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jazzy #208

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solid-sinusoid wants to merge 68 commits from jazzy into main

solid-sinusoid commented

2025-08-21 11:54:40 +03:00

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solid-sinusoid added 67 commits

2025-08-21 11:54:41 +03:00

moveit jazzy fixes a925923169

fix plan.trajectory b165a07d6a

fix(bagfile_recorder): update create_topic with proper initialization 38b991ef5a

- Ensured proper initialization by passing an empty vector or other necessary parameters.
- Maintained existing logging but updated the `create_topic` call to use more complete syntax, ensuring compatibility and correct configuration.

Deleted rbs_simulation package c7315a02a4

Add ROS2 Jazzy Skills, Repositories, and Nix Flake Setup 7175f38b06

- Add Nix flake configuration (`flake.nix`, overlays, `package.nix`) for seamless package builds, dependency management, and development shell setup.

revert submodule into folder 2d8c7217fe

add env_manager folder 0a868b5163

fix:(nix) remove rbs-simulation from rbs-bringup 35a373f51a

update(.gitignore): add .envrc for nix flakes e891e45869

add flake.lock 7b6a4ce878

fix gym_gz packge name in package.xml 942bafab4d

Python dependencies was commented due to the new version of python and
it will need to be updated and tested

move xacro_args loader to utils 6b376f40a6

Fix gripper joint handling and update launch defaults to new rbs_arm c48edd0d82

- Fixed a potential issue where `gripper_actuated_joint_names` might be None by adding a conditional check before appending joint positions.
- Updated `rbs_bringup.launch.py` to:
  - Change `with_gripper` default to `false`
  - Modify `ee_link_name` from `gripper_grasp_point` to `tool0`
  - Set `interactive` mode to `true`

Remove deprecated files and dependencies from CMakeLists.txt and rbs_utils 50a97b0cbd

- Removed dynamic_message_introspection, ros2_contro, and gz_ros2_controllers from all-deps.repos file
- Removed AssemblyConfigLoader due to it being deprecated (migrated to Python)

update RU installation instruction to jazzy 42361d0b40

remove include directory installation from cmake e6b3bad515

update nix.repos 70aacb9e3e

update GetPickPlacePoses srv message format 1e63fa4c6e

Improve Error Handling, Add Named Pose Service, Optimize Motion Planning, and Enhance Feedback Mechanisms d7f1c0cb1b

- Set success flags on results when actions complete successfully in both `mtp_jeet_cart.cpp` and `mtp_jtc.cpp`, providing proper feedback to clients.
- Increased trajectory planning granularity by adjusting the divisor from 0.01 to 0.001 in `mtp_jtc_cart.cpp`, resulting in smoother robot movements.
- Introduced a new service `GetNamedPose` defined in `GetNamedPose.srv`, allowing nodes to request specific poses by name, enhancing modularity and reusability.
- Optimized motion planning in `mtp_jtc.cpp` by immediately succeeding when no movement is needed, reducing unnecessary computations.
- Updated `CMakeLists.txt` to include the new service

update object detection skill 3460f4eae9

print action id in logger 3eda33fc8b

refactor(mtp_jtc): better joint_position waiting 276f59f434

refactor(MoveitMtp): MoveGroupInterface as shared_ptr 9bc4774e8c

tmp fixes in launch files 6b19b8bb9b

refactor(base_skill): better if condition 4c64536b80

launching a unified behavior tree (+rbss) cf692ff4c1

add mtp with orientation constraint 049227dac5

fix deletion after rebase fe7d966dcc

output image format: 'bgr' to 'rgb' d6976281e3

refactor(rbs_skill_interfaces): add planner_id and pipeline_id to MoveitSendPose.action ec95ec521a

add moveit skill with orientation constraints to launch file 41522772eb

add twist_cmd skill with condition c87ace262d

fix(MoveToPose): Add input validation for setGoal function 6028717a5e

- Added include for rclcpp logging
- Modified setGoal() to validate inputs using getInput()
- Added fatal error logging when input retrieval fails
- Return false if any input is missing or invalid

AddTasks service 5da2cf7e9b

add TaskFromQueue.srv adf84ebec7

fix: concurency in skill nodes 0798720a4c

ADD: skill - pose estimation for Aruco markers 0bfa17c30b

refactor(MoveToPose): add input ports try_plan_untill_success and allowed_planning time 698f8734ac

update interface node: to start BT with rbss-nodes 9d0098a115

add condition "isAruco" f6ef0f122e

add aubo robot support c83a5bfd48

add launch for compressed images c4cb3f2141

update bt_path param ac265f74a3

add API for recording_demo 52b0fa5378

add package rbs_tests (with testing recording demo) e6851c85f1

add README for rbs_tests 2399293e01

add Example of using demo recording to rosbag 8d83e3d708

del scenario,gym_gz from env_manager + refactoring 9c6cdfa291

add settings: compressed and serialization format 125fb14cb7

fix TypeHash 6356d1d0fe

remove old repos file 2d3d2b4951

feat: add cartesian_twist_controller to launch pipeline 3eeab7e1e5

feat(rbs_robot.launch.py): add 'interactive' launch argument 1107295f4f

feat: add recorder interfaces 3e36193606

fix: rewrite recording_demo.py as node b22a64e5e9

fix recording_demo a87d577989

change skill config - mcap to cdr default e45a00d664

add convert to LeRobot 000dc1cc08

issues resolved #205 b45de3bd43

fix(rbs_robot): typo in LaunchConfiguration name a0468c98ea

add ACT inference (lerobot) for BT 3143cb9759

set joint_trajectory topic 00609cb5d8

add waiting skill & refact act_skill 48432501ba

updated the lerobot dependency 9507dedce8

work with n cameras has been implemented a1d0543837

fix: execute rights 41066e790f

add camera_topic_name_filter 600609b7f9

solid-sinusoid added 1 commit

2025-08-29 17:26:48 +03:00

feat: add kuka robot 1e09f336ff

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