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31 commits

Author SHA1 Message Date
c1dc9116b7 ADD pcg-gazebo 2025-01-23 22:18:09 +03:00
c207d9950b flake update 2025-01-23 22:17:22 +03:00
1f30a2d9cd add cartesian controllers 2024-12-23 13:13:38 +03:00
5cfa3c6b99 nix flake update 2024-12-20 18:00:06 +03:00
93769536dd rbs-assets-library: src from gitlab for LFS 2024-12-20 13:25:47 +03:00
c3c697dc10 rbs-assets-lib fix 2024-12-01 17:36:25 +03:00
61190b9482 fetchgit 2024-12-01 17:34:13 +03:00
18e15d7f76 fetchLFS = true for rbs-assets-library 2024-12-01 17:33:19 +03:00
77d7e86ac0 update srcs 2024-12-01 17:31:27 +03:00
5bbbc458b1 add rbs_assets_library 2024-12-01 17:13:46 +03:00
b83a68f777 moveit jazzy fixes 2024-12-01 16:25:41 +03:00
4d476c9879 fix plan.trajectory 2024-12-01 16:20:57 +03:00
2d361242a4 Merge branch 'main' into 109-nix-jazzy 2024-12-01 16:05:45 +03:00
d5d70c0673 inputs update 2024-12-01 16:01:31 +03:00
ec2cebe5f1 Merge branch 'main' into 109-nix-jazzy 2024-12-01 15:59:42 +03:00
6cdcd4e887 dacite scipy 2024-11-04 12:41:51 +03:00
6b253bf816 update source 2024-11-01 12:22:02 +03:00
72415c155c Merge remote-tracking branch 'rad/patches/75dfaee1a5b2cf6752adce66364a2ed9984dfee2' into 109-nix-jazzy 2024-10-31 19:20:12 +03:00
807f108f18 Merge branch '109-nix-jazzy' into patch/75dfaee 2024-10-31 17:44:26 +03:00
119bf1f513 gazebo packages 2024-10-31 17:43:43 +03:00
2ae0cc134d moveto fix for jazzy 2024-10-30 11:54:46 +03:00
961dbcdfba rbs-skill-servers deps: yaml-cpp-vendor sdformat 2024-10-30 11:53:50 +03:00
fc098a3b90 rbs-bt-executor add moveit-core, moveit-ros-planning, moveit-ros-planning-interface, control-msgs 2024-10-30 11:52:47 +03:00
9cf705e09d gitignore result for nix builds 2024-10-29 15:17:59 +03:00
a4ec1d5dea config.permittedInsecurePackages freeimage 2024-10-29 15:17:43 +03:00
d45051cc89 fix arguments in create_topic function 2024-10-29 12:52:02 +03:00
e1abecd741 fix dependencies 2024-10-29 11:53:03 +03:00
1762f88956 src update hash dev url 2024-10-25 19:50:46 +03:00
83d127b00c auto-generated jazzy clean without forks 2024-10-25 19:32:24 +03:00
ac6628f0fb flake devshell backup 2024-10-25 18:56:58 +03:00
6ba0c52f85 clean repos 2024-10-25 18:55:39 +03:00
47 changed files with 1165 additions and 62 deletions

1
.gitignore vendored
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@ -4,3 +4,4 @@ ref
*.vscode
**/tensorboard_logs/**
**/logs/**
result

24
behaviortree-ros2.nix Normal file
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@ -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 ];
};
}

24
btcpp-ros2-interfaces.nix Normal file
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@ -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 ];
};
}

24
btcpp-ros2-samples.nix Normal file
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@ -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 ];
};
}

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@ -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 ];
};
}

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@ -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 ];
};
}

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@ -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 ];
};
}

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@ -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 ];
};
}

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@ -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 ];
};
}

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@ -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 ];
};
}

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@ -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 ];
};
}

25
dynmsg-demo.nix Normal file
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@ -0,0 +1,25 @@
# 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";
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 ];
};
}

25
dynmsg-msgs.nix Normal file
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@ -0,0 +1,25 @@
# 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";
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 ];
};
}

25
dynmsg.nix Normal file
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@ -0,0 +1,25 @@
# 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";
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 ];
};
}

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@ -0,0 +1,24 @@
# 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 = "https://gitlab.com/robossembler/robossembler-ros2";
rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42";
sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8=";
};
buildType = "ament_cmake";
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 ];
nativeBuildInputs = [ ament-cmake rosidl-default-generators ];
meta = {
description = "TODO: Package description";
license = with lib.licenses; [ asl20 ];
};
}

