROS2_Driver"; - rev = "5a26d5376b58d1fd7d147a836d416eba551c45df"; - sha256 = "1v1j8rbwq1i2pyadmhcvv94bs4jgfprs8ylgbd7aaff3z9n52dcb"; - }; - - buildType = "ament_cmake"; - sourceRoot = "${src.name}/ur_bringup/"; - buildInputs = [ ament-cmake ament-cmake-python ]; - propagatedBuildInputs = [ controller-manager force-torque-sensor-broadcaster joint-state-broadcaster joint-state-publisher joint-trajectory-controller launch launch-ros position-controllers rclpy robot-state-publisher ros2-controllers-test-nodes rviz2 ur-controllers ur-description urdf velocity-controllers xacro ]; - nativeBuildInputs = [ ament-cmake ament-cmake-python ]; - - meta = { - description = "Launch file and run-time configurations, e.g. controllers."; - license = with lib.licenses; [ bsd3 ]; - }; -} diff --git a/.nix/ur-calibration.nix b/.nix/ur-calibration.nix deleted file mode 100644 index 063a794..0000000 --- a/.nix/ur-calibration.nix +++ /dev/null @@ -1,25 +0,0 @@ -# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix -{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-cmake-gmock, ament-cmake-gtest, ament-lint-auto, ament-lint-common, eigen, rclcpp, ur-client-library, ur-robot-driver, yaml-cpp }: -buildRosPackage rec { - pname = "ros-jazzy-ur-calibration"; - version = "2.2.9"; - - src = fetchFromGitHub { - owner = "solid-sinusoid"; - repo = "Universal_Robots_ROS2_Driver"; - rev = "5a26d5376b58d1fd7d147a836d416eba551c45df"; - sha256 = "1v1j8rbwq1i2pyadmhcvv94bs4jgfprs8ylgbd7aaff3z9n52dcb"; - }; - - buildType = "ament_cmake"; - sourceRoot = "${src.name}/ur_calibration/"; - buildInputs = [ ament-cmake ]; - checkInputs = [ ament-cmake-gmock ament-cmake-gtest ament-lint-auto ament-lint-common ]; - propagatedBuildInputs = [ eigen rclcpp ur-client-library ur-robot-driver yaml-cpp ]; - nativeBuildInputs = [ ament-cmake ]; - - meta = { - description = "Package for extracting the factory calibration from a UR robot and change it such that it can be used by ur_description to gain a correct URDF"; - license = with lib.licenses; [ bsd3 ]; - }; -} diff --git a/.nix/ur-controllers.nix b/.nix/ur-controllers.nix deleted file mode 100644 index ccf5cd2..0000000 --- a/.nix/ur-controllers.nix +++ /dev/null @@ -1,24 +0,0 @@ -# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix -{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, angles, controller-interface, joint-trajectory-controller, lifecycle-msgs, pluginlib, rclcpp-lifecycle, rcutils, realtime-tools, std-msgs, std-srvs, ur-dashboard-msgs, ur-msgs }: -buildRosPackage rec { - pname = "ros-jazzy-ur-controllers"; - version = "2.2.9"; - - src = fetchFromGitHub { - owner = "solid-sinusoid"; - repo = "Universal_Robots_ROS2_Driver"; - rev = "5a26d5376b58d1fd7d147a836d416eba551c45df"; - sha256 = "1v1j8rbwq1i2pyadmhcvv94bs4jgfprs8ylgbd7aaff3z9n52dcb"; - }; - - buildType = "ament_cmake"; - sourceRoot = "${src.name}/ur_controllers/"; - buildInputs = [ ament-cmake ]; - propagatedBuildInputs = [ angles controller-interface joint-trajectory-controller lifecycle-msgs pluginlib rclcpp-lifecycle rcutils realtime-tools std-msgs std-srvs ur-dashboard-msgs ur-msgs ]; - nativeBuildInputs = [ ament-cmake ]; - - meta = { - description = "Provides controllers that use the speed scaling interface of Universal Robots."; - license = with lib.licenses; [ bsd3 ]; - }; -} diff --git a/.nix/ur-dashboard-msgs.nix b/.nix/ur-dashboard-msgs.nix deleted file mode 100644 index 86f1cff..0000000 --- a/.nix/ur-dashboard-msgs.nix +++ /dev/null @@ -1,24 +0,0 @@ -# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix -{ lib, buildRosPackage, fetchFromGitHub, action-msgs, ament-cmake, rosidl-default-generators, rosidl-default-runtime }: -buildRosPackage rec { - pname = "ros-jazzy-ur-dashboard-msgs"; - version = "2.2.9"; - - src = fetchFromGitHub { - owner = "solid-sinusoid"; - repo = "Universal_Robots_ROS2_Driver"; - rev = "5a26d5376b58d1fd7d147a836d416eba551c45df"; - sha256 = "1v1j8rbwq1i2pyadmhcvv94bs4jgfprs8ylgbd7aaff3z9n52dcb"; - }; - - buildType = "ament_cmake"; - sourceRoot = "${src.name}/ur_dashboard_msgs/"; - buildInputs = [ ament-cmake rosidl-default-generators ]; - propagatedBuildInputs = [ action-msgs rosidl-default-runtime ]; - nativeBuildInputs = [ ament-cmake ]; - - meta = { - description = "Messages around the UR Dashboard server."; - license = with lib.licenses; [ bsd3 ]; - }; -} diff --git a/.nix/ur-description.nix b/.nix/ur-description.nix deleted file mode 100644 index 8034feb..0000000 --- a/.nix/ur-description.nix +++ /dev/null @@ -1,24 +0,0 @@ -# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix -{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-cmake-pytest, joint-state-publisher-gui, launch, launch-ros, launch-testing-ament-cmake, launch-testing-ros, robot-state-publisher, rviz2, urdf, urdfdom, xacro }: -buildRosPackage rec { - pname = "ros-jazzy-ur-description"; - version = "2.1.1"; - - src = fetchFromGitHub { - owner = "solid-sinusoid"; - repo = "Universal_Robots_ROS2_Description"; - rev = "1d89319dcf78bdaadc44481285caf64dde9b3ff1"; - sha256 = "0x8wy19rsvp2bp7b7d3wwnvnc611z48msplzr49ybsdwxjsqbfm0"; - }; - - buildType = "ament_cmake"; - buildInputs = [ ament-cmake ]; - checkInputs = [ ament-cmake-pytest launch-testing-ament-cmake launch-testing-ros urdfdom xacro ]; - propagatedBuildInputs = [ joint-state-publisher-gui launch launch-ros robot-state-publisher rviz2 urdf xacro ]; - nativeBuildInputs = [ ament-cmake ]; - - meta = { - description = "URDF description for Universal Robots"; - license = with lib.licenses; [ bsd3 "Universal-Robots-A-S’-Terms-and-Conditions-for-Use-of-Graphical-Documentation" ]; - }; -} diff --git a/.nix/ur-moveit-config.nix b/.nix/ur-moveit-config.nix deleted file mode 100644 index 28b4118..0000000 --- a/.nix/ur-moveit-config.nix +++ /dev/null @@ -1,23 +0,0 @@ -# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix -{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-cmake-python, launch, launch-ros, moveit-kinematics, moveit-planners-ompl, moveit-ros-move-group, moveit-ros-visualization, moveit-servo, moveit-simple-controller-manager, rviz2, ur-description, urdf, warehouse-ros-sqlite, xacro }: -buildRosPackage rec { - pname = "ros-jazzy-ur-moveit-config"; - version = "2.2.4"; - - src = fetchFromGitHub { - owner = "solid-sinusoid"; - repo = "ur_moveit_config"; - rev = "4d745a96f0798519816c5553c51199edb9e6f74c"; - sha256 = "0nancpam0v4jx2fpn7h0kz49sff3wz6mna5765b28cbdgnhizmla"; - }; - - buildType = "ament_cmake"; - buildInputs = [ ament-cmake ament-cmake-python ]; - propagatedBuildInputs = [ launch launch-ros moveit-kinematics moveit-planners-ompl moveit-ros-move-group moveit-ros-visualization moveit-servo moveit-simple-controller-manager rviz2 ur-description urdf warehouse-ros-sqlite xacro ]; - nativeBuildInputs = [ ament-cmake ament-cmake-python ]; - - meta = { - description = "An example package with MoveIt2 configurations for UR robots."; - license = with lib.licenses; [ asl20 ]; - }; -} diff --git a/.nix/ur-robot-driver.nix b/.nix/ur-robot-driver.nix deleted file mode 100644 index 9678aaf..0000000 --- a/.nix/ur-robot-driver.nix +++ /dev/null @@ -1,25 +0,0 @@ -# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix -{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-cmake-python, backward-ros, controller-manager, controller-manager-msgs, docker, force-torque-sensor-broadcaster, geometry-msgs, hardware-interface, joint-state-broadcaster, joint-state-publisher, joint-trajectory-controller, launch, launch-ros, launch-testing-ament-cmake, pluginlib, position-controllers, rclcpp, rclcpp-lifecycle, rclpy, robot-state-publisher, ros2-controllers-test-nodes, rviz2, socat, std-msgs, std-srvs, tf2-geometry-msgs, ur-client-library, ur-controllers, ur-dashboard-msgs, ur-description, ur-msgs, urdf, velocity-controllers, xacro }: -buildRosPackage rec { - pname = "ros-jazzy-ur-robot-driver"; - version = "2.2.9"; - - src = fetchFromGitHub { - owner = "solid-sinusoid"; - repo = "Universal_Robots_ROS2_Driver"; - rev = "5a26d5376b58d1fd7d147a836d416eba551c45df"; - sha256 = "1v1j8rbwq1i2pyadmhcvv94bs4jgfprs8ylgbd7aaff3z9n52dcb"; - }; - - buildType = "ament_cmake"; - sourceRoot = "${src.name}/ur_robot_driver/"; - buildInputs = [ ament-cmake ament-cmake-python ]; - checkInputs = [ docker launch-testing-ament-cmake ]; - propagatedBuildInputs = [ backward-ros controller-manager controller-manager-msgs force-torque-sensor-broadcaster geometry-msgs hardware-interface joint-state-broadcaster joint-state-publisher joint-trajectory-controller launch launch-ros pluginlib position-controllers rclcpp rclcpp-lifecycle rclpy robot-state-publisher ros2-controllers-test-nodes rviz2 socat std-msgs std-srvs tf2-geometry-msgs ur-client-library ur-controllers ur-dashboard-msgs ur-description ur-msgs urdf velocity-controllers xacro ]; - nativeBuildInputs = [ ament-cmake ament-cmake-python ]; - - meta = { - description = "The new driver for Universal Robots UR3, UR5 and UR10 robots with CB3 controllers and the e-series."; - license = with lib.licenses; [ bsd3 ]; - }; -} diff --git a/.nix/ur.nix b/.nix/ur.nix deleted file mode 100644 index 852212a..0000000 --- a/.nix/ur.nix +++ /dev/null @@ -1,25 +0,0 @@ -# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix -{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-lint-auto, ament-lint-common, ur-calibration, ur-controllers, ur-dashboard-msgs, ur-moveit-config, ur-robot-driver }: -buildRosPackage rec { - pname = "ros-jazzy-ur"; - version = "2.2.9"; - - src = fetchFromGitHub { - owner = "solid-sinusoid"; - repo = "Universal_Robots_ROS2_Driver"; - rev = "5a26d5376b58d1fd7d147a836d416eba551c45df"; - sha256 = "1v1j8rbwq1i2pyadmhcvv94bs4jgfprs8ylgbd7aaff3z9n52dcb"; - }; - - buildType = "ament_cmake"; - sourceRoot = "${src.name}/ur/"; - buildInputs = [ ament-cmake ]; - checkInputs = [ ament-lint-auto ament-lint-common ]; - propagatedBuildInputs = [ ur-calibration ur-controllers ur-dashboard-msgs ur-moveit-config ur-robot-driver ]; - nativeBuildInputs = [ ament-cmake ]; - - meta = { - description = "Metapackage for universal robots"; - license = with lib.licenses; [ bsd3 ]; - }; -} diff --git a/.nix/behaviortree-ros2.nix b/behaviortree-ros2.nix similarity index 100% rename from .nix/behaviortree-ros2.nix rename to behaviortree-ros2.nix diff --git a/.nix/btcpp-ros2-interfaces.nix b/btcpp-ros2-interfaces.nix similarity index 100% rename from .nix/btcpp-ros2-interfaces.nix rename to btcpp-ros2-interfaces.nix diff --git a/.nix/btcpp-ros2-samples.nix b/btcpp-ros2-samples.nix similarity index 100% rename from .nix/btcpp-ros2-samples.nix rename to btcpp-ros2-samples.nix diff --git a/.nix/dynmsg-demo.nix b/dynmsg-demo.nix similarity index 95% rename from .nix/dynmsg-demo.nix rename to dynmsg-demo.nix index 7cb3b6e..36275f0 100644 --- a/.nix/dynmsg-demo.nix +++ b/dynmsg-demo.nix @@ -1,4 +1,4 @@ -# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy { lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-lint-auto, ament-lint-common, dynmsg, dynmsg-msgs, example-interfaces, geometry-msgs, rcl, rcl-action, std-msgs, test-msgs, yaml-cpp-vendor }: buildRosPackage rec { pname = "ros-jazzy-dynmsg-demo"; diff --git a/.nix/dynmsg-msgs.nix b/dynmsg-msgs.nix similarity index 95% rename from .nix/dynmsg-msgs.nix rename to dynmsg-msgs.nix index 9e000aa..1f812da 100644 --- a/.nix/dynmsg-msgs.nix +++ b/dynmsg-msgs.nix @@ -1,4 +1,4 @@ -# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy { lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-lint-auto, ament-lint-common, rosidl-default-generators, rosidl-default-runtime }: buildRosPackage rec { pname = "ros-jazzy-dynmsg-msgs"; diff --git a/.nix/dynmsg.nix b/dynmsg.nix similarity index 95% rename from .nix/dynmsg.nix rename to dynmsg.nix index fae585a..0a5c0c1 100644 --- a/.nix/dynmsg.nix +++ b/dynmsg.nix @@ -1,4 +1,4 @@ -# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy { lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, rcutils, rosidl-runtime-c, rosidl-runtime-cpp, rosidl-typesupport-introspection-c, rosidl-typesupport-introspection-cpp, std-msgs, yaml-cpp-vendor }: buildRosPackage rec { pname = "ros-jazzy-dynmsg"; diff --git a/.nix/env-manager-interfaces.nix b/env-manager-interfaces.nix similarity index 69% rename from .nix/env-manager-interfaces.nix rename to env-manager-interfaces.nix index aea7047..a16d4e4 100644 --- a/.nix/env-manager-interfaces.nix +++ b/env-manager-interfaces.nix @@ -1,17 +1,17 @@ -# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy { lib, buildRosPackage, fetchgit, ament-cmake, ament-lint-auto, ament-lint-common, builtin-interfaces, lifecycle-msgs, rosidl-default-generators, rosidl-default-runtime }: buildRosPackage rec { pname = "ros-jazzy-env-manager-interfaces"; version = "0.0.0"; - # src = fetchgit { - # url = "git@gitlab.com:robossembler/robossembler-ros2.git"; - # rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; - # sha256 = "06mmi33qq24vkjs5575v86vrq7bvmqwlm8ls3mahlwl68awqw5x2"; - # }; + src = fetchgit { + url = "git@gitlab.com:robossembler/robossembler-ros2.git"; + rev = "ac6628f0fbebc73aabe0642704443dce097f5e1d"; + sha256 = "1018mbnwn46nby07hgdmzab3wyd521lv9igbvqljv2dqxa72jhry"; + }; buildType = "ament_cmake"; - src = ../env_manager/env_manager_interfaces; + sourceRoot = "${src.name}/env_manager/env_manager_interfaces/"; buildInputs = [ ament-cmake rosidl-default-generators ]; checkInputs = [ ament-lint-auto ament-lint-common ]; propagatedBuildInputs = [ builtin-interfaces lifecycle-msgs rosidl-default-runtime ]; diff --git a/.nix/env-manager.nix b/env-manager.nix similarity index 61% rename from .nix/env-manager.nix rename to env-manager.nix index a031770..765e562 100644 --- a/.nix/env-manager.nix +++ b/env-manager.nix @@ -1,13 +1,17 @@ -# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy { lib, buildRosPackage, fetchgit, ament-copyright, ament-flake8, ament-pep257, pythonPackages }: buildRosPackage rec { pname = "ros-jazzy-env-manager"; version = "0.0.0"; - src = ../env_manager/env_manager; + src = fetchgit { + url = "git@gitlab.com:robossembler/robossembler-ros2.git"; + rev = "ac6628f0fbebc73aabe0642704443dce097f5e1d"; + sha256 = "1018mbnwn46nby07hgdmzab3wyd521lv9igbvqljv2dqxa72jhry"; + }; buildType = "ament_python"; - # sourceRoot = "${src.name}/env_manager/env_manager/"; + sourceRoot = "${src.name}/env_manager/env_manager/"; checkInputs = [ ament-copyright ament-flake8 ament-pep257 pythonPackages.pytest ]; meta = { diff --git a/.nix/flake.lock b/flake.lock similarity index 100% rename from .nix/flake.lock rename to flake.lock diff --git a/.nix/flake.nix b/flake.nix similarity index 65% rename from .nix/flake.nix rename to flake.nix index b2fd76b..6f52dea 100644 --- a/.nix/flake.nix +++ b/flake.nix @@ -1,7 +1,6 @@ { inputs = { - #nix-ros-overlay.url = "/home/movefasta/Documents/robossembler/nix-ros-overlay"; nix-ros-overlay.url = "github:lopsided98/nix-ros-overlay/develop"; nixpkgs.follows = "nix-ros-overlay/nixpkgs"; # IMPORTANT!!! }; @@ -40,27 +39,8 @@ (with pkgs.rosPackages.