From 986bf262142742cbe1f1e52bfad656dbb844d6c4 Mon Sep 17 00:00:00 2001 From: Bill Finger Date: Fri, 24 May 2024 13:08:21 +0300 Subject: [PATCH 1/4] add robot_builder to repos file --- repos/sim.rbs.repos | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/repos/sim.rbs.repos b/repos/sim.rbs.repos index 13d61b4..fd7de3a 100644 --- a/repos/sim.rbs.repos +++ b/repos/sim.rbs.repos @@ -15,3 +15,7 @@ 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 -- 2.49.0 From 1dc1da1d3c60dce20667a99ad9e91dab031a61e7 Mon Sep 17 00:00:00 2001 From: Bill Finger Date: Sun, 26 May 2024 17:17:42 +0300 Subject: [PATCH 2/4] delete missing deps rbs_bt_executor --- rbs_bt_executor/package.xml | 1 - 1 file changed, 1 deletion(-) diff --git a/rbs_bt_executor/package.xml b/rbs_bt_executor/package.xml index 26a2bf5..9e8af79 100644 --- a/rbs_bt_executor/package.xml +++ b/rbs_bt_executor/package.xml @@ -10,7 +10,6 @@ ament_cmake rbs_utils rbs_skill_interfaces - component_interfaces env_manager_interfaces behavior_tree ament_lint_auto -- 2.49.0 From 3745cb4ac69da650b3f5279676bfe67e51290d38 Mon Sep 17 00:00:00 2001 From: Bill Finger Date: Sun, 26 May 2024 17:48:28 +0300 Subject: [PATCH 3/4] remove robot_builder code from launch file --- rbs_bringup/launch/rbs_robot.launch.py | 94 ++++++++++++-------------- 1 file changed, 44 insertions(+), 50 deletions(-) diff --git a/rbs_bringup/launch/rbs_robot.launch.py b/rbs_bringup/launch/rbs_robot.launch.py index c8a4668..79d6ae1 100644 --- a/rbs_bringup/launch/rbs_robot.launch.py +++ b/rbs_bringup/launch/rbs_robot.launch.py @@ -15,7 +15,6 @@ import xacro import os from ament_index_python.packages import get_package_share_directory -from rbs_arm import RbsBuilder def launch_setup(context, *args, **kwargs): # Initialize Arguments @@ -53,7 +52,7 @@ def launch_setup(context, *args, **kwargs): controllers_file = controllers_file.perform(context) # remappings = [("/tf", "tf"), ("/tf_static", "tf_static")] - + xacro_file = os.path.join(get_package_share_directory(description_package), "urdf", description_file) robot_description_doc = xacro.process_file( xacro_file, @@ -72,15 +71,10 @@ def launch_setup(context, *args, **kwargs): } ) - # robot = RbsBuilder(6, "arm0", "world", "rbs_gripper") - # robot.base() - # robot.gripper() - # robot.ros2_control() - # robot.moveit() robot_description_content = robot_description_doc.toprettyxml(indent=" ") robot_description = {"robot_description": robot_description_content} - + robot_description_semantic_content = Command( [ PathJoinSubstitution([FindExecutable(name="xacro")]), @@ -94,7 +88,7 @@ def launch_setup(context, *args, **kwargs): "gripper_name:=", gripper_name, " ", ] ) - + robot_description_semantic = {"robot_description_semantic": robot_description_semantic_content} robot_description_kinematics = PathJoinSubstitution( [FindPackageShare(moveit_config_package), "config", "kinematics.yaml"] @@ -145,7 +139,7 @@ def launch_setup(context, *args, **kwargs): 'namespace': namespace, }.items(), condition=IfCondition(launch_controllers)) - + moveit = IncludeLaunchDescription( PythonLaunchDescriptionSource([ PathJoinSubstitution([ @@ -183,7 +177,7 @@ def launch_setup(context, *args, **kwargs): 'namespace': namespace }.items() ) - + task_planner = IncludeLaunchDescription( PythonLaunchDescriptionSource([ PathJoinSubstitution([ @@ -196,7 +190,7 @@ def launch_setup(context, *args, **kwargs): # TBD }.items(), condition=IfCondition(launch_task_planner)) - + perception = IncludeLaunchDescription( PythonLaunchDescriptionSource([ PathJoinSubstitution([ @@ -310,101 +304,101 @@ def generate_launch_description(): ) ) declared_arguments.append( - DeclareLaunchArgument("with_gripper", - default_value="true", + DeclareLaunchArgument("with_gripper", + default_value="true", description="With gripper or not?") ) declared_arguments.append( - DeclareLaunchArgument("launch_rviz", - default_value="true", + DeclareLaunchArgument("launch_rviz", + default_value="true", description="Launch RViz?") ) declared_arguments.append( - DeclareLaunchArgument("sim_gazebo", - default_value="true", + DeclareLaunchArgument("sim_gazebo", + default_value="true", description="Gazebo Simulation") ) declared_arguments.append( - DeclareLaunchArgument("env_manager", - default_value="true", + DeclareLaunchArgument("env_manager", + default_value="true", description="Launch env_manager?") ) declared_arguments.append( - DeclareLaunchArgument("launch_sim", - default_value="true", + DeclareLaunchArgument("launch_sim", + default_value="true", description="Launch simulator (Gazebo)?