21
env-manager.nix Normal file
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@ -0,0 +1,21 @@
# 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 = fetchgit {
url = "https://gitlab.com/robossembler/robossembler-ros2";
rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42";
sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8=";
};
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 ];
};
}

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flake.lock generated Normal file
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@ -0,0 +1,84 @@
{
"nodes": {
"flake-utils": {
"inputs": {
"systems": "systems"
},
"locked": {
"lastModified": 1731533236,
"narHash": "sha256-l0KFg5HjrsfsO/JpG+r7fRrqm12kzFHyUHqHCVpMMbI=",
"owner": "numtide",
"repo": "flake-utils",
"rev": "11707dc2f618dd54ca8739b309ec4fc024de578b",
"type": "github"
},
"original": {
"owner": "numtide",
"repo": "flake-utils",
"type": "github"
}
},
"nix-ros-overlay": {
"inputs": {
"flake-utils": "flake-utils",
"nixpkgs": "nixpkgs"
},
"locked": {
"lastModified": 1736986092,
"narHash": "sha256-HdVJ5cCIORyy7m57VnunC8kBd6r5B680M8sUhAr7mzo=",
"owner": "lopsided98",
"repo": "nix-ros-overlay",
"rev": "503be406769b14b7907c52000d41a3e6a3531f08",
"type": "github"
},
"original": {
"owner": "lopsided98",
"ref": "develop",
"repo": "nix-ros-overlay",
"type": "github"
}
},
"nixpkgs": {
"locked": {
"lastModified": 1733581040,
"narHash": "sha256-Qn3nPMSopRQJgmvHzVqPcE3I03zJyl8cSbgnnltfFDY=",
"owner": "lopsided98",
"repo": "nixpkgs",
"rev": "22c3f2cf41a0e70184334a958e6b124fb0ce3e01",
"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
}

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flake.nix Normal file
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{
inputs = {
nix-ros-overlay.url = "github:lopsided98/nix-ros-overlay/develop";
# nix-ros-overlay.url = "/home/movefasta/Documents/nix-ros-overlay";
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;
};
pythonOverlay = self: super: {
pythonPackagesExtensions = super.pythonPackagesExtensions ++ [
(
python-final: python-prev: {
rbs-assets-library = self.python3Packages.callPackage ./rbs-assets-library.nix { };
pcg-gazebo = self.python3Packages.callPackage ./pcg-gazebo.nix { };
}
)
];
};
pkgs = import nixpkgs {
inherit system;
overlays = [
nix-ros-overlay.overlays.default
rosDistroOverlays
pythonOverlay
];
config.permittedInsecurePackages = [
"freeimage-unstable-2021-11-01"
];
};
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 = "Robossembler ROS 2 Runtime";
shellHook = ''
unset QT_QPA_PLATFORM
'';
packages = [
pkgs.colcon
(pkgs.python3.withPackages (p: with p; [ dacite scipy loguru rbs-assets-library mujoco ]))
# ... other non-ROS packages
(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
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
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
];
})
];
};
});
nixConfig = {
extra-substituters = [ "https://ros.cachix.org" ];
extra-trusted-public-keys = [ "ros.cachix.org-1:dSyZxI8geDCJrwgvCOHDoAfOm5sV1wCPjBkKL+38Rvo=" ];
};
}

37
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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 {};
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 {};
}

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@ -0,0 +1,82 @@
{
lib,
buildPythonPackage,
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 {
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
];
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"
];
meta = {
description = "Procedural Generation for Gazebo";
homepage = "https://github.com/boschresearch/pcg_gazebo";
license = lib.licenses.asl20;
maintainers = with lib.maintainers; [ ];
};
}

24
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@ -0,0 +1,24 @@
# 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";
version = "0.0.0";
src = fetchFromGitHub {
owner = "solid-sinusoid";
repo = "rbs-arm";
rev = "a39c474dcdef2a13af3056165a3ed29be9f4e173";
hash = "sha256-c/umjcDzXd63tZ0mttPMmhQFSXPPkmEIDe6SF4E9Fag=";
};
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 ];
};
}