${rosDistro}; buildEnv { paths = [ ros-core - behavior-tree - controller-interface - controller-manager - dynmsg - # dynmsg-demo # YAML failed - dynmsg-msgs - gz-ros2-control - # gz-ros2-control-tests(demos) # error: 'get_robot_description' was not declared in this scope - hardware-interface - hardware-interface-testing - joint-limits - joint-limits-interface - # rbs-arm # error: 'get_robot_description' was not declared in this scope - robot-builder - ros2controlcli - rqt-controller-manager - # test-dynmsg # YAML - transmission-interface - ros2-controllers - - # ... other ROS packages + rbs-bt-executor + # ... other ROS packages ]; }) ]; diff --git a/overlay.nix b/overlay.nix new file mode 100644 index 0000000..228bf78 --- /dev/null +++ b/overlay.nix @@ -0,0 +1,30 @@ +self: super: +{ + behaviortree-ros2 = super.callPackage ./behaviortree-ros2.nix {}; + btcpp-ros2-interfaces = super.callPackage ./btcpp-ros2-interfaces.nix {}; + btcpp-ros2-samples = super.callPackage ./btcpp-ros2-samples.nix {}; + dynmsg = super.callPackage ./dynmsg.nix {}; + dynmsg-demo = super.callPackage ./dynmsg-demo.nix {}; + dynmsg-msgs = super.callPackage ./dynmsg-msgs.nix {}; + env-manager = super.callPackage ./env-manager.nix {}; + env-manager-interfaces = super.callPackage ./env-manager-interfaces.nix {}; + rbs-arm = super.callPackage ./rbs-arm.nix {}; + rbs-bringup = super.callPackage ./rbs-bringup.nix {}; + rbs-bt-executor = super.callPackage ./rbs-bt-executor.nix {}; + rbs-gripper = super.callPackage ./rbs-gripper.nix {}; + rbs-gym = super.callPackage ./rbs-gym.nix {}; + rbs-perception = super.callPackage ./rbs-perception.nix {}; + rbs-runtime = super.callPackage ./rbs-runtime.nix {}; + rbs-simulation = super.callPackage ./rbs-simulation.nix {}; + rbs-skill-interfaces = super.callPackage ./rbs-skill-interfaces.nix {}; + rbs-skill-servers = super.callPackage ./rbs-skill-servers.nix {}; + rbs-task-planner = super.callPackage ./rbs-task-planner.nix {}; + rbs-utils = super.callPackage ./rbs-utils.nix {}; + rbs-utils-interfaces = super.callPackage ./rbs-utils-interfaces.nix {}; + rbss-movetopose = super.callPackage ./rbss-movetopose.nix {}; + rbss-objectdetection = super.callPackage ./rbss-objectdetection.nix {}; + rbss-poseestimation = super.callPackage ./rbss-poseestimation.nix {}; + robonomics = super.callPackage ./robonomics.nix {}; + robot-builder = super.callPackage ./robot-builder.nix {}; + test-dynmsg = super.callPackage ./test-dynmsg.nix {}; +} diff --git a/.nix/rbs-arm.nix b/rbs-arm.nix similarity index 94% rename from .nix/rbs-arm.nix rename to rbs-arm.nix index 05330ed..3572798 100644 --- a/.nix/rbs-arm.nix +++ b/rbs-arm.nix @@ -1,4 +1,4 @@ -# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy { lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-lint-auto, ament-lint-common, joint-trajectory-controller, ros-gz, ros2-control, ros2-controllers }: buildRosPackage rec { pname = "ros-jazzy-rbs-arm"; diff --git a/.nix/rbs-bringup.nix b/rbs-bringup.nix similarity index 80% rename from .nix/rbs-bringup.nix rename to rbs-bringup.nix index 10a0082..41069cf 100644 --- a/.nix/rbs-bringup.nix +++ b/rbs-bringup.nix @@ -1,4 +1,4 @@ -# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy { lib, buildRosPackage, fetchgit, ament-cmake, ament-lint-auto, ament-lint-common, nav2-common }: buildRosPackage rec { pname = "ros-jazzy-rbs-bringup"; @@ -6,8 +6,8 @@ buildRosPackage rec { src = fetchgit { url = "git@gitlab.com:robossembler/robossembler-ros2.git"; - rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; - sha256 = "06mmi33qq24vkjs5575v86vrq7bvmqwlm8ls3mahlwl68awqw5x2"; + rev = "ac6628f0fbebc73aabe0642704443dce097f5e1d"; + sha256 = "1018mbnwn46nby07hgdmzab3wyd521lv9igbvqljv2dqxa72jhry"; }; buildType = "ament_cmake"; diff --git a/.nix/rbs-bt-executor.nix b/rbs-bt-executor.nix similarity index 72% rename from .nix/rbs-bt-executor.nix rename to rbs-bt-executor.nix index dc2d8b5..b5888d3 100644 --- a/.nix/rbs-bt-executor.nix +++ b/rbs-bt-executor.nix @@ -1,17 +1,17 @@ -# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy { lib, buildRosPackage, fetchgit, ament-cmake, ament-cmake-python, ament-lint-auto, ament-lint-common, behaviortree-cpp, behaviortree-ros2, env-manager-interfaces, rbs-skill-interfaces, rbs-utils, rclpy }: buildRosPackage rec { pname = "ros-jazzy-rbs-bt-executor"; version = "0.0.0"; - # src = fetchgit { - # url = "git@gitlab.com:robossembler/robossembler-ros2.git"; - # rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; - # sha256 = "06mmi33qq24vkjs5575v86vrq7bvmqwlm8ls3mahlwl68awqw5x2"; - # }; + src = fetchgit { + url = "git@gitlab.com:robossembler/robossembler-ros2.git"; + rev = "ac6628f0fbebc73aabe0642704443dce097f5e1d"; + sha256 = "1018mbnwn46nby07hgdmzab3wyd521lv9igbvqljv2dqxa72jhry"; + }; buildType = "ament_cmake"; - src = "./rbs_bt_executor/"; + sourceRoot = "${src.name}/rbs_bt_executor/"; buildInputs = [ ament-cmake ament-cmake-python ]; checkInputs = [ ament-lint-auto ament-lint-common ]; propagatedBuildInputs = [ behaviortree-cpp behaviortree-ros2 env-manager-interfaces rbs-skill-interfaces rbs-utils rclpy ]; diff --git a/.nix/rbs-gripper.nix b/rbs-gripper.nix similarity index 93% rename from .nix/rbs-gripper.nix rename to rbs-gripper.nix index 54d9fbd..11ba38a 100644 --- a/.nix/rbs-gripper.nix +++ b/rbs-gripper.nix @@ -1,4 +1,4 @@ -# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy { lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-lint-auto, ament-lint-common }: buildRosPackage rec { pname = "ros-jazzy-rbs-gripper"; diff --git a/.nix/rbs-gym.nix b/rbs-gym.nix similarity index 77% rename from .nix/rbs-gym.nix rename to rbs-gym.nix index 7916f2e..2db50b7 100644 --- a/.nix/rbs-gym.nix +++ b/rbs-gym.nix @@ -1,4 +1,4 @@ -# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy { lib, buildRosPackage, fetchgit, ament-copyright, ament-flake8, ament-pep257, pythonPackages }: buildRosPackage rec { pname = "ros-jazzy-rbs-gym"; @@ -6,8 +6,8 @@ buildRosPackage rec { src = fetchgit { url = "git@gitlab.com:robossembler/robossembler-ros2.git"; - rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; - sha256 = "06mmi33qq24vkjs5575v86vrq7bvmqwlm8ls3mahlwl68awqw5x2"; + rev = "ac6628f0fbebc73aabe0642704443dce097f5e1d"; + sha256 = "1018mbnwn46nby07hgdmzab3wyd521lv9igbvqljv2dqxa72jhry"; }; buildType = "ament_python"; diff --git a/.nix/rbs-perception.nix b/rbs-perception.nix similarity index 84% rename from .nix/rbs-perception.nix rename to rbs-perception.nix index 7d2ede6..0b34e7e 100644 --- a/.nix/rbs-perception.nix +++ b/rbs-perception.nix @@ -1,4 +1,4 @@ -# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy { lib, buildRosPackage, fetchgit, ament-cmake, ament-cmake-python, ament-lint-auto, ament-lint-common, cv-bridge, image-transport, perception-pcl, rbs-skill-interfaces, rclcpp, rclpy, sensor-msgs, std-msgs }: buildRosPackage rec { pname = "ros-jazzy-rbs-perception"; @@ -6,8 +6,8 @@ buildRosPackage rec { src = fetchgit { url = "git@gitlab.com:robossembler/robossembler-ros2.git"; - rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; - sha256 = "06mmi33qq24vkjs5575v86vrq7bvmqwlm8ls3mahlwl68awqw5x2"; + rev = "ac6628f0fbebc73aabe0642704443dce097f5e1d"; + sha256 = "1018mbnwn46nby07hgdmzab3wyd521lv9igbvqljv2dqxa72jhry"; }; buildType = "ament_cmake"; diff --git a/.nix/rbs-runtime.nix b/rbs-runtime.nix similarity index 78% rename from .nix/rbs-runtime.nix rename to rbs-runtime.nix index 38130bb..0fb3b55 100644 --- a/.nix/rbs-runtime.nix +++ b/rbs-runtime.nix @@ -1,4 +1,4 @@ -# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy { lib, buildRosPackage, fetchgit, ament-copyright, ament-flake8, ament-pep257, pythonPackages }: buildRosPackage rec { pname = "ros-jazzy-rbs-runtime"; @@ -6,8 +6,8 @@ buildRosPackage rec { src = fetchgit { url = "git@gitlab.com:robossembler/robossembler-ros2.git"; - rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; - sha256 = "06mmi33qq24vkjs5575v86vrq7bvmqwlm8ls3mahlwl68awqw5x2"; + rev = "ac6628f0fbebc73aabe0642704443dce097f5e1d"; + sha256 = "1018mbnwn46nby07hgdmzab3wyd521lv9igbvqljv2dqxa72jhry"; }; buildType = "ament_python"; diff --git a/.nix/rbs-simulation.nix b/rbs-simulation.nix similarity index 81% rename from .nix/rbs-simulation.nix rename to rbs-simulation.nix index 966aafc..aff3a28 100644 --- a/.nix/rbs-simulation.nix +++ b/rbs-simulation.nix @@ -1,4 +1,4 @@ -# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy { lib, buildRosPackage, fetchgit, ament-cmake, ament-lint-auto, ament-lint-common, geometry-msgs, rclcpp, std-msgs, tf2, tf2-ros }: buildRosPackage rec { pname = "ros-jazzy-rbs-simulation"; @@ -6,8 +6,8 @@ buildRosPackage rec { src = fetchgit { url = "git@gitlab.com:robossembler/robossembler-ros2.git"; - rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; - sha256 = "06mmi33qq24vkjs5575v86vrq7bvmqwlm8ls3mahlwl68awqw5x2"; + rev = "ac6628f0fbebc73aabe0642704443dce097f5e1d"; + sha256 = "1018mbnwn46nby07hgdmzab3wyd521lv9igbvqljv2dqxa72jhry"; }; buildType = "ament_cmake"; diff --git a/.nix/rbs-skill-interfaces.nix b/rbs-skill-interfaces.nix similarity index 84% rename from .nix/rbs-skill-interfaces.nix rename to rbs-skill-interfaces.nix index 97b23d3..8c721a8 100644 --- a/.nix/rbs-skill-interfaces.nix +++ b/rbs-skill-interfaces.nix @@ -1,4 +1,4 @@ -# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy { lib, buildRosPackage, fetchgit, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, geometry-msgs, rosidl-default-generators, rosidl-default-runtime, shape-msgs, std-msgs, test-msgs }: buildRosPackage rec { pname = "ros-jazzy-rbs-skill-interfaces"; @@ -6,8 +6,8 @@ buildRosPackage rec { src = fetchgit { url = "git@gitlab.com:robossembler/robossembler-ros2.git"; - rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; - sha256 = "06mmi33qq24vkjs5575v86vrq7bvmqwlm8ls3mahlwl68awqw5x2"; + rev = "ac6628f0fbebc73aabe0642704443dce097f5e1d"; + sha256 = "1018mbnwn46nby07hgdmzab3wyd521lv9igbvqljv2dqxa72jhry"; }; buildType = "ament_cmake"; diff --git a/.nix/rbs-skill-servers.nix b/rbs-skill-servers.nix similarity index 86% rename from .nix/rbs-skill-servers.nix rename to rbs-skill-servers.nix index 9443582..ac1ac18 100644 --- a/.nix/rbs-skill-servers.nix +++ b/rbs-skill-servers.nix @@ -1,4 +1,4 @@ -# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy { lib, buildRosPackage, fetchgit, action-msgs, ament-cmake, ament-lint-auto, ament-lint-common, geometric-shapes, geometry-msgs, ign-ros2-control, moveit-core, moveit-msgs, moveit-ros-planning, moveit-ros-planning-interface, rbs-skill-interfaces, rbs-utils, rclcpp, rclcpp-action, tf2-eigen, tf2-ros }: buildRosPackage rec { pname = "ros-jazzy-rbs-skill-servers"; @@ -6,8 +6,8 @@ buildRosPackage rec { src = fetchgit { url = "git@gitlab.com:robossembler/robossembler-ros2.git"; - rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; - sha256 = "06mmi33qq24vkjs5575v86vrq7bvmqwlm8ls3mahlwl68awqw5x2"; + rev = "ac6628f0fbebc73aabe0642704443dce097f5e1d"; + sha256 = "1018mbnwn46nby07hgdmzab3wyd521lv9igbvqljv2dqxa72jhry"; }; buildType = "ament_cmake"; diff --git a/.nix/rbs-task-planner.nix b/rbs-task-planner.nix similarity index 87% rename from .nix/rbs-task-planner.nix rename to rbs-task-planner.nix index 4c31cf6..c8099ac 100644 --- a/.nix/rbs-task-planner.nix +++ b/rbs-task-planner.nix @@ -1,4 +1,4 @@ -# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy { lib, buildRosPackage, fetchgit, ament-cmake, ament-cmake-gtest, ament-index-cpp, ament-lint-auto, ament-lint-common, behavior-tree, behaviortree-cpp-v3, plansys2-bringup, plansys2-bt-actions, plansys2-domain-expert, plansys2-executor, plansys2-msgs, plansys2-pddl-parser, plansys2-planner, plansys2-problem-expert, plansys2-terminal, popf, test-msgs }: buildRosPackage rec { pname = "ros-jazzy-rbs-task-planner"; @@ -6,8 +6,8 @@ buildRosPackage rec { src = fetchgit { url = "git@gitlab.com:robossembler/robossembler-ros2.git"; - rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; - sha256 = "06mmi33qq24vkjs5575v86vrq7bvmqwlm8ls3mahlwl68awqw5x2"; + rev = "ac6628f0fbebc73aabe0642704443dce097f5e1d"; + sha256 = "1018mbnwn46nby07hgdmzab3wyd521lv9igbvqljv2dqxa72jhry"; }; buildType = "ament_cmake"; diff --git a/.nix/rbs-utils-interfaces.nix b/rbs-utils-interfaces.nix similarity index 81% rename from .nix/rbs-utils-interfaces.nix rename to rbs-utils-interfaces.nix index 31f949b..a386a30 100644 --- a/.nix/rbs-utils-interfaces.nix +++ b/rbs-utils-interfaces.nix @@ -1,4 +1,4 @@ -# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy { lib, buildRosPackage, fetchgit, ament-cmake, rosidl-default-generators, rosidl-default-runtime }: buildRosPackage rec { pname = "ros-jazzy-rbs-utils-interfaces"; @@ -6,8 +6,8 @@ buildRosPackage rec { src = fetchgit { url = "git@gitlab.com:robossembler/robossembler-ros2.git"; - rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; - sha256 = "06mmi33qq24vkjs5575v86vrq7bvmqwlm8ls3mahlwl68awqw5x2"; + rev = "ac6628f0fbebc73aabe0642704443dce097f5e1d"; + sha256 = "1018mbnwn46nby07hgdmzab3wyd521lv9igbvqljv2dqxa72jhry"; }; buildType = "ament_cmake"; diff --git a/.nix/rbs-utils.nix b/rbs-utils.nix similarity index 85% rename from .nix/rbs-utils.nix rename to rbs-utils.nix index c48e938..79799a2 100644 --- a/.nix/rbs-utils.nix +++ b/rbs-utils.nix @@ -1,4 +1,4 @@ -# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy { lib, buildRosPackage, fetchgit, ament-cmake, ament-lint-auto, ament-lint-common, dynmsg, geometry-msgs, rbs-utils-interfaces, rclcpp, rclcpp-lifecycle, rclpy, rosidl-default-generators, rviz-visual-tools, sensor-msgs, std-msgs, tf2-eigen, tf2-ros }: buildRosPackage rec { pname = "ros-jazzy-rbs-utils"; @@ -6,8 +6,8 @@ buildRosPackage rec { src = fetchgit { url = "git@gitlab.com:robossembler/robossembler-ros2.git"; - rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; - sha256 = "06mmi33qq24vkjs5575v86vrq7bvmqwlm8ls3mahlwl68awqw5x2"; + rev = "ac6628f0fbebc73aabe0642704443dce097f5e1d"; + sha256 = "1018mbnwn46nby07hgdmzab3wyd521lv9igbvqljv2dqxa72jhry"; }; buildType = "ament_cmake"; diff --git a/.nix/rbss-movetopose.nix b/rbss-movetopose.nix similarity index 82% rename from .nix/rbss-movetopose.nix rename to rbss-movetopose.nix index 061bedb..bbefa1f 100644 --- a/.nix/rbss-movetopose.nix +++ b/rbss-movetopose.nix @@ -1,4 +1,4 @@ -# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy { lib, buildRosPackage, fetchgit, ament-cmake, ament-cmake-python, ament-lint-auto, ament-lint-common, rbs-skill-interfaces, rclcpp, rclpy, std-msgs }: buildRosPackage rec { pname = "ros-jazzy-rbss-movetopose"; @@ -6,8 +6,8 @@ buildRosPackage rec { src = fetchgit { url = "git@gitlab.com:robossembler/robossembler-ros2.git"; - rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; - sha256 = "06mmi33qq24vkjs5575v86vrq7bvmqwlm8ls3mahlwl68awqw5x2"; + rev = "ac6628f0fbebc73aabe0642704443dce097f5e1d"; + sha256 = "1018mbnwn46nby07hgdmzab3wyd521lv9igbvqljv2dqxa72jhry"; }; buildType = "ament_cmake"; diff --git a/.nix/rbss-objectdetection.nix b/rbss-objectdetection.nix similarity index 84% rename from .nix/rbss-objectdetection.nix rename to rbss-objectdetection.nix index 6e22e8e..f438f6c 100644 --- a/.nix/rbss-objectdetection.nix +++ b/rbss-objectdetection.nix @@ -1,4 +1,4 @@ -# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy { lib, buildRosPackage, fetchgit, ament-cmake, ament-cmake-python, ament-lint-auto, ament-lint-common, cv-bridge, image-transport, rbs-skill-interfaces, rclcpp, rclpy, sensor-msgs, std-msgs }: buildRosPackage rec { pname = "ros-jazzy-rbss-objectdetection"; @@ -6,8 +6,8 @@ buildRosPackage rec { src = fetchgit { url = "git@gitlab.com:robossembler/robossembler-ros2.git"; - rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; - sha256 = "06mmi33qq24vkjs5575v86vrq7bvmqwlm8ls3mahlwl68awqw5x2"; + rev = "ac6628f0fbebc73aabe0642704443dce097f5e1d"; + sha256 = "1018mbnwn46nby07hgdmzab3wyd521lv9igbvqljv2dqxa72jhry"; }; buildType = "ament_cmake"; diff --git a/.nix/rbss-poseestimation.nix b/rbss-poseestimation.nix similarity index 83% rename from .nix/rbss-poseestimation.nix rename to rbss-poseestimation.nix index 1ae791f..bac1004 100644 --- a/.nix/rbss-poseestimation.nix +++ b/rbss-poseestimation.nix @@ -1,4 +1,4 @@ -# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy { lib, buildRosPackage, fetchgit, ament-cmake, ament-cmake-python, ament-lint-auto, ament-lint-common, cv-bridge, image-transport, rbs-skill-interfaces, rclpy, sensor-msgs, std-msgs }: buildRosPackage rec { pname = "ros-jazzy-rbss-poseestimation"; @@ -6,8 +6,8 @@ buildRosPackage rec { src = fetchgit { url = "git@gitlab.com:robossembler/robossembler-ros2.git"; - rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; - sha256 = "06mmi33qq24vkjs5575v86vrq7bvmqwlm8ls3mahlwl68awqw5x2"; + rev = "ac6628f0fbebc73aabe0642704443dce097f5e1d"; + sha256 = "1018mbnwn46nby07hgdmzab3wyd521lv9igbvqljv2dqxa72jhry"; }; buildType = "ament_cmake"; diff --git a/.nix/robonomics.nix b/robonomics.nix similarity index 79% rename from .nix/robonomics.nix rename to robonomics.nix index 5f9069c..f4d5ac5 100644 --- a/.nix/robonomics.nix +++ b/robonomics.nix @@ -1,4 +1,4 @@ -# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy { lib, buildRosPackage, fetchgit, ament-copyright, ament-flake8, ament-pep257, pythonPackages, rclpy }: buildRosPackage rec { pname = "ros-jazzy-robonomics"; @@ -6,8 +6,8 @@ buildRosPackage rec { src = fetchgit { url = "git@gitlab.com:robossembler/robossembler-ros2.git"; - rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; - sha256 = "06mmi33qq24vkjs5575v86vrq7bvmqwlm8ls3mahlwl68awqw5x2"; + rev = "ac6628f0fbebc73aabe0642704443dce097f5e1d"; + sha256 = "1018mbnwn46nby07hgdmzab3wyd521lv9igbvqljv2dqxa72jhry"; }; buildType = "ament_python"; diff --git a/.nix/robot-builder.nix b/robot-builder.nix similarity index 93% rename from .nix/robot-builder.nix rename to robot-builder.nix index 2659bf4..e604e72 100644 --- a/.nix/robot-builder.nix +++ b/robot-builder.nix @@ -1,4 +1,4 @@ -# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy { lib, buildRosPackage, fetchFromGitHub, ament-copyright, ament-flake8, ament-pep257, pythonPackages }: buildRosPackage rec { pname = "ros-jazzy-robot-builder"; diff --git a/.nix/test-dynmsg.nix b/test-dynmsg.nix similarity index 95% rename from .nix/test-dynmsg.nix rename to test-dynmsg.nix index 1d99df1..6c7b3ba 100644 --- a/.nix/test-dynmsg.nix +++ b/test-dynmsg.nix @@ -1,4 +1,4 @@ -# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy { lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, builtin-interfaces, dynmsg, rcl-interfaces, std-msgs, test-msgs }: buildRosPackage rec { pname = "ros-jazzy-test-dynmsg"; From 1762f8895665ba74d6b1f99a35c4563ecc44a0bf Mon Sep 17 00:00:00 2001 From: Igor Brylev Date: Fri, 25 Oct 2024 19:50:46 +0300 Subject: [PATCH 04/27] src update hash dev url --- env-manager-interfaces.nix | 6 +++--- env-manager.nix | 6 +++--- rbs-bringup.nix | 6 +++--- rbs-bt-executor.nix | 6 +++--- rbs-gym.nix | 6 +++--- rbs-perception.nix | 6 +++--- rbs-runtime.nix | 6 +++--- rbs-simulation.nix | 6 +++--- rbs-skill-interfaces.nix | 6 +++--- rbs-skill-servers.nix | 6 +++--- rbs-task-planner.nix | 6 +++--- rbs-utils-interfaces.nix | 6 +++--- rbs-utils.nix | 6 +++--- rbss-movetopose.nix | 6 +++--- rbss-objectdetection.nix | 6 +++--- rbss-poseestimation.nix | 6 +++--- robonomics.nix | 6 +++--- 17 files changed, 51 insertions(+), 51 deletions(-) diff --git a/env-manager-interfaces.nix b/env-manager-interfaces.nix index a16d4e4..6ab2896 100644 --- a/env-manager-interfaces.nix +++ b/env-manager-interfaces.nix @@ -5,9 +5,9 @@ buildRosPackage rec { version = "0.0.0"; src = fetchgit { - url = "git@gitlab.com:robossembler/robossembler-ros2.git"; - rev = "ac6628f0fbebc73aabe0642704443dce097f5e1d"; - sha256 = "1018mbnwn46nby07hgdmzab3wyd521lv9igbvqljv2dqxa72jhry"; + url = "https://gitlab.com/robossembler/robossembler-ros2"; + rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; + sha256 = "sha256-oheOuUKGcgpVHZqiSjmuex2ct0G7nFK0nJsIjMeItRo="; }; buildType = "ament_cmake"; diff --git a/env-manager.nix b/env-manager.nix index 765e562..c0fb6e4 100644 --- a/env-manager.nix +++ b/env-manager.nix @@ -5,9 +5,9 @@ buildRosPackage rec { version = "0.0.0"; src = fetchgit { - url = "git@gitlab.com:robossembler/robossembler-ros2.git"; - rev = "ac6628f0fbebc73aabe0642704443dce097f5e1d"; - sha256 = "1018mbnwn46nby07hgdmzab3wyd521lv9igbvqljv2dqxa72jhry"; + url = "https://gitlab.com/robossembler/robossembler-ros2"; + rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; + sha256 = "sha256-oheOuUKGcgpVHZqiSjmuex2ct0G7nFK0nJsIjMeItRo="; }; buildType = "ament_python"; diff --git a/rbs-bringup.nix b/rbs-bringup.nix index 41069cf..90364a6 100644 --- a/rbs-bringup.nix +++ b/rbs-bringup.nix @@ -5,9 +5,9 @@ buildRosPackage rec { version = "0.0.0"; src = fetchgit { - url = "git@gitlab.com:robossembler/robossembler-ros2.git"; - rev = "ac6628f0fbebc73aabe0642704443dce097f5e1d"; - sha256 = "1018mbnwn46nby07hgdmzab3wyd521lv9igbvqljv2dqxa72jhry"; + url = "https://gitlab.com/robossembler/robossembler-ros2"; + rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; + sha256 = "sha256-oheOuUKGcgpVHZqiSjmuex2ct0G7nFK0nJsIjMeItRo="; }; buildType = "ament_cmake"; diff --git a/rbs-bt-executor.nix b/rbs-bt-executor.nix index b5888d3..3cada02 100644 --- a/rbs-bt-executor.nix +++ b/rbs-bt-executor.nix @@ -5,9 +5,9 @@ buildRosPackage rec { version = "0.0.0"; src = fetchgit { - url = "git@gitlab.com:robossembler/robossembler-ros2.git"; - rev = "ac6628f0fbebc73aabe0642704443dce097f5e1d"; - sha256 = "1018mbnwn46nby07hgdmzab3wyd521lv9igbvqljv2dqxa72jhry"; + url = "https://gitlab.com/robossembler/robossembler-ros2"; + rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; + sha256 = "sha256-oheOuUKGcgpVHZqiSjmuex2ct0G7nFK0nJsIjMeItRo="; }; buildType = "ament_cmake"; diff --git a/rbs-gym.nix b/rbs-gym.nix index 2db50b7..a20abe8 100644 --- a/rbs-gym.nix +++ b/rbs-gym.nix @@ -5,9 +5,9 @@ buildRosPackage rec { version = "0.0.0"; src = fetchgit { - url = "git@gitlab.com:robossembler/robossembler-ros2.git"; - rev = "ac6628f0fbebc73aabe0642704443dce097f5e1d"; - sha256 = "1018mbnwn46nby07hgdmzab3wyd521lv9igbvqljv2dqxa72jhry"; + url = "https://gitlab.com/robossembler/robossembler-ros2"; + rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; + sha256 = "sha256-oheOuUKGcgpVHZqiSjmuex2ct0G7nFK0nJsIjMeItRo="; }; buildType = "ament_python"; diff --git a/rbs-perception.nix b/rbs-perception.nix index 0b34e7e..f8728eb 100644 --- a/rbs-perception.nix +++ b/rbs-perception.nix @@ -5,9 +5,9 @@ buildRosPackage rec { version = "0.0.0"; src = fetchgit { - url = "git@gitlab.com:robossembler/robossembler-ros2.git"; - rev = "ac6628f0fbebc73aabe0642704443dce097f5e1d"; - sha256 = "1018mbnwn46nby07hgdmzab3wyd521lv9igbvqljv2dqxa72jhry"; + url = "https://gitlab.com/robossembler/robossembler-ros2"; + rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; + sha256 = "sha256-oheOuUKGcgpVHZqiSjmuex2ct0G7nFK0nJsIjMeItRo="; }; buildType = "ament_cmake"; diff --git a/rbs-runtime.nix b/rbs-runtime.nix index 0fb3b55..44a6645 100644 --- a/rbs-runtime.nix +++ b/rbs-runtime.nix @@ -5,9 +5,9 @@ buildRosPackage rec { version = "0.0.0"; src = fetchgit { - url = "git@gitlab.com:robossembler/robossembler-ros2.git"; - rev = "ac6628f0fbebc73aabe0642704443dce097f5e1d"; - sha256 = "1018mbnwn46nby07hgdmzab3wyd521lv9igbvqljv2dqxa72jhry"; + url = "https://gitlab.com/robossembler/robossembler-ros2"; + rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; + sha256 = "sha256-oheOuUKGcgpVHZqiSjmuex2ct0G7nFK0nJsIjMeItRo="; }; buildType = "ament_python"; diff --git a/rbs-simulation.nix b/rbs-simulation.nix index aff3a28..e1a4625 100644 --- a/rbs-simulation.nix +++ b/rbs-simulation.nix @@ -5,9 +5,9 @@ buildRosPackage rec { version = "0.0.0"; src = fetchgit { - url = "git@gitlab.com:robossembler/robossembler-ros2.git"; - rev = "ac6628f0fbebc73aabe0642704443dce097f5e1d"; - sha256 = "1018mbnwn46nby07hgdmzab3wyd521lv9igbvqljv2dqxa72jhry"; + url = "https://gitlab.com/robossembler/robossembler-ros2"; + rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; + sha256 = "sha256-oheOuUKGcgpVHZqiSjmuex2ct0G7nFK0nJsIjMeItRo="; }; buildType = "ament_cmake"; diff --git a/rbs-skill-interfaces.nix b/rbs-skill-interfaces.nix index 8c721a8..a760205 100644 --- a/rbs-skill-interfaces.nix +++ b/rbs-skill-interfaces.nix @@ -5,9 +5,9 @@ buildRosPackage rec { version = "0.0.0"; src = fetchgit { - url = "git@gitlab.com:robossembler/robossembler-ros2.git"; - rev = "ac6628f0fbebc73aabe0642704443dce097f5e1d"; - sha256 = "1018mbnwn46nby07hgdmzab3wyd521lv9igbvqljv2dqxa72jhry"; + url = "https://gitlab.com/robossembler/robossembler-ros2"; + rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; + sha256 = "sha256-oheOuUKGcgpVHZqiSjmuex2ct0G7nFK0nJsIjMeItRo="; }; buildType = "ament_cmake"; diff --git a/rbs-skill-servers.nix b/rbs-skill-servers.nix index ac1ac18..7812ef3 100644 --- a/rbs-skill-servers.nix +++ b/rbs-skill-servers.nix @@ -5,9 +5,9 @@ buildRosPackage rec { version = "0.0.0"; src = fetchgit { - url = "git@gitlab.com:robossembler/robossembler-ros2.git"; - rev = "ac6628f0fbebc73aabe0642704443dce097f5e1d"; - sha256 = "1018mbnwn46nby07hgdmzab3wyd521lv9igbvqljv2dqxa72jhry"; + url = "https://gitlab.com/robossembler/robossembler-ros2"; + rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; + sha256 = "sha256-oheOuUKGcgpVHZqiSjmuex2ct0G7nFK0nJsIjMeItRo="; }; buildType = "ament_cmake"; diff --git a/rbs-task-planner.nix b/rbs-task-planner.nix index c8099ac..9860a98 100644 --- a/rbs-task-planner.nix +++ b/rbs-task-planner.nix @@ -5,9 +5,9 @@ buildRosPackage rec { version = "0.0.1"; src = fetchgit { - url = "git@gitlab.com:robossembler/robossembler-ros2.git"; - rev = "ac6628f0fbebc73aabe0642704443dce097f5e1d"; - sha256 = "1018mbnwn46nby07hgdmzab3wyd521lv9igbvqljv2dqxa72jhry"; + url = "https://gitlab.com/robossembler/robossembler-ros2"; + rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; + sha256 = "sha256-oheOuUKGcgpVHZqiSjmuex2ct0G7nFK0nJsIjMeItRo="; }; buildType = "ament_cmake"; diff --git a/rbs-utils-interfaces.nix b/rbs-utils-interfaces.nix index a386a30..bf4873f 100644 --- a/rbs-utils-interfaces.nix +++ b/rbs-utils-interfaces.nix @@ -5,9 +5,9 @@ buildRosPackage rec { version = "0.0.0"; src = fetchgit { - url = "git@gitlab.com:robossembler/robossembler-ros2.git"; - rev = "ac6628f0fbebc73aabe0642704443dce097f5e1d"; - sha256 = "1018mbnwn46nby07hgdmzab3wyd521lv9igbvqljv2dqxa72jhry"; + url = "https://gitlab.com/robossembler/robossembler-ros2"; + rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; + sha256 = "sha256-oheOuUKGcgpVHZqiSjmuex2ct0G7nFK0nJsIjMeItRo="; }; buildType = "ament_cmake"; diff --git a/rbs-utils.nix b/rbs-utils.nix index 79799a2..26b2ef5 100644 --- a/rbs-utils.nix +++ b/rbs-utils.nix @@ -5,9 +5,9 @@ buildRosPackage rec { version = "0.0.0"; src = fetchgit { - url = "git@gitlab.com:robossembler/robossembler-ros2.git"; - rev = "ac6628f0fbebc73aabe0642704443dce097f5e1d"; - sha256 = "1018mbnwn46nby07hgdmzab3wyd521lv9igbvqljv2dqxa72jhry"; + url = "https://gitlab.com/robossembler/robossembler-ros2"; + rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; + sha256 = "sha256-oheOuUKGcgpVHZqiSjmuex2ct0G7nFK0nJsIjMeItRo="; }; buildType = "ament_cmake"; diff --git a/rbss-movetopose.nix b/rbss-movetopose.nix index bbefa1f..b815c74 100644 --- a/rbss-movetopose.nix +++ b/rbss-movetopose.nix @@ -5,9 +5,9 @@ buildRosPackage rec { version = "0.0.1"; src = fetchgit { - url = "git@gitlab.com:robossembler/robossembler-ros2.git"; - rev = "ac6628f0fbebc73aabe0642704443dce097f5e1d"; - sha256 = "1018mbnwn46nby07hgdmzab3wyd521lv9igbvqljv2dqxa72jhry"; + url = "https://gitlab.com/robossembler/robossembler-ros2"; + rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; + sha256 = "sha256-oheOuUKGcgpVHZqiSjmuex2ct0G7nFK0nJsIjMeItRo="; }; buildType = "ament_cmake"; diff --git a/rbss-objectdetection.nix b/rbss-objectdetection.nix index f438f6c..1afa808 100644 --- a/rbss-objectdetection.nix +++ b/rbss-objectdetection.nix @@ -5,9 +5,9 @@ buildRosPackage rec { version = "0.0.1"; src = fetchgit { - url = "git@gitlab.com:robossembler/robossembler-ros2.git"; - rev = "ac6628f0fbebc73aabe0642704443dce097f5e1d"; - sha256 = "1018mbnwn46nby07hgdmzab3wyd521lv9igbvqljv2dqxa72jhry"; + url = "https://gitlab.com/robossembler/robossembler-ros2"; + rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; + sha256 = "sha256-oheOuUKGcgpVHZqiSjmuex2ct0G7nFK0nJsIjMeItRo="; }; buildType = "ament_cmake"; diff --git a/rbss-poseestimation.nix b/rbss-poseestimation.nix index bac1004..19f5b67 100644 --- a/rbss-poseestimation.nix +++ b/rbss-poseestimation.nix @@ -5,9 +5,9 @@ buildRosPackage rec { version = "0.0.1"; src = fetchgit { - url = "git@gitlab.com:robossembler/robossembler-ros2.git"; - rev = "ac6628f0fbebc73aabe0642704443dce097f5e1d"; - sha256 = "1018mbnwn46nby07hgdmzab3wyd521lv9igbvqljv2dqxa72jhry"; + url = "https://gitlab.com/robossembler/robossembler-ros2"; + rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; + sha256 = "sha256-oheOuUKGcgpVHZqiSjmuex2ct0G7nFK0nJsIjMeItRo="; }; buildType = "ament_cmake"; diff --git a/robonomics.nix b/robonomics.nix index f4d5ac5..c1c0db6 100644 --- a/robonomics.nix +++ b/robonomics.nix @@ -5,9 +5,9 @@ buildRosPackage rec { version = "0.1.0"; src = fetchgit { - url = "git@gitlab.com:robossembler/robossembler-ros2.git"; - rev = "ac6628f0fbebc73aabe0642704443dce097f5e1d"; - sha256 = "1018mbnwn46nby07hgdmzab3wyd521lv9igbvqljv2dqxa72jhry"; + url = "https://gitlab.com/robossembler/robossembler-ros2"; + rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; + sha256 = "sha256-oheOuUKGcgpVHZqiSjmuex2ct0G7nFK0nJsIjMeItRo="; }; buildType = "ament_python"; From e1abecd741406fa1d61da7fa9512111b9cb8841f Mon Sep 17 00:00:00 2001 From: Igor Brylev Date: Tue, 29 Oct 2024 11:53:03 +0300 Subject: [PATCH 05/27] fix dependencies --- flake.lock | 19 +++++++++---------- flake.nix | 24 ++++++++++++++++++++++++ overlay.nix | 2 +- rbs-perception.nix | 4 ++-- rbs-skill-interfaces.nix | 4 ++-- rbs-skill-servers.nix | 4 ++-- rbs-task-planner.nix | 4 ++-- rbs-utils-interfaces.nix | 4 ++-- rbs-utils.nix | 4 ++-- rbss-movetopose.nix | 4 ++-- rbss-objectdetection.nix | 4 ++-- rbss-poseestimation.nix | 4 ++-- 12 files changed, 52 insertions(+), 29 deletions(-) diff --git a/flake.lock b/flake.lock index d687bf7..f4bb899 100644 --- a/flake.lock +++ b/flake.lock @@ -24,18 +24,17 @@ "nixpkgs": "nixpkgs" }, "locked": { - "lastModified": 1729355159, - "narHash": "sha256-i1qgvODBSFxpzmkgvtY5cLhqAVpe+Z8eJTRVyLEGyx4=", - "owner": "lopsided98", - "repo": "nix-ros-overlay", - "rev": "20e7f58b7377ed3e932e8924d9ee39efaf888aa8", - "type": "github" + "lastModified": 1729864786, + "narHash": "sha256-t5SEhqRoK0HYxywgNCnXSUsLdsKKSkIUt1a4D5YHQEo=", + "ref": "refs/heads/moveit-osqp-overrides", + "rev": "72f93c1f458fc978cfb32c417a7ff0c223524668", + "revCount": 1020, + "type": "git", + "url": "file:///home/movefasta/Documents/robossembler/nix-ros-overlay" }, "original": { - "owner": "lopsided98", - "ref": "develop", - "repo": "nix-ros-overlay", - "type": "github" + "type": "git", + "url": "file:///home/movefasta/Documents/robossembler/nix-ros-overlay" } }, "nixpkgs": { diff --git a/flake.nix b/flake.nix index 6f52dea..513c45d 100644 --- a/flake.nix +++ b/flake.nix @@ -39,7 +39,31 @@ (with pkgs.rosPackages.