\ Most general arg") ) declared_arguments.append( - DeclareLaunchArgument("launch_moveit", - default_value="true", + DeclareLaunchArgument("launch_moveit", + default_value="true", description="Launch moveit?") ) declared_arguments.append( - DeclareLaunchArgument("launch_perception", - default_value="false", + DeclareLaunchArgument("launch_perception", + default_value="false", description="Launch perception?") ) declared_arguments.append( - DeclareLaunchArgument("launch_task_planner", - default_value="false", + DeclareLaunchArgument("launch_task_planner", + default_value="false", description="Launch task_planner?") ) declared_arguments.append( - DeclareLaunchArgument("cartesian_controllers", - default_value="false", + DeclareLaunchArgument("cartesian_controllers", + default_value="false", description="Load cartesian\ controllers?") ) declared_arguments.append( - DeclareLaunchArgument("hardware", + DeclareLaunchArgument("hardware", choices=["gazebo", "mock"], - default_value="gazebo", + default_value="gazebo", description="Choose your harware_interface") ) declared_arguments.append( - DeclareLaunchArgument("launch_controllers", - default_value="true", + DeclareLaunchArgument("launch_controllers", + default_value="true", description="Launch controllers?") ) declared_arguments.append( - DeclareLaunchArgument("gazebo_gui", - default_value="false", + DeclareLaunchArgument("gazebo_gui", + default_value="false", description="Launch gazebo with gui?") ) declared_arguments.append( - DeclareLaunchArgument("namespace", - default_value="", + DeclareLaunchArgument("namespace", + default_value="", description="The ROS2 namespace of a robot") ) declared_arguments.append( - DeclareLaunchArgument("x", - default_value="0.0", + DeclareLaunchArgument("x", + default_value="0.0", description="Position of robot in world by X") ) declared_arguments.append( - DeclareLaunchArgument("y", - default_value="0.0", + DeclareLaunchArgument("y", + default_value="0.0", description="Position of robot in world by Y") ) declared_arguments.append( - DeclareLaunchArgument("z", - default_value="0.0", + DeclareLaunchArgument("z", + default_value="0.0", description="Position of robot in world by Z") ) declared_arguments.append( - DeclareLaunchArgument("roll", - default_value="0.0", + DeclareLaunchArgument("roll", + default_value="0.0", description="Position of robot in world by Z") ) declared_arguments.append( - DeclareLaunchArgument("pitch", - default_value="0.0", + DeclareLaunchArgument("pitch", + default_value="0.0", description="Position of robot in world by Z") ) declared_arguments.append( - DeclareLaunchArgument("yaw", - default_value="0.0", + DeclareLaunchArgument("yaw", + default_value="0.0", description="Position of robot in world by Z") ) -- 2.49.0 From 798160767a97b8fea0d92767c24f604ec05f8a2e Mon Sep 17 00:00:00 2001 From: Bill Finger Date: Mon, 27 May 2024 00:20:17 +0300 Subject: [PATCH 4/4] fix gazebo world filepath --- rbs_bringup/launch/single_robot.launch.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/rbs_bringup/launch/single_robot.launch.py b/rbs_bringup/launch/single_robot.launch.py index 450dd5e..9808fda 100644 --- a/rbs_bringup/launch/single_robot.launch.py +++ b/rbs_bringup/launch/single_robot.launch.py @@ -53,7 +53,8 @@ def launch_setup(context, *args, **kwargs): launch_arguments={ 'sim_gazebo': sim_gazebo, 'debugger': "false", - 'launch_env_manager': "false" + 'launch_env_manager': "false", + 'gazebo_world_filename': "asm2.sdf" }.items(), condition=IfCondition(launch_simulation) ) -- 2.49.0