36
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@ -0,0 +1,36 @@
{
lib,
buildPythonPackage,
fetchgit,
poetry-core,
trimesh,
}:
buildPythonPackage rec {
pname = "rbs-assets-library";
version = "unstable-2024-12-01";
pyproject = true;
src = fetchgit {
url = "https://gitlab.com/solid-sinusoid/rbs-assets-library";
rev = "16d3f6d750a8c903532f4bde22bbe41ebd35ec5c";
hash = "sha256-p0f3hRVxVilFPUoqGAzjcffoUw1KWz1L5JaEydmfPHo=";
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.asl20;
maintainers = with lib.maintainers; [ ];
};
}

24
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@ -0,0 +1,24 @@
# 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";
version = "0.0.0";
src = fetchgit {
url = "https://gitlab.com/robossembler/robossembler-ros2";
rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42";
sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8=";
};
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" ];
};
}

24
rbs-bt-executor.nix Normal file
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@ -0,0 +1,24 @@
# 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, moveit-core, moveit-ros-planning, moveit-ros-planning-interface, control-msgs }:
buildRosPackage rec {
pname = "ros-jazzy-rbs-bt-executor";
version = "0.0.0";
src = fetchgit {
url = "https://gitlab.com/robossembler/robossembler-ros2";
rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42";
sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8=";
};
buildType = "ament_cmake";
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 moveit-core moveit-ros-planning moveit-ros-planning-interface control-msgs ];
nativeBuildInputs = [ ament-cmake ament-cmake-python ];
meta = {
description = "TODO: Package description";
license = with lib.licenses; [ "TODO-License-declaration" ];
};
}

23
rbs-gripper.nix Normal file
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@ -0,0 +1,23 @@
# 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";
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 ];
};
}

21
rbs-gym.nix Normal file
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@ -0,0 +1,21 @@
# 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";
version = "0.0.0";
src = fetchgit {
url = "https://gitlab.com/robossembler/robossembler-ros2";
rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42";
sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8=";
};
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 ];
};
}

24
rbs-perception.nix Normal file
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@ -0,0 +1,24 @@
# 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, tf2-eigen, visualization-msgs }:
buildRosPackage rec {
pname = "ros-jazzy-rbs-perception";
version = "0.0.0";
src = fetchgit {
url = "https://gitlab.com/robossembler/robossembler-ros2";
rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42";
sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8=";
};
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 tf2-eigen visualization-msgs ];
nativeBuildInputs = [ ament-cmake ament-cmake-python ];
meta = {
description = "An node for robot perception";
license = with lib.licenses; [ asl20 ];
};
}

21
rbs-runtime.nix Normal file
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@ -0,0 +1,21 @@
# 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";
version = "0.0.0";
src = fetchgit {
url = "https://gitlab.com/robossembler/robossembler-ros2";
rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42";
sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8=";
};
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 ];
};
}

24
rbs-simulation.nix Normal file
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@ -0,0 +1,24 @@
# 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";
version = "0.0.0";
src = fetchgit {
url = "https://gitlab.com/robossembler/robossembler-ros2";
rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42";
sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8=";
};
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" ];
};
}

24
rbs-skill-interfaces.nix Normal file
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@ -0,0 +1,24 @@
# 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, moveit-msgs }:
buildRosPackage rec {
pname = "ros-jazzy-rbs-skill-interfaces";
version = "0.0.0";
src = fetchgit {
url = "https://gitlab.com/robossembler/robossembler-ros2";
rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42";
sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8=";
};
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 moveit-msgs ];
nativeBuildInputs = [ ament-cmake rosidl-default-generators ];
meta = {
description = "TODO: Package description";
license = with lib.licenses; [ asl20 ];
};
}

24
rbs-skill-servers.nix Normal file
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@ -0,0 +1,24 @@
# 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, yaml-cpp-vendor, sdformat }:
buildRosPackage rec {
pname = "ros-jazzy-rbs-skill-servers";
version = "0.0.0";
src = fetchgit {
url = "https://gitlab.com/robossembler/robossembler-ros2";
rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42";
sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8=";
};
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 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 = {
description = "TODO: Package description";
license = with lib.licenses; [ asl20 ];
};
}

24
rbs-task-planner.nix Normal file
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@ -0,0 +1,24 @@
# 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, behaviortree-ros2, behaviortree-cpp-v3, test-msgs }:
buildRosPackage rec {
pname = "ros-jazzy-rbs-task-planner";
version = "0.0.1";
src = fetchgit {
url = "https://gitlab.com/robossembler/robossembler-ros2";
rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42";
sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8=";
};
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 behaviortree-ros2 behaviortree-cpp-v3 ];
nativeBuildInputs = [ ament-cmake ];
meta = {
description = "ROS2 task planner for manipulator";
license = with lib.licenses; [ asl20 ];
};
}