${rosDistro}; buildEnv { paths = [ ros-core + behaviortree-ros2 + btcpp-ros2-interfaces + btcpp-ros2-samples + dynmsg + dynmsg-msgs + env-manager + env-manager-interfaces + rbs-arm + rbs-bringup rbs-bt-executor + rbs-gripper + rbs-gym + rbs-perception + rbs-runtime + rbs-simulation + rbs-skill-interfaces + rbs-skill-servers + # rbs-task-planner + rbs-utils + rbs-utils-interfaces + rbss-movetopose + rbss-objectdetection + rbss-poseestimation + robonomics + robot-builder # ... other ROS packages ]; }) diff --git a/overlay.nix b/overlay.nix index 228bf78..99c965d 100644 --- a/overlay.nix +++ b/overlay.nix @@ -4,7 +4,7 @@ self: super: btcpp-ros2-interfaces = super.callPackage ./btcpp-ros2-interfaces.nix {}; btcpp-ros2-samples = super.callPackage ./btcpp-ros2-samples.nix {}; dynmsg = super.callPackage ./dynmsg.nix {}; - dynmsg-demo = super.callPackage ./dynmsg-demo.nix {}; + # dynmsg-demo = super.callPackage ./dynmsg-demo.nix {}; dynmsg-msgs = super.callPackage ./dynmsg-msgs.nix {}; env-manager = super.callPackage ./env-manager.nix {}; env-manager-interfaces = super.callPackage ./env-manager-interfaces.nix {}; diff --git a/rbs-perception.nix b/rbs-perception.nix index f8728eb..bc5bdc6 100644 --- a/rbs-perception.nix +++ b/rbs-perception.nix @@ -1,5 +1,5 @@ # Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy -{ lib, buildRosPackage, fetchgit, ament-cmake, ament-cmake-python, ament-lint-auto, ament-lint-common, cv-bridge, image-transport, perception-pcl, rbs-skill-interfaces, rclcpp, rclpy, sensor-msgs, std-msgs }: +{ lib, buildRosPackage, fetchgit, ament-cmake, ament-cmake-python, ament-lint-auto, ament-lint-common, cv-bridge, image-transport, perception-pcl, rbs-skill-interfaces, rclcpp, rclpy, sensor-msgs, std-msgs, tf2-eigen, visualization-msgs }: buildRosPackage rec { pname = "ros-jazzy-rbs-perception"; version = "0.0.0"; @@ -14,7 +14,7 @@ buildRosPackage rec { sourceRoot = "${src.name}/rbs_perception/"; buildInputs = [ ament-cmake ament-cmake-python ]; checkInputs = [ ament-lint-auto ament-lint-common ]; - propagatedBuildInputs = [ cv-bridge image-transport perception-pcl rbs-skill-interfaces rclcpp rclpy sensor-msgs std-msgs ]; + propagatedBuildInputs = [ cv-bridge image-transport perception-pcl rbs-skill-interfaces rclcpp rclpy sensor-msgs std-msgs tf2-eigen visualization-msgs ]; nativeBuildInputs = [ ament-cmake ament-cmake-python ]; meta = { diff --git a/rbs-skill-interfaces.nix b/rbs-skill-interfaces.nix index a760205..54371f7 100644 --- a/rbs-skill-interfaces.nix +++ b/rbs-skill-interfaces.nix @@ -1,5 +1,5 @@ # Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy -{ lib, buildRosPackage, fetchgit, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, geometry-msgs, rosidl-default-generators, rosidl-default-runtime, shape-msgs, std-msgs, test-msgs }: +{ lib, buildRosPackage, fetchgit, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, geometry-msgs, rosidl-default-generators, rosidl-default-runtime, shape-msgs, std-msgs, test-msgs, moveit-msgs }: buildRosPackage rec { pname = "ros-jazzy-rbs-skill-interfaces"; version = "0.0.0"; @@ -14,7 +14,7 @@ buildRosPackage rec { sourceRoot = "${src.name}/rbs_skill_interfaces/"; buildInputs = [ ament-cmake rosidl-default-generators ]; checkInputs = [ ament-cmake-gtest ament-lint-auto ament-lint-common test-msgs ]; - propagatedBuildInputs = [ geometry-msgs rosidl-default-runtime shape-msgs std-msgs ]; + propagatedBuildInputs = [ geometry-msgs rosidl-default-runtime shape-msgs std-msgs moveit-msgs ]; nativeBuildInputs = [ ament-cmake rosidl-default-generators ]; meta = { diff --git a/rbs-skill-servers.nix b/rbs-skill-servers.nix index 7812ef3..64f1240 100644 --- a/rbs-skill-servers.nix +++ b/rbs-skill-servers.nix @@ -1,5 +1,5 @@ # Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy -{ lib, buildRosPackage, fetchgit, action-msgs, ament-cmake, ament-lint-auto, ament-lint-common, geometric-shapes, geometry-msgs, ign-ros2-control, moveit-core, moveit-msgs, moveit-ros-planning, moveit-ros-planning-interface, rbs-skill-interfaces, rbs-utils, rclcpp, rclcpp-action, tf2-eigen, tf2-ros }: +{ lib, buildRosPackage, fetchgit, action-msgs, ament-cmake, ament-lint-auto, ament-lint-common, geometric-shapes, geometry-msgs, gz-ros2-control, moveit-core, moveit-msgs, moveit-ros-planning, moveit-ros-planning-interface, rbs-skill-interfaces, rbs-utils, rclcpp, rclcpp-action, tf2-eigen, tf2-ros }: buildRosPackage rec { pname = "ros-jazzy-rbs-skill-servers"; version = "0.0.0"; @@ -14,7 +14,7 @@ buildRosPackage rec { sourceRoot = "${src.name}/rbs_skill_servers/"; buildInputs = [ ament-cmake ]; checkInputs = [ ament-lint-auto ament-lint-common ]; - propagatedBuildInputs = [ action-msgs geometric-shapes geometry-msgs ign-ros2-control moveit-core moveit-msgs moveit-ros-planning moveit-ros-planning-interface rbs-skill-interfaces rbs-utils rclcpp rclcpp-action tf2-eigen tf2-ros ]; + propagatedBuildInputs = [ action-msgs geometric-shapes geometry-msgs gz-ros2-control moveit-core moveit-msgs moveit-ros-planning moveit-ros-planning-interface rbs-skill-interfaces rbs-utils rclcpp rclcpp-action tf2-eigen tf2-ros ]; nativeBuildInputs = [ ament-cmake ]; meta = { diff --git a/rbs-task-planner.nix b/rbs-task-planner.nix index 9860a98..33092f0 100644 --- a/rbs-task-planner.nix +++ b/rbs-task-planner.nix @@ -1,5 +1,5 @@ # Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy -{ lib, buildRosPackage, fetchgit, ament-cmake, ament-cmake-gtest, ament-index-cpp, ament-lint-auto, ament-lint-common, behavior-tree, behaviortree-cpp-v3, plansys2-bringup, plansys2-bt-actions, plansys2-domain-expert, plansys2-executor, plansys2-msgs, plansys2-pddl-parser, plansys2-planner, plansys2-problem-expert, plansys2-terminal, popf, test-msgs }: +{ lib, buildRosPackage, fetchgit, ament-cmake, ament-cmake-gtest, ament-index-cpp, ament-lint-auto, ament-lint-common, behaviortree-ros2, behaviortree-cpp-v3, test-msgs }: buildRosPackage rec { pname = "ros-jazzy-rbs-task-planner"; version = "0.0.1"; @@ -14,7 +14,7 @@ buildRosPackage rec { sourceRoot = "${src.name}/rbs_task_planner/"; buildInputs = [ ament-cmake ]; checkInputs = [ ament-cmake-gtest ament-lint-auto ament-lint-common test-msgs ]; - propagatedBuildInputs = [ ament-index-cpp behavior-tree behaviortree-cpp-v3 plansys2-bringup plansys2-bt-actions plansys2-domain-expert plansys2-executor plansys2-msgs plansys2-pddl-parser plansys2-planner plansys2-problem-expert plansys2-terminal popf ]; + propagatedBuildInputs = [ ament-index-cpp behaviortree-ros2 behaviortree-cpp-v3 ]; nativeBuildInputs = [ ament-cmake ]; meta = { diff --git a/rbs-utils-interfaces.nix b/rbs-utils-interfaces.nix index bf4873f..55e8423 100644 --- a/rbs-utils-interfaces.nix +++ b/rbs-utils-interfaces.nix @@ -1,5 +1,5 @@ # Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy -{ lib, buildRosPackage, fetchgit, ament-cmake, rosidl-default-generators, rosidl-default-runtime }: +{ lib, buildRosPackage, fetchgit, ament-cmake, rosidl-default-generators, rosidl-default-runtime, geometry-msgs }: buildRosPackage rec { pname = "ros-jazzy-rbs-utils-interfaces"; version = "0.0.0"; @@ -12,7 +12,7 @@ buildRosPackage rec { buildType = "ament_cmake"; sourceRoot = "${src.name}/rbs_utils/rbs_utils_interfaces/"; - buildInputs = [ ament-cmake rosidl-default-generators ]; + buildInputs = [ ament-cmake rosidl-default-generators geometry-msgs ]; propagatedBuildInputs = [ rosidl-default-runtime ]; nativeBuildInputs = [ ament-cmake rosidl-default-generators ]; diff --git a/rbs-utils.nix b/rbs-utils.nix index 26b2ef5..fa0a1a8 100644 --- a/rbs-utils.nix +++ b/rbs-utils.nix @@ -1,5 +1,5 @@ # Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy -{ lib, buildRosPackage, fetchgit, ament-cmake, ament-lint-auto, ament-lint-common, dynmsg, geometry-msgs, rbs-utils-interfaces, rclcpp, rclcpp-lifecycle, rclpy, rosidl-default-generators, rviz-visual-tools, sensor-msgs, std-msgs, tf2-eigen, tf2-ros }: +{ lib, buildRosPackage, fetchgit, ament-cmake, ament-lint-auto, ament-lint-common, dynmsg, geometry-msgs, rbs-utils-interfaces, rclcpp, rclcpp-lifecycle, rclpy, rosidl-default-generators, rviz-visual-tools, sensor-msgs, std-msgs, tf2-eigen, tf2-ros, rosbag2-cpp, nlohmann_json }: buildRosPackage rec { pname = "ros-jazzy-rbs-utils"; version = "0.0.0"; @@ -14,7 +14,7 @@ buildRosPackage rec { sourceRoot = "${src.name}/rbs_utils/rbs_utils/"; buildInputs = [ ament-cmake ]; checkInputs = [ ament-lint-auto ament-lint-common ]; - propagatedBuildInputs = [ dynmsg geometry-msgs rbs-utils-interfaces rclcpp rclcpp-lifecycle rclpy rosidl-default-generators rviz-visual-tools sensor-msgs std-msgs tf2-eigen tf2-ros ]; + propagatedBuildInputs = [ dynmsg geometry-msgs rbs-utils-interfaces rclcpp rclcpp-lifecycle rclpy rosidl-default-generators rviz-visual-tools sensor-msgs std-msgs tf2-eigen tf2-ros rosbag2-cpp nlohmann_json ]; nativeBuildInputs = [ ament-cmake ]; meta = { diff --git a/rbss-movetopose.nix b/rbss-movetopose.nix index b815c74..b489719 100644 --- a/rbss-movetopose.nix +++ b/rbss-movetopose.nix @@ -1,5 +1,5 @@ # Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy -{ lib, buildRosPackage, fetchgit, ament-cmake, ament-cmake-python, ament-lint-auto, ament-lint-common, rbs-skill-interfaces, rclcpp, rclpy, std-msgs }: +{ lib, buildRosPackage, fetchgit, ament-cmake, ament-cmake-python, ament-lint-auto, ament-lint-common, rbs-skill-interfaces, rclcpp, rclpy, std-msgs, pcl-ros, pcl-conversions }: buildRosPackage rec { pname = "ros-jazzy-rbss-movetopose"; version = "0.0.1"; @@ -14,7 +14,7 @@ buildRosPackage rec { sourceRoot = "${src.name}/rbss_movetopose/"; buildInputs = [ ament-cmake ament-cmake-python ]; checkInputs = [ ament-lint-auto ament-lint-common ]; - propagatedBuildInputs = [ rbs-skill-interfaces rclcpp rclpy std-msgs ]; + propagatedBuildInputs = [ rbs-skill-interfaces rclcpp rclpy std-msgs pcl-ros pcl-conversions ]; nativeBuildInputs = [ ament-cmake ament-cmake-python ]; meta = { diff --git a/rbss-objectdetection.nix b/rbss-objectdetection.nix index 1afa808..777cac9 100644 --- a/rbss-objectdetection.nix +++ b/rbss-objectdetection.nix @@ -1,5 +1,5 @@ # Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy -{ lib, buildRosPackage, fetchgit, ament-cmake, ament-cmake-python, ament-lint-auto, ament-lint-common, cv-bridge, image-transport, rbs-skill-interfaces, rclcpp, rclpy, sensor-msgs, std-msgs }: +{ lib, buildRosPackage, fetchgit, ament-cmake, ament-cmake-python, ament-lint-auto, ament-lint-common, cv-bridge, image-transport, rbs-skill-interfaces, rclcpp, rclpy, sensor-msgs, std-msgs, pcl-ros, pcl-conversions, visualization-msgs }: buildRosPackage rec { pname = "ros-jazzy-rbss-objectdetection"; version = "0.0.1"; @@ -14,7 +14,7 @@ buildRosPackage rec { sourceRoot = "${src.name}/rbss_objectdetection/"; buildInputs = [ ament-cmake ament-cmake-python ]; checkInputs = [ ament-lint-auto ament-lint-common ]; - propagatedBuildInputs = [ cv-bridge image-transport rbs-skill-interfaces rclcpp rclpy sensor-msgs std-msgs ]; + propagatedBuildInputs = [ cv-bridge image-transport rbs-skill-interfaces rclcpp rclpy sensor-msgs std-msgs pcl-ros pcl-conversions visualization-msgs ]; nativeBuildInputs = [ ament-cmake ament-cmake-python ]; meta = { diff --git a/rbss-poseestimation.nix b/rbss-poseestimation.nix index 19f5b67..77eb8d1 100644 --- a/rbss-poseestimation.nix +++ b/rbss-poseestimation.nix @@ -1,5 +1,5 @@ # Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy -{ lib, buildRosPackage, fetchgit, ament-cmake, ament-cmake-python, ament-lint-auto, ament-lint-common, cv-bridge, image-transport, rbs-skill-interfaces, rclpy, sensor-msgs, std-msgs }: +{ lib, buildRosPackage, fetchgit, ament-cmake, ament-cmake-python, ament-lint-auto, ament-lint-common, cv-bridge, image-transport, rbs-skill-interfaces, rclpy, sensor-msgs, std-msgs, pcl-ros, pcl-conversions, visualization-msgs }: buildRosPackage rec { pname = "ros-jazzy-rbss-poseestimation"; version = "0.0.1"; @@ -14,7 +14,7 @@ buildRosPackage rec { sourceRoot = "${src.name}/rbss_poseestimation/"; buildInputs = [ ament-cmake ament-cmake-python ]; checkInputs = [ ament-lint-auto ament-lint-common ]; - propagatedBuildInputs = [ cv-bridge image-transport rbs-skill-interfaces rclpy sensor-msgs std-msgs ]; + propagatedBuildInputs = [ cv-bridge image-transport rbs-skill-interfaces rclpy sensor-msgs std-msgs pcl-ros pcl-conversions visualization-msgs ]; nativeBuildInputs = [ ament-cmake ament-cmake-python ]; meta = { From d45051cc89f0e96b8bef1fdc11ead971c8019b47 Mon Sep 17 00:00:00 2001 From: Igor Brylev Date: Tue, 29 Oct 2024 12:52:02 +0300 Subject: [PATCH 06/27] fix arguments in create_topic function --- rbs_utils/rbs_utils/src/bagfile_recorder.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/rbs_utils/rbs_utils/src/bagfile_recorder.cpp b/rbs_utils/rbs_utils/src/bagfile_recorder.cpp index 94b9739..91bc779 100644 --- a/rbs_utils/rbs_utils/src/bagfile_recorder.cpp +++ b/rbs_utils/rbs_utils/src/bagfile_recorder.cpp @@ -69,7 +69,7 @@ protected: topics_ = get_list_topics(); for (const auto &topic_name : topics_) { - writer_->create_topic({topic_name, "sensor_msgs/msg/Image", "cdr", ""}); + writer_->create_topic({0u, topic_name, "sensor_msgs/msg/Image", "cdr", {}, ""}); RCLCPP_INFO(this->get_logger(), "Configuring topic: %s", topic_name.c_str()); } From a4ec1d5deab5024b45d4fba4f1f4b90771659c23 Mon Sep 17 00:00:00 2001 From: Igor Brylev Date: Tue, 29 Oct 2024 15:17:43 +0300 Subject: [PATCH 07/27] config.permittedInsecurePackages freeimage --- flake.nix | 3 +++ 1 file changed, 3 insertions(+) diff --git a/flake.nix b/flake.nix index 513c45d..708af07 100644 --- a/flake.nix +++ b/flake.nix @@ -23,6 +23,9 @@ nix-ros-overlay.overlays.default rosDistroOverlays ]; + config.permittedInsecurePackages = [ + "freeimage-unstable-2021-11-01" + ]; }; rosDistro = "jazzy"; From 9cf705e09dda3469b35bf8e49c1b625e04092542 Mon Sep 17 00:00:00 2001 From: Igor Brylev Date: Tue, 29 Oct 2024 15:17:59 +0300 Subject: [PATCH 08/27] gitignore result for nix builds --- .gitignore | 1 + 1 file changed, 1 insertion(+) diff --git a/.gitignore b/.gitignore index f42d19d..ed826f1 100644 --- a/.gitignore +++ b/.gitignore @@ -4,3 +4,4 @@ ref *.vscode **/tensorboard_logs/** **/logs/** +result \ No newline at end of file From fc098a3b90dc7fa5379b6ded27d372b9662c72bd Mon Sep 17 00:00:00 2001 From: Igor Brylev Date: Wed, 30 Oct 2024 11:52:47 +0300 Subject: [PATCH 09/27] rbs-bt-executor add moveit-core, moveit-ros-planning, moveit-ros-planning-interface, control-msgs --- rbs-bt-executor.nix | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/rbs-bt-executor.nix b/rbs-bt-executor.nix index 3cada02..cdf941f 100644 --- a/rbs-bt-executor.nix +++ b/rbs-bt-executor.nix @@ -1,5 +1,5 @@ # Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy -{ lib, buildRosPackage, fetchgit, ament-cmake, ament-cmake-python, ament-lint-auto, ament-lint-common, behaviortree-cpp, behaviortree-ros2, env-manager-interfaces, rbs-skill-interfaces, rbs-utils, rclpy }: +{ lib, buildRosPackage, fetchgit, ament-cmake, ament-cmake-python, ament-lint-auto, ament-lint-common, behaviortree-cpp, behaviortree-ros2, env-manager-interfaces, rbs-skill-interfaces, rbs-utils, rclpy, moveit-core, moveit-ros-planning, moveit-ros-planning-interface, control-msgs }: buildRosPackage rec { pname = "ros-jazzy-rbs-bt-executor"; version = "0.0.0"; @@ -14,7 +14,7 @@ buildRosPackage rec { sourceRoot = "${src.name}/rbs_bt_executor/"; buildInputs = [ ament-cmake ament-cmake-python ]; checkInputs = [ ament-lint-auto ament-lint-common ]; - propagatedBuildInputs = [ behaviortree-cpp behaviortree-ros2 env-manager-interfaces rbs-skill-interfaces rbs-utils rclpy ]; + propagatedBuildInputs = [ behaviortree-cpp behaviortree-ros2 env-manager-interfaces rbs-skill-interfaces rbs-utils rclpy moveit-core moveit-ros-planning moveit-ros-planning-interface control-msgs ]; nativeBuildInputs = [ ament-cmake ament-cmake-python ]; meta = { From 961dbcdfba56194d286b6edcbe009cb8e964e8d5 Mon Sep 17 00:00:00 2001 From: Igor Brylev Date: Wed, 30 Oct 2024 11:53:50 +0300 Subject: [PATCH 10/27] rbs-skill-servers deps: yaml-cpp-vendor sdformat --- rbs-skill-servers.nix | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/rbs-skill-servers.nix b/rbs-skill-servers.nix index 64f1240..3e5af87 100644 --- a/rbs-skill-servers.nix +++ b/rbs-skill-servers.nix @@ -1,5 +1,5 @@ # Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy -{ lib, buildRosPackage, fetchgit, action-msgs, ament-cmake, ament-lint-auto, ament-lint-common, geometric-shapes, geometry-msgs, gz-ros2-control, moveit-core, moveit-msgs, moveit-ros-planning, moveit-ros-planning-interface, rbs-skill-interfaces, rbs-utils, rclcpp, rclcpp-action, tf2-eigen, tf2-ros }: +{ lib, buildRosPackage, fetchgit, action-msgs, ament-cmake, ament-lint-auto, ament-lint-common, geometric-shapes, geometry-msgs, gz-ros2-control, moveit-core, moveit-msgs, moveit-ros-planning, moveit-ros-planning-interface, rbs-skill-interfaces, rbs-utils, rclcpp, rclcpp-action, tf2-eigen, tf2-ros, yaml-cpp-vendor, sdformat }: buildRosPackage rec { pname = "ros-jazzy-rbs-skill-servers"; version = "0.0.0"; @@ -14,7 +14,7 @@ buildRosPackage rec { sourceRoot = "${src.name}/rbs_skill_servers/"; buildInputs = [ ament-cmake ]; checkInputs = [ ament-lint-auto ament-lint-common ]; - propagatedBuildInputs = [ action-msgs geometric-shapes geometry-msgs gz-ros2-control moveit-core moveit-msgs moveit-ros-planning moveit-ros-planning-interface rbs-skill-interfaces rbs-utils rclcpp rclcpp-action tf2-eigen tf2-ros ]; + propagatedBuildInputs = [ action-msgs geometric-shapes geometry-msgs gz-ros2-control moveit-core moveit-msgs moveit-ros-planning moveit-ros-planning-interface rbs-skill-interfaces rbs-utils rclcpp rclcpp-action tf2-eigen tf2-ros yaml-cpp-vendor sdformat ]; nativeBuildInputs = [ ament-cmake ]; meta = { From 2ae0cc134da0568ac64523aac1dd3045c73f7d8a Mon Sep 17 00:00:00 2001 From: Igor Brylev Date: Wed, 30 Oct 2024 11:54:46 +0300 Subject: [PATCH 11/27] moveto fix for jazzy --- rbs_skill_servers/src/move_cartesian_path_action_server.cpp | 2 +- rbs_skill_servers/src/move_topose_action_server.