23
rbs-utils-interfaces.nix Normal file
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@ -0,0 +1,23 @@
# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy
{ 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";
src = fetchgit {
url = "https://gitlab.com/robossembler/robossembler-ros2";
rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42";
sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8=";
};
buildType = "ament_cmake";
sourceRoot = "${src.name}/rbs_utils/rbs_utils_interfaces/";
buildInputs = [ ament-cmake rosidl-default-generators geometry-msgs ];
propagatedBuildInputs = [ rosidl-default-runtime ];
nativeBuildInputs = [ ament-cmake rosidl-default-generators ];
meta = {
description = "Interfaces for read robossembler_db config";
license = with lib.licenses; [ asl20 ];
};
}

24
rbs-utils.nix Normal file
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@ -0,0 +1,24 @@
# 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, rosbag2-cpp, nlohmann_json }:
buildRosPackage rec {
pname = "ros-jazzy-rbs-utils";
version = "0.0.0";
src = fetchgit {
url = "https://gitlab.com/robossembler/robossembler-ros2";
rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42";
sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8=";
};
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 rosbag2-cpp nlohmann_json ];
nativeBuildInputs = [ ament-cmake ];
meta = {
description = "TODO: Package description";
license = with lib.licenses; [ asl20 ];
};
}

View file

@ -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);
}

View file

@ -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");

View file

@ -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());
}

24
rbss-movetopose.nix Normal file
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@ -0,0 +1,24 @@
# 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, pcl-ros, pcl-conversions }:
buildRosPackage rec {
pname = "ros-jazzy-rbss-movetopose";
version = "0.0.1";
src = fetchgit {
url = "https://gitlab.com/robossembler/robossembler-ros2";
rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42";
sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8=";
};
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 pcl-ros pcl-conversions ];
nativeBuildInputs = [ ament-cmake ament-cmake-python ];
meta = {
description = "The Move to pose skill";
license = with lib.licenses; [ asl20 ];
};
}

24
rbss-objectdetection.nix Normal file
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@ -0,0 +1,24 @@
# 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, pcl-ros, pcl-conversions, visualization-msgs }:
buildRosPackage rec {
pname = "ros-jazzy-rbss-objectdetection";
version = "0.0.1";
src = fetchgit {
url = "https://gitlab.com/robossembler/robossembler-ros2";
rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42";
sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8=";
};
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 pcl-ros pcl-conversions visualization-msgs ];
nativeBuildInputs = [ ament-cmake ament-cmake-python ];
meta = {
description = "The Object Detection skill";
license = with lib.licenses; [ asl20 ];
};
}

24
rbss-poseestimation.nix Normal file
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@ -0,0 +1,24 @@
# 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, pcl-ros, pcl-conversions, visualization-msgs }:
buildRosPackage rec {
pname = "ros-jazzy-rbss-poseestimation";
version = "0.0.1";
src = fetchgit {
url = "https://gitlab.com/robossembler/robossembler-ros2";
rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42";
sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8=";
};
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 pcl-ros pcl-conversions visualization-msgs ];
nativeBuildInputs = [ ament-cmake ament-cmake-python ];
meta = {
description = "The Pose Estimation skill";
license = with lib.licenses; [ asl20 ];
};
}

View file

@ -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

View file

@ -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

View file

@ -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

View file

@ -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

22
robonomics.nix Normal file
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@ -0,0 +1,22 @@
# 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";
version = "0.1.0";
src = fetchgit {
url = "https://gitlab.com/robossembler/robossembler-ros2";
rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42";
sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8=";
};
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" ];
};
}

21
robot-builder.nix Normal file
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@ -0,0 +1,21 @@
# 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";
version = "0.0.0";
src = fetchFromGitHub {
owner = "solid-sinusoid";
repo = "robot-builder";
rev = "4995d978e9702e6c344ee214aa93caba6fcbb730";
hash = "sha256-qhBD8ee+cotL/J4Q4I9lOgaecnCBVxoUobKGsyeMFiU=";
};
buildType = "ament_python";
checkInputs = [ ament-copyright ament-flake8 ament-pep257 pythonPackages.pytest ];
meta = {
description = "TODO: Package description";
license = with lib.licenses; [ asl20 ];
};
}

25
test-dynmsg.nix Normal file
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@ -0,0 +1,25 @@
# 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";
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 ];
};
}