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/rbs_skill_servers/src/move_cartesian_path_action_server.cpp b/rbs_skill_servers/src/move_cartesian_path_action_server.cpp index 989c8f9..7b1421b 100644 --- a/rbs_skill_servers/src/move_cartesian_path_action_server.cpp +++ b/rbs_skill_servers/src/move_cartesian_path_action_server.cpp @@ -172,7 +172,7 @@ private: rt.getRobotTrajectoryMsg(trajectory); moveit::planning_interface::MoveGroupInterface::Plan plan; - plan.trajectory_ = trajectory; + plan.trajectory = trajectory; if (fraction > 0) { RCLCPP_INFO(this->get_logger(), "Planning success"); diff --git a/rbs_skill_servers/src/move_topose_action_server.cpp b/rbs_skill_servers/src/move_topose_action_server.cpp index 553bb53..351069e 100644 --- a/rbs_skill_servers/src/move_topose_action_server.cpp +++ b/rbs_skill_servers/src/move_topose_action_server.cpp @@ -143,7 +143,7 @@ private: } else { RCLCPP_WARN_STREAM(this->get_logger(), "Failed to generate plan because " - << error_code_to_string(plan_err_code)); + << moveit::core::errorCodeToString(plan_err_code)); goal_handle->abort(result); } From 119bf1f513b0ef6662c2039280b227d519a2cecd Mon Sep 17 00:00:00 2001 From: Igor Brylev Date: Thu, 31 Oct 2024 17:43:43 +0300 Subject: [PATCH 12/27] gazebo packages --- flake.nix | 25 +++++++++++++++++++++++++ 1 file changed, 25 insertions(+) diff --git a/flake.nix b/flake.nix index 708af07..2d5f336 100644 --- a/flake.nix +++ b/flake.nix @@ -36,6 +36,9 @@ checks = builtins.intersectAttrs (import ./overlay.nix null null) pkgs.rosPackages.${rosDistro}; devShells.default = pkgs.mkShell { name = "Example project"; + shellHook = '' + unset QT_QPA_PLATFORM + ''; packages = [ pkgs.colcon # ... other non-ROS packages @@ -67,7 +70,29 @@ rbss-poseestimation robonomics robot-builder + rviz2 # ... other ROS packages + ] ++ [ + ament-cmake-core + python-cmake-module + + gz-cmake-vendor + gz-common-vendor + gz-dartsim-vendor + gz-fuel-tools-vendor + gz-gui-vendor + gz-launch-vendor + gz-math-vendor + gz-msgs-vendor + gz-ogre-next-vendor + gz-physics-vendor + gz-plugin-vendor + gz-rendering-vendor + gz-sensors-vendor + gz-sim-vendor + gz-tools-vendor + gz-transport-vendor + gz-utils-vendor ]; }) ]; From 6b253bf8163150756311943fa357847d1d329605 Mon Sep 17 00:00:00 2001 From: Igor Brylev Date: Fri, 1 Nov 2024 12:22:02 +0300 Subject: [PATCH 13/27] update source --- env-manager-interfaces.nix | 4 ++-- env-manager.nix | 4 ++-- rbs-bringup.nix | 4 ++-- rbs-bt-executor.nix | 4 ++-- rbs-gym.nix | 4 ++-- rbs-perception.nix | 4 ++-- rbs-runtime.nix | 4 ++-- rbs-simulation.nix | 4 ++-- rbs-skill-interfaces.nix | 4 ++-- rbs-skill-servers.nix | 4 ++-- rbs-task-planner.nix | 4 ++-- rbs-utils-interfaces.nix | 4 ++-- rbs-utils.nix | 4 ++-- rbss-movetopose.nix | 4 ++-- rbss-objectdetection.nix | 4 ++-- rbss-poseestimation.nix | 4 ++-- robonomics.nix | 4 ++-- 17 files changed, 34 insertions(+), 34 deletions(-) diff --git a/env-manager-interfaces.nix b/env-manager-interfaces.nix index 6ab2896..c5b742a 100644 --- a/env-manager-interfaces.nix +++ b/env-manager-interfaces.nix @@ -6,8 +6,8 @@ buildRosPackage rec { src = fetchgit { url = "https://gitlab.com/robossembler/robossembler-ros2"; - rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; - sha256 = "sha256-oheOuUKGcgpVHZqiSjmuex2ct0G7nFK0nJsIjMeItRo="; + rev = "72415c155ce1a410250b48a773d33545d6cb4e78"; + sha256 = "sha256-ZCAPrdObbfdmZ0Oq2Nx+7CIBeXGUZnRqKbsYW+1iwYo="; }; buildType = "ament_cmake"; diff --git a/env-manager.nix b/env-manager.nix index c0fb6e4..dd4538e 100644 --- a/env-manager.nix +++ b/env-manager.nix @@ -6,8 +6,8 @@ buildRosPackage rec { src = fetchgit { url = "https://gitlab.com/robossembler/robossembler-ros2"; - rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; - sha256 = "sha256-oheOuUKGcgpVHZqiSjmuex2ct0G7nFK0nJsIjMeItRo="; + rev = "72415c155ce1a410250b48a773d33545d6cb4e78"; + sha256 = "sha256-ZCAPrdObbfdmZ0Oq2Nx+7CIBeXGUZnRqKbsYW+1iwYo="; }; buildType = "ament_python"; diff --git a/rbs-bringup.nix b/rbs-bringup.nix index 90364a6..6c79075 100644 --- a/rbs-bringup.nix +++ b/rbs-bringup.nix @@ -6,8 +6,8 @@ buildRosPackage rec { src = fetchgit { url = "https://gitlab.com/robossembler/robossembler-ros2"; - rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; - sha256 = "sha256-oheOuUKGcgpVHZqiSjmuex2ct0G7nFK0nJsIjMeItRo="; + rev = "72415c155ce1a410250b48a773d33545d6cb4e78"; + sha256 = "sha256-ZCAPrdObbfdmZ0Oq2Nx+7CIBeXGUZnRqKbsYW+1iwYo="; }; buildType = "ament_cmake"; diff --git a/rbs-bt-executor.nix b/rbs-bt-executor.nix index cdf941f..c89a48c 100644 --- a/rbs-bt-executor.nix +++ b/rbs-bt-executor.nix @@ -6,8 +6,8 @@ buildRosPackage rec { src = fetchgit { url = "https://gitlab.com/robossembler/robossembler-ros2"; - rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; - sha256 = "sha256-oheOuUKGcgpVHZqiSjmuex2ct0G7nFK0nJsIjMeItRo="; + rev = "72415c155ce1a410250b48a773d33545d6cb4e78"; + sha256 = "sha256-ZCAPrdObbfdmZ0Oq2Nx+7CIBeXGUZnRqKbsYW+1iwYo="; }; buildType = "ament_cmake"; diff --git a/rbs-gym.nix b/rbs-gym.nix index a20abe8..66ebf8d 100644 --- a/rbs-gym.nix +++ b/rbs-gym.nix @@ -6,8 +6,8 @@ buildRosPackage rec { src = fetchgit { url = "https://gitlab.com/robossembler/robossembler-ros2"; - rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; - sha256 = "sha256-oheOuUKGcgpVHZqiSjmuex2ct0G7nFK0nJsIjMeItRo="; + rev = "72415c155ce1a410250b48a773d33545d6cb4e78"; + sha256 = "sha256-ZCAPrdObbfdmZ0Oq2Nx+7CIBeXGUZnRqKbsYW+1iwYo="; }; buildType = "ament_python"; diff --git a/rbs-perception.nix b/rbs-perception.nix index bc5bdc6..2c9094b 100644 --- a/rbs-perception.nix +++ b/rbs-perception.nix @@ -6,8 +6,8 @@ buildRosPackage rec { src = fetchgit { url = "https://gitlab.com/robossembler/robossembler-ros2"; - rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; - sha256 = "sha256-oheOuUKGcgpVHZqiSjmuex2ct0G7nFK0nJsIjMeItRo="; + rev = "72415c155ce1a410250b48a773d33545d6cb4e78"; + sha256 = "sha256-ZCAPrdObbfdmZ0Oq2Nx+7CIBeXGUZnRqKbsYW+1iwYo="; }; buildType = "ament_cmake"; diff --git a/rbs-runtime.nix b/rbs-runtime.nix index 44a6645..2c893b5 100644 --- a/rbs-runtime.nix +++ b/rbs-runtime.nix @@ -6,8 +6,8 @@ buildRosPackage rec { src = fetchgit { url = "https://gitlab.com/robossembler/robossembler-ros2"; - rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; - sha256 = "sha256-oheOuUKGcgpVHZqiSjmuex2ct0G7nFK0nJsIjMeItRo="; + rev = "72415c155ce1a410250b48a773d33545d6cb4e78"; + sha256 = "sha256-ZCAPrdObbfdmZ0Oq2Nx+7CIBeXGUZnRqKbsYW+1iwYo="; }; buildType = "ament_python"; diff --git a/rbs-simulation.nix b/rbs-simulation.nix index e1a4625..0d36289 100644 --- a/rbs-simulation.nix +++ b/rbs-simulation.nix @@ -6,8 +6,8 @@ buildRosPackage rec { src = fetchgit { url = "https://gitlab.com/robossembler/robossembler-ros2"; - rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; - sha256 = "sha256-oheOuUKGcgpVHZqiSjmuex2ct0G7nFK0nJsIjMeItRo="; + rev = "72415c155ce1a410250b48a773d33545d6cb4e78"; + sha256 = "sha256-ZCAPrdObbfdmZ0Oq2Nx+7CIBeXGUZnRqKbsYW+1iwYo="; }; buildType = "ament_cmake"; diff --git a/rbs-skill-interfaces.nix b/rbs-skill-interfaces.nix index 54371f7..7fd6d16 100644 --- a/rbs-skill-interfaces.nix +++ b/rbs-skill-interfaces.nix @@ -6,8 +6,8 @@ buildRosPackage rec { src = fetchgit { url = "https://gitlab.com/robossembler/robossembler-ros2"; - rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; - sha256 = "sha256-oheOuUKGcgpVHZqiSjmuex2ct0G7nFK0nJsIjMeItRo="; + rev = "72415c155ce1a410250b48a773d33545d6cb4e78"; + sha256 = "sha256-ZCAPrdObbfdmZ0Oq2Nx+7CIBeXGUZnRqKbsYW+1iwYo="; }; buildType = "ament_cmake"; diff --git a/rbs-skill-servers.nix b/rbs-skill-servers.nix index 3e5af87..c5b2451 100644 --- a/rbs-skill-servers.nix +++ b/rbs-skill-servers.nix @@ -6,8 +6,8 @@ buildRosPackage rec { src = fetchgit { url = "https://gitlab.com/robossembler/robossembler-ros2"; - rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; - sha256 = "sha256-oheOuUKGcgpVHZqiSjmuex2ct0G7nFK0nJsIjMeItRo="; + rev = "72415c155ce1a410250b48a773d33545d6cb4e78"; + sha256 = "sha256-ZCAPrdObbfdmZ0Oq2Nx+7CIBeXGUZnRqKbsYW+1iwYo="; }; buildType = "ament_cmake"; diff --git a/rbs-task-planner.nix b/rbs-task-planner.nix index 33092f0..0069458 100644 --- a/rbs-task-planner.nix +++ b/rbs-task-planner.nix @@ -6,8 +6,8 @@ buildRosPackage rec { src = fetchgit { url = "https://gitlab.com/robossembler/robossembler-ros2"; - rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; - sha256 = "sha256-oheOuUKGcgpVHZqiSjmuex2ct0G7nFK0nJsIjMeItRo="; + rev = "72415c155ce1a410250b48a773d33545d6cb4e78"; + sha256 = "sha256-ZCAPrdObbfdmZ0Oq2Nx+7CIBeXGUZnRqKbsYW+1iwYo="; }; buildType = "ament_cmake"; diff --git a/rbs-utils-interfaces.nix b/rbs-utils-interfaces.nix index 55e8423..b816b84 100644 --- a/rbs-utils-interfaces.nix +++ b/rbs-utils-interfaces.nix @@ -6,8 +6,8 @@ buildRosPackage rec { src = fetchgit { url = "https://gitlab.com/robossembler/robossembler-ros2"; - rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; - sha256 = "sha256-oheOuUKGcgpVHZqiSjmuex2ct0G7nFK0nJsIjMeItRo="; + rev = "72415c155ce1a410250b48a773d33545d6cb4e78"; + sha256 = "sha256-ZCAPrdObbfdmZ0Oq2Nx+7CIBeXGUZnRqKbsYW+1iwYo="; }; buildType = "ament_cmake"; diff --git a/rbs-utils.nix b/rbs-utils.nix index fa0a1a8..4a5d2b1 100644 --- a/rbs-utils.nix +++ b/rbs-utils.nix @@ -6,8 +6,8 @@ buildRosPackage rec { src = fetchgit { url = "https://gitlab.com/robossembler/robossembler-ros2"; - rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; - sha256 = "sha256-oheOuUKGcgpVHZqiSjmuex2ct0G7nFK0nJsIjMeItRo="; + rev = "72415c155ce1a410250b48a773d33545d6cb4e78"; + sha256 = "sha256-ZCAPrdObbfdmZ0Oq2Nx+7CIBeXGUZnRqKbsYW+1iwYo="; }; buildType = "ament_cmake"; diff --git a/rbss-movetopose.nix b/rbss-movetopose.nix index b489719..98c3e4a 100644 --- a/rbss-movetopose.nix +++ b/rbss-movetopose.nix @@ -6,8 +6,8 @@ buildRosPackage rec { src = fetchgit { url = "https://gitlab.com/robossembler/robossembler-ros2"; - rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; - sha256 = "sha256-oheOuUKGcgpVHZqiSjmuex2ct0G7nFK0nJsIjMeItRo="; + rev = "72415c155ce1a410250b48a773d33545d6cb4e78"; + sha256 = "sha256-ZCAPrdObbfdmZ0Oq2Nx+7CIBeXGUZnRqKbsYW+1iwYo="; }; buildType = "ament_cmake"; diff --git a/rbss-objectdetection.nix b/rbss-objectdetection.nix index 777cac9..ca1bf32 100644 --- a/rbss-objectdetection.nix +++ b/rbss-objectdetection.nix @@ -6,8 +6,8 @@ buildRosPackage rec { src = fetchgit { url = "https://gitlab.com/robossembler/robossembler-ros2"; - rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; - sha256 = "sha256-oheOuUKGcgpVHZqiSjmuex2ct0G7nFK0nJsIjMeItRo="; + rev = "72415c155ce1a410250b48a773d33545d6cb4e78"; + sha256 = "sha256-ZCAPrdObbfdmZ0Oq2Nx+7CIBeXGUZnRqKbsYW+1iwYo="; }; buildType = "ament_cmake"; diff --git a/rbss-poseestimation.nix b/rbss-poseestimation.nix index 77eb8d1..be78486 100644 --- a/rbss-poseestimation.nix +++ b/rbss-poseestimation.nix @@ -6,8 +6,8 @@ buildRosPackage rec { src = fetchgit { url = "https://gitlab.com/robossembler/robossembler-ros2"; - rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; - sha256 = "sha256-oheOuUKGcgpVHZqiSjmuex2ct0G7nFK0nJsIjMeItRo="; + rev = "72415c155ce1a410250b48a773d33545d6cb4e78"; + sha256 = "sha256-ZCAPrdObbfdmZ0Oq2Nx+7CIBeXGUZnRqKbsYW+1iwYo="; }; buildType = "ament_cmake"; diff --git a/robonomics.nix b/robonomics.nix index c1c0db6..dc52552 100644 --- a/robonomics.nix +++ b/robonomics.nix @@ -6,8 +6,8 @@ buildRosPackage rec { src = fetchgit { url = "https://gitlab.com/robossembler/robossembler-ros2"; - rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; - sha256 = "sha256-oheOuUKGcgpVHZqiSjmuex2ct0G7nFK0nJsIjMeItRo="; + rev = "72415c155ce1a410250b48a773d33545d6cb4e78"; + sha256 = "sha256-ZCAPrdObbfdmZ0Oq2Nx+7CIBeXGUZnRqKbsYW+1iwYo="; }; buildType = "ament_python"; From 6cdcd4e887b31aee23268d8591fdb775634c9dcd Mon Sep 17 00:00:00 2001 From: Igor Brylev Date: Mon, 4 Nov 2024 12:41:51 +0300 Subject: [PATCH 14/27] dacite scipy --- flake.lock | 8 ++++---- flake.nix | 4 +++- 2 files changed, 7 insertions(+), 5 deletions(-) diff --git a/flake.lock b/flake.lock index f4bb899..bc19679 100644 --- a/flake.lock +++ b/flake.lock @@ -24,11 +24,11 @@ "nixpkgs": "nixpkgs" }, "locked": { - "lastModified": 1729864786, - "narHash": "sha256-t5SEhqRoK0HYxywgNCnXSUsLdsKKSkIUt1a4D5YHQEo=", + "lastModified": 1730280507, + "narHash": "sha256-oRv0JPfQAHLY/dK9TZXM9XEssWdVXqFswYatnNF9FQ0=", "ref": "refs/heads/moveit-osqp-overrides", - "rev": "72f93c1f458fc978cfb32c417a7ff0c223524668", - "revCount": 1020, + "rev": "0dcd2a1c68c270b8bcf4f3551b6db94e34c25c34", + "revCount": 1021, "type": "git", "url": "file:///home/movefasta/Documents/robossembler/nix-ros-overlay" }, diff --git a/flake.nix b/flake.nix index 2d5f336..88e9ef1 100644 --- a/flake.nix +++ b/flake.nix @@ -1,7 +1,8 @@ { inputs = { - nix-ros-overlay.url = "github:lopsided98/nix-ros-overlay/develop"; + # nix-ros-overlay.url = "github:lopsided98/nix-ros-overlay/develop"; + nix-ros-overlay.url = "/home/movefasta/Documents/robossembler/nix-ros-overlay"; nixpkgs.follows = "nix-ros-overlay/nixpkgs"; # IMPORTANT!!! }; outputs = { self, nix-ros-overlay, nixpkgs }: @@ -41,6 +42,7 @@ ''; packages = [ pkgs.colcon + (pkgs.python3.withPackages (p: with p; [ dacite scipy ])) # ... other non-ROS packages (with pkgs.rosPackages.${rosDistro}; buildEnv { paths = [ From d5d70c067387cbf57484fc47f6868068a5c1c751 Mon Sep 17 00:00:00 2001 From: Igor Brylev Date: Sun, 1 Dec 2024 16:01:31 +0300 Subject: [PATCH 15/27] inputs update --- flake.lock | 10 +++++----- flake.nix | 4 ++-- 2 files changed, 7 insertions(+), 7 deletions(-) diff --git a/flake.lock b/flake.lock index bc19679..baae090 100644 --- a/flake.lock +++ b/flake.lock @@ -24,11 +24,11 @@ "nixpkgs": "nixpkgs" }, "locked": { - "lastModified": 1730280507, - "narHash": "sha256-oRv0JPfQAHLY/dK9TZXM9XEssWdVXqFswYatnNF9FQ0=", - "ref": "refs/heads/moveit-osqp-overrides", - "rev": "0dcd2a1c68c270b8bcf4f3551b6db94e34c25c34", - "revCount": 1021, + "lastModified": 1732998835, + "narHash": "sha256-d5elFO/gqbuvst0Ost2yOmApb3BpgFtNK5t+QtlrKX4=", + "ref": "refs/heads/gz-version-fix", + "rev": "8277a937e9326b6842bd9d942245f58975672372", + "revCount": 1091, "type": "git", "url": "file:///home/movefasta/Documents/robossembler/nix-ros-overlay" }, diff --git a/flake.nix b/flake.nix index 88e9ef1..79f5598 100644 --- a/flake.nix +++ b/flake.nix @@ -1,8 +1,8 @@ { inputs = { - # nix-ros-overlay.url = "github:lopsided98/nix-ros-overlay/develop"; - nix-ros-overlay.url = "/home/movefasta/Documents/robossembler/nix-ros-overlay"; + nix-ros-overlay.url = "github:lopsided98/nix-ros-overlay/develop"; + # nix-ros-overlay.url = "/home/movefasta/Documents/robossembler/nix-ros-overlay"; nixpkgs.follows = "nix-ros-overlay/nixpkgs"; # IMPORTANT!!! }; outputs = { self, nix-ros-overlay, nixpkgs }: From 4d476c98794696b0126b3732898d7da054a11aa3 Mon Sep 17 00:00:00 2001 From: Igor Brylev Date: Sun, 1 Dec 2024 16:20:57 +0300 Subject: [PATCH 16/27] fix plan.trajectory --- rbs_skill_servers/src/mtp_moveit_cart.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/rbs_skill_servers/src/mtp_moveit_cart.cpp b/rbs_skill_servers/src/mtp_moveit_cart.cpp index 535bdc3..111218f 100644 --- a/rbs_skill_servers/src/mtp_moveit_cart.cpp +++ b/rbs_skill_servers/src/mtp_moveit_cart.cpp @@ -61,7 +61,7 @@ private: rt.getRobotTrajectoryMsg(trajectory); moveit::planning_interface::MoveGroupInterface::Plan plan; - plan.trajectory_ = trajectory; + plan.trajectory = trajectory; if (fraction > 0) { RCLCPP_INFO(this->get_logger(), "Planning success"); From b83a68f77724d83e1a0a014ffb4da4ef42ec3a42 Mon Sep 17 00:00:00 2001 From: Igor Brylev Date: Sun, 1 Dec 2024 16:25:41 +0300 Subject: [PATCH 17/27] moveit jazzy fixes --- .../src/move_cartesian_path_action_server.cpp | 221 ------------------ .../src/move_topose_action_server.cpp | 176 -------------- rbs_skill_servers/src/mtp_moveit.cpp | 2 +- 3 files changed, 1 insertion(+), 398 deletions(-) delete mode 100644 rbs_skill_servers/src/move_cartesian_path_action_server.cpp delete mode 100644 rbs_skill_servers/src/move_topose_action_server.cpp diff --git a/rbs_skill_servers/src/move_cartesian_path_action_server.cpp b/rbs_skill_servers/src/move_cartesian_path_action_server.cpp deleted file mode 100644 index 7b1421b..0000000 --- a/rbs_skill_servers/src/move_cartesian_path_action_server.cpp +++ /dev/null @@ -1,221 +0,0 @@ -#include -#include -#include -#include -#include - -#include "rclcpp/rclcpp.hpp" -#include "rclcpp/timer.hpp" -#include "rclcpp_components/register_node_macro.hpp" - -// action libs -#include "rbs_skill_interfaces/action/moveit_send_pose.hpp" -#include "rbs_skill_interfaces/msg/action_feedback_status_constants.hpp" -#include "rclcpp_action/rclcpp_action.hpp" - -#include "geometry_msgs/msg/pose_stamped.hpp" -#include "geometry_msgs/msg/quaternion.hpp" -#include "geometry_msgs/msg/transform.hpp" - -// moveit libs -#include "moveit/move_group_interface/move_group_interface.h" -#include "moveit/planning_interface/planning_interface.h" -#include "moveit/robot_model_loader/robot_model_loader.h" -#include "moveit/trajectory_processing/time_optimal_trajectory_generation.h" - -/* -#include -#include -#include -*/ -// For Visualization -// #include -#include "moveit_msgs/action/move_group.hpp" -#include "moveit_msgs/msg/display_robot_state.hpp" -#include "moveit_msgs/msg/display_trajectory.hpp" -#include "moveit_msgs/msg/robot_trajectory.hpp" - -namespace rbs_skill_actions { - -class MoveCartesianActionServer : public rclcpp::Node { -public: - using MoveitSendPose = rbs_skill_interfaces::action::MoveitSendPose; - - // explicit MoveCartesianActionServer(const rclcpp::Node::SharedPtr& node) - explicit MoveCartesianActionServer(const rclcpp::Node::SharedPtr &node) - : Node("move_cartesian_action_server"), node_(node) { - // using namespace std::placeholders; - // this->action_server_ = rclcpp_action::create_server( - // this->get_node_base_interface(), - // this->get_node_clock_interface(), - // this->get_node_logging_interface(), - // this->get_node_waitables_interface(), - // "move_topose", - // std::bind(&MoveCartesianActionServer::goal_callback, this, _1, _2), - // std::bind(&MoveCartesianActionServer::cancel_callback, this, _1), - // std::bind(&MoveCartesianActionServer::accepted_callback, this, _1)); - } - - void init() { - - action_server_ = rclcpp_action::create_server( - node_->get_node_base_interface(), node_->get_node_clock_interface(), - node_->get_node_logging_interface(), - node_->get_node_waitables_interface(), "move_cartesian", - std::bind(&MoveCartesianActionServer::goal_callback, this, - std::placeholders::_1, std::placeholders::_2), - std::bind(&MoveCartesianActionServer::cancel_callback, this, - std::placeholders::_1), - std::bind(&MoveCartesianActionServer::accepted_callback, this, - std::placeholders::_1)); - } - -private: - rclcpp::Node::SharedPtr node_; - rclcpp_action::Server::SharedPtr action_server_; - - using ServerGoalHandle = rclcpp_action::ServerGoalHandle; - - rclcpp_action::GoalResponse - goal_callback(const rclcpp_action::GoalUUID &uuid, - std::shared_ptr goal) { - RCLCPP_INFO( - this->get_logger(), - "Received goal request for robot [%s] with Pose [%f, %f, %f, %f, %f, " - "%f, %f]", - goal->robot_name.c_str(), goal->target_pose.position.x, - goal->target_pose.position.y, goal->target_pose.position.z, - goal->target_pose.orientation.x, goal->target_pose.orientation.y, - goal->target_pose.orientation.z, goal->target_pose.orientation.w); - (void)uuid; - - return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE; - } - - rclcpp_action::CancelResponse - cancel_callback(const std::shared_ptr goal_handle) { - RCLCPP_INFO(this->get_logger(), "Received cancel request"); - (void)goal_handle; - return rclcpp_action::CancelResponse::ACCEPT; - } - - void accepted_callback(const std::shared_ptr goal_handle) { - using namespace std::placeholders; - std::thread(std::bind(&MoveCartesianActionServer::execute, this, _1), - goal_handle) - .detach(); - // std::thread( - // [this, goal_handle]() { - // execute(goal_handle); - // }).detach(); - } - - void execute(const std::shared_ptr goal_handle) { - RCLCPP_INFO(this->get_logger(), "Executing action goal"); - const auto goal = goal_handle->get_goal(); - auto result = std::make_shared(); - - moveit::planning_interface::MoveGroupInterface move_group_interface( - node_, goal->robot_name); - move_group_interface.startStateMonitor(); - - moveit::core::RobotState start_state( - *move_group_interface.getCurrentState()); - - std::vector waypoints; - auto current_pose = move_group_interface.getCurrentPose(); - // waypoints.push_back(current_pose.pose); - // geometry_msgs::msg::Pose start_pose = current_pose.pose; - geometry_msgs::msg::Pose target_pose = goal->target_pose; - // target_pose.position = goal->target_pose.position; - // int num_waypoints = 100; - // for (int i = 1; i <= num_waypoints; ++i) { - // geometry_msgs::msg::Pose intermediate_pose; - // double fraction = static_cast(i) / (num_waypoints + 1); - // - // intermediate_pose.position.x = - // start_pose.position.x + - // fraction * (target_pose.position.x - start_pose.position.x); - // intermediate_pose.position.y = - // start_pose.position.y + - // fraction * (target_pose.position.y - start_pose.position.y); - // intermediate_pose.position.z = - // start_pose.position.z + - // fraction * (target_pose.position.z - start_pose.position.z); - // - // intermediate_pose.orientation = start_pose.orientation; - // - // waypoints.push_back(intermediate_pose); - // } - waypoints.push_back(target_pose); - - RCLCPP_INFO(this->get_logger(), "New cartesian target pose [%f, %f, %f]", - target_pose.position.x, target_pose.position.y, - target_pose.position.z); - - moveit_msgs::msg::RobotTrajectory trajectory; - const double jump_threshold = 0.0; - const double eef_step = 0.001; - double fraction = move_group_interface.computeCartesianPath( - waypoints, eef_step, jump_threshold, trajectory); - - robot_trajectory::RobotTrajectory rt( - move_group_interface.getCurrentState()->getRobotModel(), - goal->robot_name); - - rt.setRobotTrajectoryMsg(*move_group_interface.getCurrentState(), trajectory); - - trajectory_processing::TimeOptimalTrajectoryGeneration tp; - - bool su = tp.computeTimeStamps(rt); - - rt.getRobotTrajectoryMsg(trajectory); - - moveit::planning_interface::MoveGroupInterface::Plan plan; - plan.trajectory = trajectory; - - if (fraction > 0) { - RCLCPP_INFO(this->get_logger(), "Planning success"); - moveit::core::MoveItErrorCode execute_err_code = - move_group_interface.execute(plan); - if (execute_err_code == moveit::core::MoveItErrorCode::SUCCESS) { - result->success = true; - goal_handle->succeed(result); - RCLCPP_INFO(this->get_logger(), "Successfully executed action goal"); - } else if (execute_err_code == moveit::core::MoveItErrorCode::FAILURE) { - RCLCPP_ERROR(this->get_logger(), "Failure in move:"); - } - - // move_group_interface.move(); - } else { - RCLCPP_WARN(this->get_logger(), "Failed to generate plan"); - goal_handle->abort(result); - } - - if (goal_handle->is_canceling()) { - goal_handle->canceled(result); - RCLCPP_ERROR(this->get_logger(), "Action goal canceled"); - return; - } - } -}; // class MoveCartesianActionServer - -} // namespace rbs_skill_actions - -int main(int argc, char **argv) { - rclcpp::init(argc, argv); - rclcpp::NodeOptions node_options; - node_options.automatically_declare_parameters_from_overrides(true); - auto node = rclcpp::Node::make_shared("move_cartesian", "", node_options); - - rbs_skill_actions::MoveCartesianActionServer server(node); - std::thread run_server([&server]() { - rclcpp::sleep_for(std::chrono::seconds(3)); - server.init(); - }); - - rclcpp::spin(node); - run_server.join(); - - return 0; -} diff --git a/rbs_skill_servers/src/move_topose_action_server.cpp b/rbs_skill_servers/src/move_topose_action_server.cpp deleted file mode 100644 index 351069e..0000000 --- a/rbs_skill_servers/src/move_topose_action_server.cpp +++ /dev/null @@ -1,176 +0,0 @@ -#include -#include -#include - -#include "rclcpp/rclcpp.hpp" -#include "rclcpp/timer.hpp" -#include "rclcpp_components/register_node_macro.hpp" - -// action libs -#include "rbs_skill_interfaces/action/moveit_send_pose.hpp" -#include "rbs_skill_interfaces/msg/action_feedback_status_constants.hpp" -#include "rclcpp_action/rclcpp_action.hpp" - -#include "geometry_msgs/msg/pose_stamped.hpp" -#include "geometry_msgs/msg/quaternion.hpp" -#include "geometry_msgs/msg/transform.hpp" - -// moveit libs -#include "moveit/move_group_interface/move_group_interface.h" -#include "moveit/planning_interface/planning_interface.h" -#include "moveit/planning_scene_interface/planning_scene_interface.h" -#include "moveit/robot_model_loader/robot_model_loader.h" - -/* -#include -#include -#include -*/ -// For Visualization -// #include -#include "moveit_msgs/action/move_group.hpp" -#include "moveit_msgs/msg/display_robot_state.hpp" -#include "moveit_msgs/msg/display_trajectory.hpp" -#include "moveit_msgs/msg/robot_trajectory.hpp" -#include - -namespace rbs_skill_actions { - -class MoveToPoseActionServer : public rclcpp::Node { -public: - using MoveitSendPose = rbs_skill_interfaces::action::MoveitSendPose; - - // explicit MoveToPoseActionServer(const rclcpp::Node::SharedPtr& node) - explicit MoveToPoseActionServer(const rclcpp::Node::SharedPtr &node) - : Node("move_topose_action_server"), node_(node) { - // using namespace std::placeholders; - // this->action_server_ = rclcpp_action::create_server( - // this->get_node_base_interface(), - // this->get_node_clock_interface(), - // this->get_node_logging_interface(), - // this->get_node_waitables_interface(), - // "move_topose", - // std::bind(&MoveToPoseActionServer::goal_callback, this, _1, _2), - // std::bind(&MoveToPoseActionServer::cancel_callback, this, _1), - // std::bind(&MoveToPoseActionServer::accepted_callback, this, _1)); - } - - void init() { - - action_server_ = rclcpp_action::create_server( - node_->get_node_base_interface(), node_->get_node_clock_interface(), - node_->get_node_logging_interface(), - node_->get_node_waitables_interface(), "move_topose", - std::bind(&MoveToPoseActionServer::goal_callback, this, - std::placeholders::_1, std::placeholders::_2), - std::bind(&MoveToPoseActionServer::cancel_callback, this, - std::placeholders::_1), - std::bind(&MoveToPoseActionServer::accepted_callback, this, - std::placeholders::_1)); - } - -private: - rclcpp::Node::SharedPtr node_; - rclcpp_action::Server::SharedPtr action_server_; - - using ServerGoalHandle = rclcpp_action::ServerGoalHandle; - - rclcpp_action::GoalResponse - goal_callback(const rclcpp_action::GoalUUID &uuid, - std::shared_ptr goal) { - RCLCPP_INFO( - this->get_logger(), - "Received goal request for robot [%s] with Pose [%f, %f, %f, %f, %f, " - "%f, %f]", - goal->robot_name.c_str(), goal->target_pose.position.x, - goal->target_pose.position.y, goal->target_pose.position.z, - goal->target_pose.orientation.x, goal->target_pose.orientation.y, - goal->target_pose.orientation.z, goal->target_pose.orientation.w); - (void)uuid; - if (false) { - return rclcpp_action::GoalResponse::REJECT; - } - return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE; - } - - rclcpp_action::CancelResponse - cancel_callback(const std::shared_ptr goal_handle) { - RCLCPP_INFO(this->get_logger(), "Received cancel request"); - (void)goal_handle; - return rclcpp_action::CancelResponse::ACCEPT; - } - - void accepted_callback(const std::shared_ptr goal_handle) { - using namespace std::placeholders; - std::thread(std::bind(&MoveToPoseActionServer::execute, this, _1), - goal_handle) - .detach(); - } - - void execute(const std::shared_ptr goal_handle) { - RCLCPP_INFO(this->get_logger(), "Executing action goal"); - const auto goal = goal_handle->get_goal(); - auto result = std::make_shared(); - - moveit::planning_interface::MoveGroupInterface move_group_interface( - node_, goal->robot_name); - move_group_interface.startStateMonitor(); - - move_group_interface.setPoseTarget(goal->target_pose); - move_group_interface.setMaxVelocityScalingFactor( - goal->end_effector_velocity); - move_group_interface.setMaxAccelerationScalingFactor( - goal->end_effector_acceleration); - moveit::planning_interface::MoveGroupInterface::Plan plan; - moveit::core::MoveItErrorCode plan_err_code = - move_group_interface.plan(plan); - if (plan_err_code == moveit::core::MoveItErrorCode::INVALID_MOTION_PLAN) { - move_group_interface.plan(plan); - } - if (plan_err_code == moveit::core::MoveItErrorCode::SUCCESS) { - RCLCPP_INFO(this->get_logger(), "Planning success"); - // move_group_interface.execute(plan); - moveit::core::MoveItErrorCode move_err_code = - move_group_interface.execute(plan); - if (move_err_code == moveit::core::MoveItErrorCode::SUCCESS) { - result->success = true; - goal_handle->succeed(result); - RCLCPP_INFO(this->get_logger(), "Successfully executed action goal"); - } else if (move_err_code == moveit::core::MoveItErrorCode::FAILURE) { - RCLCPP_ERROR(this->get_logger(), "Failure in move:"); - } - - } else { - RCLCPP_WARN_STREAM(this->get_logger(), - "Failed to generate plan because " - << moveit::core::errorCodeToString(plan_err_code)); - goal_handle->abort(result); - } - - if (goal_handle->is_canceling()) { - goal_handle->canceled(result); - RCLCPP_ERROR(this->get_logger(), "Action goal canceled"); - return; - } - } -}; // class MoveToPoseActionServer - -} // namespace rbs_skill_actions - -int main(int argc, char **argv) { - rclcpp::init(argc, argv); - rclcpp::NodeOptions node_options; - node_options.automatically_declare_parameters_from_overrides(true); - auto node = rclcpp::Node::make_shared("move_topose", "", node_options); - - rbs_skill_actions::MoveToPoseActionServer server(node); - std::thread run_server([&server]() { - rclcpp::sleep_for(std::chrono::seconds(3)); - server.init(); - }); - - rclcpp::spin(node); - run_server.join(); - - return 0; -} diff --git a/rbs_skill_servers/src/mtp_moveit.cpp b/rbs_skill_servers/src/mtp_moveit.cpp index 7b07c9e..ba8e503 100644 --- a/rbs_skill_servers/src/mtp_moveit.cpp +++ b/rbs_skill_servers/src/mtp_moveit.cpp @@ -50,7 +50,7 @@ private: } else { RCLCPP_WARN_STREAM(this->get_logger(), "Failed to generate plan because " - << error_code_to_string(plan_err_code)); + << moveit::core::errorCodeToString(plan_err_code)); m_current_goal_handle->abort(m_current_result); } From 5bbbc458b1c95db3ea01da669d8e5f851d2fe834 Mon Sep 17 00:00:00 2001 From: Igor Brylev Date: Sun, 1 Dec 2024 17:13:46 +0300 Subject: [PATCH 18/27] add rbs_assets_library --- rbs-assets-library.nix | 37 +++++++++++++++++++++++++++++++++++++ 1 file changed, 37 insertions(+) create mode 100644 rbs-assets-library.nix diff --git a/rbs-assets-library.nix b/rbs-assets-library.nix new file mode 100644 index 0000000..2012e0d --- /dev/null +++ b/rbs-assets-library.nix @@ -0,0 +1,37 @@ +{ + lib, + buildPythonPackage, + fetchFromGitHub, + poetry-core, + trimesh, +}: + +buildPythonPackage rec { + pname = "rbs-assets-library"; + version = "0.2.0"; + pyproject = true; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "rbs_assets_library"; + rev = "16d3f6d750a8c903532f4bde22bbe41ebd35ec5c"; + hash = ""; + fetchLFS = true; + }; + + build-system = [ + poetry-core + trimesh + ]; + + pythonImportsCheck = [ + "rbs_assets_library" + ]; + + meta = { + description = ""; + homepage = "https://github.com/solid-sinusoid/rbs_assets_library"; + license = lib.licenses.unfree; # FIXME: nix-init did not find a license + maintainers = with lib.maintainers; [ ]; + }; +} From 77d7e86ac064f056da8fb2b318ba2b8cbffd4396 Mon Sep 17 00:00:00 2001 From: Igor Brylev Date: Sun, 1 Dec 2024 17:31:27 +0300 Subject: [PATCH 19/27] update srcs --- env-manager-interfaces.nix | 4 ++-- env-manager.nix | 4 ++-- flake.lock | 17 +++++++++-------- flake.nix | 14 ++++++++++++-- rbs-arm.nix | 4 ++-- rbs-assets-library.nix | 7 +++---- rbs-bringup.nix | 4 ++-- rbs-bt-executor.nix | 4 ++-- rbs-gym.nix | 4 ++-- rbs-perception.nix | 4 ++-- rbs-runtime.nix | 4 ++-- rbs-simulation.nix | 4 ++-- rbs-skill-interfaces.nix | 4 ++-- rbs-skill-servers.nix | 4 ++-- rbs-task-planner.nix | 4 ++-- rbs-utils-interfaces.nix | 4 ++-- rbs-utils.nix | 4 ++-- rbss-movetopose.nix | 4 ++-- rbss-objectdetection.nix | 4 ++-- rbss-poseestimation.nix | 4 ++-- robonomics.nix | 4 ++-- robot-builder.nix | 4 ++-- 22 files changed, 62 insertions(+), 52 deletions(-) diff --git a/env-manager-interfaces.nix b/env-manager-interfaces.nix index c5b742a..efe0a5a 100644 --- a/env-manager-interfaces.nix +++ b/env-manager-interfaces.nix @@ -6,8 +6,8 @@ buildRosPackage rec { src = fetchgit { url = "https://gitlab.com/robossembler/robossembler-ros2"; - rev = "72415c155ce1a410250b48a773d33545d6cb4e78"; - sha256 = "sha256-ZCAPrdObbfdmZ0Oq2Nx+7CIBeXGUZnRqKbsYW+1iwYo="; + rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42"; + sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8="; }; buildType = "ament_cmake"; diff --git a/env-manager.nix b/env-manager.nix index dd4538e..c545bdd 100644 --- a/env-manager.nix +++ b/env-manager.nix @@ -6,8 +6,8 @@ buildRosPackage rec { src = fetchgit { url = "https://gitlab.com/robossembler/robossembler-ros2"; - rev = "72415c155ce1a410250b48a773d33545d6cb4e78"; - sha256 = "sha256-ZCAPrdObbfdmZ0Oq2Nx+7CIBeXGUZnRqKbsYW+1iwYo="; + rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42"; + sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8="; }; buildType = "ament_python"; diff --git a/flake.lock b/flake.lock index baae090..821fd6e 100644 --- a/flake.lock +++ b/flake.lock @@ -24,17 +24,18 @@ "nixpkgs": "nixpkgs" }, "locked": { - "lastModified": 1732998835, + "lastModified": 1733001380, "narHash": "sha256-d5elFO/gqbuvst0Ost2yOmApb3BpgFtNK5t+QtlrKX4=", - "ref": "refs/heads/gz-version-fix", - "rev": "8277a937e9326b6842bd9d942245f58975672372", - "revCount": 1091, - "type": "git", - "url": "file:///home/movefasta/Documents/robossembler/nix-ros-overlay" + "owner": "lopsided98", + "repo": "nix-ros-overlay", + "rev": "518d764262aafc6e18abc1f7f4facf41cf24b072", + "type": "github" }, "original": { - "type": "git", - "url": "file:///home/movefasta/Documents/robossembler/nix-ros-overlay" + "owner": "lopsided98", + "ref": "develop", + "repo": "nix-ros-overlay", + "type": "github" } }, "nixpkgs": { diff --git a/flake.nix b/flake.nix index 79f5598..5b1096d 100644 --- a/flake.nix +++ b/flake.nix @@ -18,11 +18,21 @@ # Apply the overlay to multiple ROS distributions rosPackages = applyDistroOverlay (import ./overlay.nix) super.rosPackages; }; + pythonOverlay = self: super: { + pythonPackagesExtensions = super.pythonPackagesExtensions ++ [ + ( + python-final: python-prev: { + rbs-assets-library = self.python3Packages.callPackage ./rbs-assets-library.nix { }; + } + ) + ]; + }; pkgs = import nixpkgs { inherit system; overlays = [ nix-ros-overlay.overlays.default rosDistroOverlays + pythonOverlay ]; config.permittedInsecurePackages = [ "freeimage-unstable-2021-11-01" @@ -36,13 +46,13 @@ packages = builtins.intersectAttrs (import ./overlay.nix null null) pkgs.rosPackages.${rosDistro}; checks = builtins.intersectAttrs (import ./overlay.nix null null) pkgs.rosPackages.${rosDistro}; devShells.default = pkgs.mkShell { - name = "Example project"; + name = "Robossembler ROS 2 Runtime"; shellHook = '' unset QT_QPA_PLATFORM ''; packages = [ pkgs.colcon - (pkgs.python3.withPackages (p: with p; [ dacite scipy ])) + (pkgs.python3.withPackages (p: with p; [ dacite scipy loguru rbs-assets-library ])) # ... other non-ROS packages (with pkgs.rosPackages.${rosDistro}; buildEnv { paths = [ diff --git a/rbs-arm.nix b/rbs-arm.nix index 3572798..971e9d4 100644 --- a/rbs-arm.nix +++ b/rbs-arm.nix @@ -7,8 +7,8 @@ buildRosPackage rec { src = fetchFromGitHub { owner = "solid-sinusoid"; repo = "rbs-arm"; - rev = "bc13ea275cffdaa062d225bf3934918a6dbaafb3"; - sha256 = "0f3j8vlshq19qkcxy7fiv9ij3zz70k5lhn4y4184zfr4czdkpmf0"; + rev = "a39c474dcdef2a13af3056165a3ed29be9f4e173"; + hash = "sha256-c/umjcDzXd63tZ0mttPMmhQFSXPPkmEIDe6SF4E9Fag="; }; buildType = "ament_cmake"; diff --git a/rbs-assets-library.nix b/rbs-assets-library.nix index 2012e0d..17fd72d 100644 --- a/rbs-assets-library.nix +++ b/rbs-assets-library.nix @@ -8,15 +8,14 @@ buildPythonPackage rec { pname = "rbs-assets-library"; - version = "0.2.0"; + version = "unstable-2024-12-01"; pyproject = true; src = fetchFromGitHub { owner = "solid-sinusoid"; repo = "rbs_assets_library"; rev = "16d3f6d750a8c903532f4bde22bbe41ebd35ec5c"; - hash = ""; - fetchLFS = true; + hash = "sha256-0JrOp0xbJc/cZdy7Ho53mSI5HmwVmPDvDJOx+Wu6nIg="; }; build-system = [ @@ -31,7 +30,7 @@ buildPythonPackage rec { meta = { description = ""; homepage = "https://github.com/solid-sinusoid/rbs_assets_library"; - license = lib.licenses.unfree; # FIXME: nix-init did not find a license + license = lib.licenses.asl20; maintainers = with lib.maintainers; [ ]; }; } diff --git a/rbs-bringup.nix b/rbs-bringup.nix index 6c79075..e53166c 100644 --- a/rbs-bringup.nix +++ b/rbs-bringup.nix @@ -6,8 +6,8 @@ buildRosPackage rec { src = fetchgit { url = "https://gitlab.com/robossembler/robossembler-ros2"; - rev = "72415c155ce1a410250b48a773d33545d6cb4e78"; - sha256 = "sha256-ZCAPrdObbfdmZ0Oq2Nx+7CIBeXGUZnRqKbsYW+1iwYo="; + rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42"; + sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8="; }; buildType = "ament_cmake"; diff --git a/rbs-bt-executor.nix b/rbs-bt-executor.nix index c89a48c..0b7ab6f 100644 --- a/rbs-bt-executor.nix +++ b/rbs-bt-executor.nix @@ -6,8 +6,8 @@ buildRosPackage rec { src = fetchgit { url = "https://gitlab.com/robossembler/robossembler-ros2"; - rev = "72415c155ce1a410250b48a773d33545d6cb4e78"; - sha256 = "sha256-ZCAPrdObbfdmZ0Oq2Nx+7CIBeXGUZnRqKbsYW+1iwYo="; + rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42"; + sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8="; }; buildType = "ament_cmake"; diff --git a/rbs-gym.nix b/rbs-gym.nix index 66ebf8d..feffadb 100644 --- a/rbs-gym.nix +++ b/rbs-gym.nix @@ -6,8 +6,8 @@ buildRosPackage rec { src = fetchgit { url = "https://gitlab.com/robossembler/robossembler-ros2"; - rev = "72415c155ce1a410250b48a773d33545d6cb4e78"; - sha256 = "sha256-ZCAPrdObbfdmZ0Oq2Nx+7CIBeXGUZnRqKbsYW+1iwYo="; + rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42"; + sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8="; }; buildType = "ament_python"; diff --git a/rbs-perception.nix b/rbs-perception.nix index 2c9094b..0906cfd 100644 --- a/rbs-perception.nix +++ b/rbs-perception.nix @@ -6,8 +6,8 @@ buildRosPackage rec { src = fetchgit { url = "https://gitlab.com/robossembler/robossembler-ros2"; - rev = "72415c155ce1a410250b48a773d33545d6cb4e78"; - sha256 = "sha256-ZCAPrdObbfdmZ0Oq2Nx+7CIBeXGUZnRqKbsYW+1iwYo="; + rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42"; + sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8="; }; buildType = "ament_cmake"; diff --git a/rbs-runtime.nix b/rbs-runtime.nix index 2c893b5..7a075e9 100644 --- a/rbs-runtime.nix +++ b/rbs-runtime.nix @@ -6,8 +6,8 @@ buildRosPackage rec { src = fetchgit { url = "https://gitlab.com/robossembler/robossembler-ros2"; - rev = "72415c155ce1a410250b48a773d33545d6cb4e78"; - sha256 = "sha256-ZCAPrdObbfdmZ0Oq2Nx+7CIBeXGUZnRqKbsYW+1iwYo="; + rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42"; + sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8="; }; buildType = "ament_python"; diff --git a/rbs-simulation.nix b/rbs-simulation.nix index 0d36289..a568ce9 100644 --- a/rbs-simulation.nix +++ b/rbs-simulation.nix @@ -6,8 +6,8 @@ buildRosPackage rec { src = fetchgit { url = "https://gitlab.com/robossembler/robossembler-ros2"; - rev = "72415c155ce1a410250b48a773d33545d6cb4e78"; - sha256 = "sha256-ZCAPrdObbfdmZ0Oq2Nx+7CIBeXGUZnRqKbsYW+1iwYo="; + rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42"; + sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8="; }; buildType = "ament_cmake"; diff --git a/rbs-skill-interfaces.nix b/rbs-skill-interfaces.nix index 7fd6d16..70a16f0 100644 --- a/rbs-skill-interfaces.nix +++ b/rbs-skill-interfaces.nix @@ -6,8 +6,8 @@ buildRosPackage rec { src = fetchgit { url = "https://gitlab.com/robossembler/robossembler-ros2"; - rev = "72415c155ce1a410250b48a773d33545d6cb4e78"; - sha256 = "sha256-ZCAPrdObbfdmZ0Oq2Nx+7CIBeXGUZnRqKbsYW+1iwYo="; + rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42"; + sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8="; }; buildType = "ament_cmake"; diff --git a/rbs-skill-servers.nix b/rbs-skill-servers.nix index c5b2451..256b3f1 100644 --- a/rbs-skill-servers.nix +++ b/rbs-skill-servers.nix @@ -6,8 +6,8 @@ buildRosPackage rec { src = fetchgit { url = "https://gitlab.com/robossembler/robossembler-ros2"; - rev = "72415c155ce1a410250b48a773d33545d6cb4e78"; - sha256 = "sha256-ZCAPrdObbfdmZ0Oq2Nx+7CIBeXGUZnRqKbsYW+1iwYo="; + rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42"; + sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8="; }; buildType = "ament_cmake"; diff --git a/rbs-task-planner.nix b/rbs-task-planner.nix index 0069458..88a4019 100644 --- a/rbs-task-planner.nix +++ b/rbs-task-planner.nix @@ -6,8 +6,8 @@ buildRosPackage rec { src = fetchgit { url = "https://gitlab.com/robossembler/robossembler-ros2"; - rev = "72415c155ce1a410250b48a773d33545d6cb4e78"; - sha256 = "sha256-ZCAPrdObbfdmZ0Oq2Nx+7CIBeXGUZnRqKbsYW+1iwYo="; + rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42"; + sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8="; }; buildType = "ament_cmake"; diff --git a/rbs-utils-interfaces.nix b/rbs-utils-interfaces.nix index b816b84..ec34ec5 100644 --- a/rbs-utils-interfaces.nix +++ b/rbs-utils-interfaces.nix @@ -6,8 +6,8 @@ buildRosPackage rec { src = fetchgit { url = "https://gitlab.com/robossembler/robossembler-ros2"; - rev = "72415c155ce1a410250b48a773d33545d6cb4e78"; - sha256 = "sha256-ZCAPrdObbfdmZ0Oq2Nx+7CIBeXGUZnRqKbsYW+1iwYo="; + rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42"; + sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8="; }; buildType = "ament_cmake"; diff --git a/rbs-utils.nix b/rbs-utils.nix index 4a5d2b1..61e94d0 100644 --- a/rbs-utils.nix +++ b/rbs-utils.nix @@ -6,8 +6,8 @@ buildRosPackage rec { src = fetchgit { url = "https://gitlab.com/robossembler/robossembler-ros2"; - rev = "72415c155ce1a410250b48a773d33545d6cb4e78"; - sha256 = "sha256-ZCAPrdObbfdmZ0Oq2Nx+7CIBeXGUZnRqKbsYW+1iwYo="; + rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42"; + sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8="; }; buildType = "ament_cmake"; diff --git a/rbss-movetopose.nix b/rbss-movetopose.nix index 98c3e4a..0637204 100644 --- a/rbss-movetopose.nix +++ b/rbss-movetopose.nix @@ -6,8 +6,8 @@ buildRosPackage rec { src = fetchgit { url = "https://gitlab.com/robossembler/robossembler-ros2"; - rev = "72415c155ce1a410250b48a773d33545d6cb4e78"; - sha256 = "sha256-ZCAPrdObbfdmZ0Oq2Nx+7CIBeXGUZnRqKbsYW+1iwYo="; + rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42"; + sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8="; }; buildType = "ament_cmake"; diff --git a/rbss-objectdetection.nix b/rbss-objectdetection.nix index ca1bf32..f1b7be9 100644 --- a/rbss-objectdetection.nix +++ b/rbss-objectdetection.nix @@ -6,8 +6,8 @@ buildRosPackage rec { src = fetchgit { url = "https://gitlab.com/robossembler/robossembler-ros2"; - rev = "72415c155ce1a410250b48a773d33545d6cb4e78"; - sha256 = "sha256-ZCAPrdObbfdmZ0Oq2Nx+7CIBeXGUZnRqKbsYW+1iwYo="; + rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42"; + sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8="; }; buildType = "ament_cmake"; diff --git a/rbss-poseestimation.nix b/rbss-poseestimation.nix index be78486..bf22612 100644 --- a/rbss-poseestimation.nix +++ b/rbss-poseestimation.nix @@ -6,8 +6,8 @@ buildRosPackage rec { src = fetchgit { url = "https://gitlab.com/robossembler/robossembler-ros2"; - rev = "72415c155ce1a410250b48a773d33545d6cb4e78"; - sha256 = "sha256-ZCAPrdObbfdmZ0Oq2Nx+7CIBeXGUZnRqKbsYW+1iwYo="; + rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42"; + sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8="; }; buildType = "ament_cmake"; diff --git a/robonomics.nix b/robonomics.nix index dc52552..63607ea 100644 --- a/robonomics.nix +++ b/robonomics.nix @@ -6,8 +6,8 @@ buildRosPackage rec { src = fetchgit { url = "https://gitlab.com/robossembler/robossembler-ros2"; - rev = "72415c155ce1a410250b48a773d33545d6cb4e78"; - sha256 = "sha256-ZCAPrdObbfdmZ0Oq2Nx+7CIBeXGUZnRqKbsYW+1iwYo="; + rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42"; + sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8="; }; buildType = "ament_python"; diff --git a/robot-builder.nix b/robot-builder.nix index e604e72..87ab5ad 100644 --- a/robot-builder.nix +++ b/robot-builder.nix @@ -7,8 +7,8 @@ buildRosPackage rec { src = fetchFromGitHub { owner = "solid-sinusoid"; repo = "robot-builder"; - rev = "5f02b5868047767df2ab8f4bc026fe40a420e94d"; - sha256 = "08wi1lk584r6nm9j169rg7d944wp167xk5aw0x5b1smbqnsgcdq5"; + rev = "4995d978e9702e6c344ee214aa93caba6fcbb730"; + hash = "sha256-qhBD8ee+cotL/J4Q4I9lOgaecnCBVxoUobKGsyeMFiU="; }; buildType = "ament_python"; From 18e15d7f7672964fc6096f08723d06503aa16171 Mon Sep 17 00:00:00 2001 From: Igor Brylev Date: Sun, 1 Dec 2024 17:33:19 +0300 Subject: [PATCH 20/27] fetchLFS = true for rbs-assets-library --- rbs-assets-library.nix | 1 + 1 file changed, 1 insertion(+) diff --git a/rbs-assets-library.nix b/rbs-assets-library.nix index 17fd72d..1820823 100644 --- a/rbs-assets-library.nix +++ b/rbs-assets-library.nix @@ -16,6 +16,7 @@ buildPythonPackage rec { repo = "rbs_assets_library"; rev = "16d3f6d750a8c903532f4bde22bbe41ebd35ec5c"; hash = "sha256-0JrOp0xbJc/cZdy7Ho53mSI5HmwVmPDvDJOx+Wu6nIg="; + fetchLFS = true; }; build-system = [ From 61190b9482cec3ee3d7200fada9327ccb56a8225 Mon Sep 17 00:00:00 2001 From: Igor Brylev Date: Sun, 1 Dec 2024 17:34:13 +0300 Subject: [PATCH 21/27] fetchgit --- rbs-assets-library.nix | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/rbs-assets-library.nix b/rbs-assets-library.nix index 1820823..7468c55 100644 --- a/rbs-assets-library.nix +++ b/rbs-assets-library.nix @@ -11,7 +11,7 @@ buildPythonPackage rec { version = "unstable-2024-12-01"; pyproject = true; - src = fetchFromGitHub { + src = fetchgit { owner = "solid-sinusoid"; repo = "rbs_assets_library"; rev = "16d3f6d750a8c903532f4bde22bbe41ebd35ec5c"; From c3c697dc1000637e9ef25a159c958f98aa4120bc Mon Sep 17 00:00:00 2001 From: Igor Brylev Date: Sun, 1 Dec 2024 17:36:25 +0300 Subject: [PATCH 22/27] rbs-assets-lib fix --- rbs-assets-library.nix | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/rbs-assets-library.nix b/rbs-assets-library.nix index 7468c55..da45905 100644 --- a/rbs-assets-library.nix +++ b/rbs-assets-library.nix @@ -1,7 +1,7 @@ { lib, buildPythonPackage, - fetchFromGitHub, + fetchgit, poetry-core, trimesh, }: @@ -12,10 +12,9 @@ buildPythonPackage rec { pyproject = true; src = fetchgit { - owner = "solid-sinusoid"; - repo = "rbs_assets_library"; + url = "https://github.com/solid-sinusoid/rbs_assets_library"; rev = "16d3f6d750a8c903532f4bde22bbe41ebd35ec5c"; - hash = "sha256-0JrOp0xbJc/cZdy7Ho53mSI5HmwVmPDvDJOx+Wu6nIg="; + hash = "sha256-p0f3hRVxVilFPUoqGAzjcffoUw1KWz1L5JaEydmfPHo="; fetchLFS = true; }; From 93769536dd13b1689dfa2f1214e0909e21f0c159 Mon Sep 17 00:00:00 2001 From: Igor Brylev Date: Fri, 20 Dec 2024 13:25:47 +0300 Subject: [PATCH 23/27] rbs-assets-library: src from gitlab for LFS --- rbs-assets-library.nix | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/rbs-assets-library.nix b/rbs-assets-library.nix index da45905..4cd50fe 100644 --- a/rbs-assets-library.nix +++ b/rbs-assets-library.nix @@ -12,7 +12,7 @@ buildPythonPackage rec { pyproject = true; src = fetchgit { - url = "https://github.com/solid-sinusoid/rbs_assets_library"; + url = "https://gitlab.com/solid-sinusoid/rbs-assets-library"; rev = "16d3f6d750a8c903532f4bde22bbe41ebd35ec5c"; hash = "sha256-p0f3hRVxVilFPUoqGAzjcffoUw1KWz1L5JaEydmfPHo="; fetchLFS = true; From 5cfa3c6b99105e80a8eb5d1635929c8f61fd7f5b Mon Sep 17 00:00:00 2001 From: Igor Brylev Date: Fri, 20 Dec 2024 18:00:06 +0300 Subject: [PATCH 24/27] nix flake update --- flake.lock | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/flake.lock b/flake.lock index 821fd6e..e574d24 100644 --- a/flake.lock +++ b/flake.lock @@ -5,11 +5,11 @@ "systems": "systems" }, "locked": { - "lastModified": 1726560853, - "narHash": "sha256-X6rJYSESBVr3hBoH0WbKE5KvhPU5bloyZ2L4K60/fPQ=", + "lastModified": 1731533236, + "narHash": "sha256-l0KFg5HjrsfsO/JpG+r7fRrqm12kzFHyUHqHCVpMMbI=", "owner": "numtide", "repo": "flake-utils", - "rev": "c1dfcf08411b08f6b8615f7d8971a2bfa81d5e8a", + "rev": "11707dc2f618dd54ca8739b309ec4fc024de578b", "type": "github" }, "original": { @@ -24,11 +24,11 @@ "nixpkgs": "nixpkgs" }, "locked": { - "lastModified": 1733001380, - "narHash": "sha256-d5elFO/gqbuvst0Ost2yOmApb3BpgFtNK5t+QtlrKX4=", + "lastModified": 1734394753, + "narHash": "sha256-EW1OEYgDOf5tuuXijxp905c0g99s/TlcnaX/pVgLAEQ=", "owner": "lopsided98", "repo": "nix-ros-overlay", - "rev": "518d764262aafc6e18abc1f7f4facf41cf24b072", + "rev": "88267aa43d2bee557ab1c651a89750b7af64ee9c", "type": "github" }, "original": { @@ -40,11 +40,11 @@ }, "nixpkgs": { "locked": { - "lastModified": 1726243404, - "narHash": "sha256-sjiGsMh+1cWXb53Tecsm4skyFNag33GPbVgCdfj3n9I=", + "lastModified": 1733581040, + "narHash": "sha256-Qn3nPMSopRQJgmvHzVqPcE3I03zJyl8cSbgnnltfFDY=", "owner": "lopsided98", "repo": "nixpkgs", - "rev": "345c263f2f53a3710abe117f28a5cb86d0ba4059", + "rev": "22c3f2cf41a0e70184334a958e6b124fb0ce3e01", "type": "github" }, "original": { From 1f30a2d9cda7d0345f7265db4d1605eec3d1cc24 Mon Sep 17 00:00:00 2001 From: Igor Brylev Date: Mon, 23 Dec 2024 13:13:38 +0300 Subject: [PATCH 25/27] add cartesian controllers --- cartesian-compliance-controller.nix | 24 ++++++++++++++++++++++++ cartesian-controller-base.nix | 23 +++++++++++++++++++++++ cartesian-controller-handles.nix | 23 +++++++++++++++++++++++ cartesian-controller-utilities.nix | 23 +++++++++++++++++++++++ cartesian-force-controller.nix | 23 +++++++++++++++++++++++ cartesian-motion-controller.nix | 21 +++++++++++++++++++++ cartesian-twist-controller.nix | 21 +++++++++++++++++++++ flake.nix | 8 +++++++- overlay.nix | 7 +++++++ 9 files changed, 172 insertions(+), 1 deletion(-) create mode 100644 cartesian-compliance-controller.nix create mode 100644 cartesian-controller-base.nix create mode 100644 cartesian-controller-handles.nix create mode 100644 cartesian-controller-utilities.nix create mode 100644 cartesian-force-controller.nix create mode 100644 cartesian-motion-controller.nix create mode 100644 cartesian-twist-controller.nix diff --git a/cartesian-compliance-controller.nix b/cartesian-compliance-controller.nix new file mode 100644 index 0000000..f6feeca --- /dev/null +++ b/cartesian-compliance-controller.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy +{ lib, buildRosPackage, fetchgit, ament-cmake, ament-lint-common, cartesian-controller-base, cartesian-force-controller, cartesian-motion-controller, controller-interface, hardware-interface, pluginlib, rclcpp }: +buildRosPackage rec { + pname = "ros-jazzy-cartesian-compliance-controller"; + version = "0.0.0"; + + src = fetchgit { + url = "https://seed.solid-sinusoid.com/z4HmBYurXbXCtDwaHeizszqTMJT7R.git"; + rev = "350b722a7f0d9f3431cdf8cd5704618895741edc"; + sha256 = "sha256-AoAno/VKbvBwfOfYiv9umJohL9y87aN6Fq3F5aha970="; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/cartesian_compliance_controller/"; + buildInputs = [ ament-cmake ]; + checkInputs = [ ament-lint-common ]; + propagatedBuildInputs = [ cartesian-controller-base cartesian-force-controller cartesian-motion-controller controller-interface hardware-interface pluginlib rclcpp ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "Control your robot through Cartesian target poses and target wrenches"; + license = with lib.licenses; [ bsd3 ]; + }; +} diff --git a/cartesian-controller-base.nix b/cartesian-controller-base.nix new file mode 100644 index 0000000..d1dd556 --- /dev/null +++ b/cartesian-controller-base.nix @@ -0,0 +1,23 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy +{ lib, buildRosPackage, fetchgit, ament-cmake, controller-interface, kdl-parser, pluginlib, rclcpp, realtime-tools, trajectory-msgs, ros-environment }: +buildRosPackage rec { + pname = "ros-jazzy-cartesian-controller-base"; + version = "0.0.0"; + + src = fetchgit { + url = "https://seed.solid-sinusoid.com/z4HmBYurXbXCtDwaHeizszqTMJT7R.git"; + rev = "350b722a7f0d9f3431cdf8cd5704618895741edc"; + sha256 = "sha256-AoAno/VKbvBwfOfYiv9umJohL9y87aN6Fq3F5aha970="; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/cartesian_controller_base/"; + buildInputs = [ ament-cmake ]; + propagatedBuildInputs = [ controller-interface kdl-parser pluginlib rclcpp realtime-tools trajectory-msgs ros-environment ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "The cartesian_controller_base package"; + license = with lib.licenses; [ bsd3 ]; + }; +} diff --git a/cartesian-controller-handles.nix b/cartesian-controller-handles.nix new file mode 100644 index 0000000..035c67d --- /dev/null +++ b/cartesian-controller-handles.nix @@ -0,0 +1,23 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy +{ lib, buildRosPackage, fetchgit, ament-cmake, cartesian-controller-base, controller-interface, geometry-msgs, interactive-markers, kdl-parser, pluginlib, rclcpp, urdf }: +buildRosPackage rec { + pname = "ros-jazzy-cartesian-controller-handles"; + version = "0.0.0"; + + src = fetchgit { + url = "https://seed.solid-sinusoid.com/z4HmBYurXbXCtDwaHeizszqTMJT7R.git"; + rev = "350b722a7f0d9f3431cdf8cd5704618895741edc"; + sha256 = "sha256-AoAno/VKbvBwfOfYiv9umJohL9y87aN6Fq3F5aha970="; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/cartesian_controller_handles/"; + buildInputs = [ ament-cmake ]; + propagatedBuildInputs = [ cartesian-controller-base controller-interface geometry-msgs interactive-markers kdl-parser pluginlib rclcpp urdf ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "The cartesian_controller_handles package"; + license = with lib.licenses; [ bsd3 ]; + }; +} diff --git a/cartesian-controller-utilities.nix b/cartesian-controller-utilities.nix new file mode 100644 index 0000000..902b7f0 --- /dev/null +++ b/cartesian-controller-utilities.nix @@ -0,0 +1,23 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy +{ lib, buildRosPackage, fetchgit, ament-cmake, geometry-msgs, launch, launch-ros, rclcpp, sensor-msgs }: +buildRosPackage rec { + pname = "ros-jazzy-cartesian-controller-utilities"; + version = "0.1.0"; + + src = fetchgit { + url = "https://seed.solid-sinusoid.com/z4HmBYurXbXCtDwaHeizszqTMJT7R.git"; + rev = "350b722a7f0d9f3431cdf8cd5704618895741edc"; + sha256 = "sha256-AoAno/VKbvBwfOfYiv9umJohL9y87aN6Fq3F5aha970="; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/cartesian_controller_utilities/"; + buildInputs = [ ament-cmake ]; + propagatedBuildInputs = [ geometry-msgs launch launch-ros rclcpp sensor-msgs ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "Make the spacemouse a teach device for contact-based teleoperation"; + license = with lib.licenses; [ bsd3 ]; + }; +} diff --git a/cartesian-force-controller.nix b/cartesian-force-controller.nix new file mode 100644 index 0000000..4d566cd --- /dev/null +++ b/cartesian-force-controller.nix @@ -0,0 +1,23 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy +{ lib, buildRosPackage, fetchgit, ament-cmake, cartesian-controller-base, controller-interface, rclcpp }: +buildRosPackage rec { + pname = "ros-jazzy-cartesian-force-controller"; + version = "0.0.0"; + + src = fetchgit { + url = "https://seed.solid-sinusoid.com/z4HmBYurXbXCtDwaHeizszqTMJT7R.git"; + rev = "350b722a7f0d9f3431cdf8cd5704618895741edc"; + sha256 = "sha256-AoAno/VKbvBwfOfYiv9umJohL9y87aN6Fq3F5aha970="; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/cartesian_force_controller/"; + buildInputs = [ ament-cmake ]; + propagatedBuildInputs = [ cartesian-controller-base controller-interface rclcpp ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "The cartesian_force_controller package"; + license = with lib.licenses; [ bsd3 ]; + }; +} diff --git a/cartesian-motion-controller.nix b/cartesian-motion-controller.nix new file mode 100644 index 0000000..997151b --- /dev/null +++ b/cartesian-motion-controller.nix @@ -0,0 +1,21 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy +{ lib, buildRosPackage, fetchgit, cartesian-controller-base, controller-interface, rclcpp }: +buildRosPackage rec { + pname = "ros-jazzy-cartesian-motion-controller"; + version = "0.0.0"; + + src = fetchgit { + url = "https://seed.solid-sinusoid.com/z4HmBYurXbXCtDwaHeizszqTMJT7R.git"; + rev = "350b722a7f0d9f3431cdf8cd5704618895741edc"; + sha256 = "sha256-AoAno/VKbvBwfOfYiv9umJohL9y87aN6Fq3F5aha970="; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/cartesian_motion_controller/"; + propagatedBuildInputs = [ cartesian-controller-base controller-interface rclcpp ]; + + meta = { + description = "The cartesian_motion_controller package"; + license = with lib.licenses; [ bsd3 ]; + }; +} diff --git a/cartesian-twist-controller.nix b/cartesian-twist-controller.nix new file mode 100644 index 0000000..6ad6a75 --- /dev/null +++ b/cartesian-twist-controller.nix @@ -0,0 +1,21 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy +{ lib, buildRosPackage, fetchgit, cartesian-controller-base, controller-interface, rclcpp }: +buildRosPackage rec { + pname = "ros-jazzy-cartesian-twist-controller"; + version = "0.0.0"; + + src = fetchgit { + url = "https://seed.solid-sinusoid.com/z4HmBYurXbXCtDwaHeizszqTMJT7R.git"; + rev = "350b722a7f0d9f3431cdf8cd5704618895741edc"; + sha256 = "sha256-AoAno/VKbvBwfOfYiv9umJohL9y87aN6Fq3F5aha970="; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/cartesian_twist_controller/"; + propagatedBuildInputs = [ cartesian-controller-base controller-interface rclcpp ]; + + meta = { + description = "The cartesian_twist_controller package"; + license = with lib.licenses; [ bsd3 ]; + }; +} diff --git a/flake.nix b/flake.nix index 5b1096d..dcb7036 100644 --- a/flake.nix +++ b/flake.nix @@ -52,7 +52,7 @@ ''; packages = [ pkgs.colcon - (pkgs.python3.withPackages (p: with p; [ dacite scipy loguru rbs-assets-library ])) + (pkgs.python3.withPackages (p: with p; [ dacite scipy loguru rbs-assets-library mujoco ])) # ... other non-ROS packages (with pkgs.rosPackages.${rosDistro}; buildEnv { paths = [ @@ -84,6 +84,12 @@ robot-builder rviz2 # ... other ROS packages + cartesian-compliance-controller + cartesian-controller-handles + cartesian-force-controller + cartesian-controller-base + cartesian-controller-utilities + cartesian-motion-controller ] ++ [ ament-cmake-core python-cmake-module diff --git a/overlay.nix b/overlay.nix index 99c965d..9127e11 100644 --- a/overlay.nix +++ b/overlay.nix @@ -27,4 +27,11 @@ self: super: robonomics = super.callPackage ./robonomics.nix {}; robot-builder = super.callPackage ./robot-builder.nix {}; test-dynmsg = super.callPackage ./test-dynmsg.nix {}; + cartesian-compliance-controller = super.callPackage ./cartesian-compliance-controller.nix {}; + cartesian-controller-handles = super.callPackage ./cartesian-controller-handles.nix {}; + cartesian-force-controller = super.callPackage ./cartesian-force-controller.nix {}; + cartesian-controller-base = super.callPackage ./cartesian-controller-base.nix {}; + cartesian-controller-utilities = super.callPackage ./cartesian-controller-utilities.nix {}; + cartesian-motion-controller = super.callPackage ./cartesian-motion-controller.nix {}; + } From c207d9950b5f2bfa98718d97a2f0bccdf3d7ee5e Mon Sep 17 00:00:00 2001 From: Igor Brylev Date: Thu, 23 Jan 2025 22:17:22 +0300 Subject: [PATCH 26/27] flake update --- flake.lock | 6 +++--- pcg-gazebo.nix | 36 ++++++++++++++++++++++++++++++++++++ 2 files changed, 39 insertions(+), 3 deletions(-) create mode 100644 pcg-gazebo.nix diff --git a/flake.lock b/flake.lock index e574d24..b8bb38a 100644 --- a/flake.lock +++ b/flake.lock @@ -24,11 +24,11 @@ "nixpkgs": "nixpkgs" }, "locked": { - "lastModified": 1734394753, - "narHash": "sha256-EW1OEYgDOf5tuuXijxp905c0g99s/TlcnaX/pVgLAEQ=", + "lastModified": 1736986092, + "narHash": "sha256-HdVJ5cCIORyy7m57VnunC8kBd6r5B680M8sUhAr7mzo=", "owner": "lopsided98", "repo": "nix-ros-overlay", - "rev": "88267aa43d2bee557ab1c651a89750b7af64ee9c", + "rev": "503be406769b14b7907c52000d41a3e6a3531f08", "type": "github" }, "original": { diff --git a/pcg-gazebo.nix b/pcg-gazebo.nix new file mode 100644 index 0000000..ede37dc --- /dev/null +++ b/pcg-gazebo.nix @@ -0,0 +1,36 @@ +{ + lib, + buildPythonPackage, + fetchFromGitHub, + setuptools, + wheel, +}: + +buildPythonPackage rec { + pname = "pcg-gazebo"; + version = "0.7.12"; + pyproject = true; + + src = fetchFromGitHub { + owner = "boschresearch"; + repo = "pcg_gazebo"; + rev = version; + hash = "sha256-uJwqB+gMLdTsWFWCfiKVBE+ast8NuPqcA/lB5NQQ+ys="; + }; + + build-system = [ + setuptools + wheel + ]; + + pythonImportsCheck = [ + "pcg_gazebo" + ]; + + meta = { + description = "Procedural Generation for Gazebo"; + homepage = "https://github.com/boschresearch/pcg_gazebo"; + license = lib.licenses.asl20; + maintainers = with lib.maintainers; [ ]; + }; +} From c1dc9116b7a3f00de6e13e86b13c2390cccd82ed Mon Sep 17 00:00:00 2001 From: Igor Brylev Date: Thu, 23 Jan 2025 22:18:09 +0300 Subject: [PATCH 27/27] ADD pcg-gazebo --- flake.nix | 3 ++- pcg-gazebo.nix | 46 ++++++++++++++++++++++++++++++++++++++++++++++ 2 files changed, 48 insertions(+), 1 deletion(-) diff --git a/flake.nix b/flake.nix index dcb7036..87bca3d 100644 --- a/flake.nix +++ b/flake.nix @@ -2,7 +2,7 @@ { inputs = { nix-ros-overlay.url = "github:lopsided98/nix-ros-overlay/develop"; - # nix-ros-overlay.url = "/home/movefasta/Documents/robossembler/nix-ros-overlay"; + # nix-ros-overlay.url = "/home/movefasta/Documents/nix-ros-overlay"; nixpkgs.follows = "nix-ros-overlay/nixpkgs"; # IMPORTANT!!! }; outputs = { self, nix-ros-overlay, nixpkgs }: @@ -23,6 +23,7 @@ ( python-final: python-prev: { rbs-assets-library = self.python3Packages.callPackage ./rbs-assets-library.nix { }; + pcg-gazebo = self.python3Packages.callPackage ./pcg-gazebo.nix { }; } ) ]; diff --git a/pcg-gazebo.nix b/pcg-gazebo.nix index ede37dc..5602336 100644 --- a/pcg-gazebo.nix +++ b/pcg-gazebo.nix @@ -4,6 +4,27 @@ fetchFromGitHub, setuptools, wheel, + rospkg, + #descartes, + pyyaml, + networkx, + noise, + #yasha, + lxml, + shapely, + psutil, + tabulate, + bokeh, + numpy, + jinja2, + pycollada, + matplotlib, + xmltodict, + progress, + jsonschema, + trimesh, + #triangle, + scikit-image }: buildPythonPackage rec { @@ -23,6 +44,31 @@ buildPythonPackage rec { wheel ]; + dependencies = [ + rospkg + #descartes + pyyaml + networkx + noise + #yasha + lxml + shapely + psutil + tabulate + bokeh + numpy + jinja2 + #python-fcl + pycollada + matplotlib + xmltodict + progress + jsonschema + trimesh + #triangle + scikit-image + ]; + pythonImportsCheck = [ "pcg_gazebo" ];