Bill Finger
a7b7225dd1
- Removed `assembly_config_service.py` node from launch configuration. - Added default `goal.duration` setting to `MoveToPose` and `MoveToPoseArray`. - Replaced `timeout_seconds` with `duration` in action definitions for `MoveitSendJointStates` and `MoveitSendPose`. - Removed dependencies on TinyXML2 and Gazebo/SDFormat, adding `controller_manager_msgs` and `control_msgs` to CMake configuration. - Added new action servers `cartesian_move_to_pose` and `move_to_joint_states`, registering them in CMakeLists file. - Introduced `SkillBase`, a template class for managing action-based skills, providing essential ROS 2 action server support and functionalities for handling goals, cancels, accepted actions, and controller management. - Implemented methods to load, configure, and switch required controllers with conflict detection for active controllers, along with parameter checking and asynchronous handling for required parameters. - Enhanced error handling for missing controllers, parameters, and resource conflicts. - Updated `skills.launch.py` to utilize `ComposableNodeContainer` for skill nodes, incorporating `MoveToJointStateActionServer` and `CartesianMoveToPose` as composable nodes. - Changed the executable name in `cartesian_move_to_pose_action_server` node configuration. - Added `cartesian_move_to_pose.cpp`, implementing the `CartesianMoveToPose` action server, including trajectory interpolation, pose adjustment, and controller management. - Updated `package.xml` to include `rclcpp_components` dependency. - Refactored `MoveToJointStateActionServer` to extend `SkillBase`, leveraging `FollowJointTrajectory` for joint trajectory execution, while removing redundant code and dependencies. - Implemented trajectory generation based on initial and target joint positions with parameterized interpolation for smoother execution, enhancing joint state handling to dynamically align current and target joint values.
129 lines
3.4 KiB
CMake
129 lines
3.4 KiB
CMake
cmake_minimum_required(VERSION 3.8)
|
|
project(rbs_skill_servers)
|
|
|
|
# Set default standards
|
|
if(NOT CMAKE_C_STANDARD)
|
|
set(CMAKE_C_STANDARD 99)
|
|
endif()
|
|
if(NOT CMAKE_CXX_STANDARD)
|
|
set(CMAKE_CXX_STANDARD 17)
|
|
endif()
|
|
|
|
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
|
|
add_compile_options(-Wall -Wextra -Wpedantic)
|
|
endif()
|
|
|
|
set(CMAKE_SUPPRESS_DEVELOPER_WARNINGS TRUE)
|
|
|
|
# Find dependencies
|
|
find_package(ament_cmake REQUIRED)
|
|
find_package(rclcpp REQUIRED)
|
|
find_package(rclcpp_components REQUIRED)
|
|
find_package(rclcpp_action REQUIRED)
|
|
find_package(moveit_core REQUIRED)
|
|
find_package(moveit_ros_planning REQUIRED)
|
|
find_package(moveit_ros_planning_interface REQUIRED)
|
|
find_package(moveit_msgs REQUIRED)
|
|
find_package(tf2_ros REQUIRED)
|
|
find_package(geometry_msgs REQUIRED)
|
|
find_package(rbs_skill_interfaces REQUIRED)
|
|
find_package(rmw REQUIRED)
|
|
find_package(tf2_eigen REQUIRED)
|
|
find_package(tf2_msgs REQUIRED)
|
|
find_package(Eigen3 3.3 REQUIRED)
|
|
find_package(rbs_utils REQUIRED)
|
|
find_package(controller_manager_msgs REQUIRED)
|
|
find_package(control_msgs REQUIRED)
|
|
|
|
set(DEPS
|
|
rclcpp
|
|
rclcpp_action
|
|
moveit_core
|
|
moveit_ros_planning
|
|
moveit_ros_planning_interface
|
|
control_msgs
|
|
controller_manager_msgs
|
|
moveit_msgs
|
|
geometry_msgs
|
|
tf2_ros
|
|
rclcpp_components
|
|
rbs_skill_interfaces
|
|
tf2_eigen
|
|
tf2_msgs
|
|
geometric_shapes
|
|
)
|
|
|
|
|
|
macro(add_ros2_component target_name source_file plugin_name executable_name)
|
|
add_library(${target_name} SHARED ${source_file})
|
|
target_include_directories(${target_name}
|
|
PRIVATE $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
|
|
$<INSTALL_INTERFACE:include>)
|
|
target_compile_definitions(${target_name} PRIVATE "${target_name}_BUILDING_DLL")
|
|
ament_target_dependencies(${target_name} ${DEPS})
|
|
rclcpp_components_register_node(${target_name} PLUGIN ${plugin_name} EXECUTABLE ${executable_name})
|
|
endmacro()
|
|
|
|
# Add components
|
|
add_ros2_component(gripper_action_server
|
|
src/gripper_command.cpp
|
|
"rbs_skill_actions::GripperControlActionServer"
|
|
gripper_command)
|
|
|
|
add_ros2_component(cartesian_move_to_pose
|
|
src/mtp_cart.cpp
|
|
"rbs_skill_actions::CartesianMoveToPose"
|
|
mtp_cart)
|
|
|
|
add_ros2_component(move_to_joint_states
|
|
src/mtjs_jtc.cpp
|
|
"rbs_skill_actions::MoveToJointStateActionServer"
|
|
mtjs_jtc)
|
|
|
|
add_ros2_component(move_to_pose
|
|
src/mtp_jtc.cpp
|
|
"rbs_skill_actions::MoveToPose"
|
|
mtp_jtc)
|
|
|
|
add_ros2_component(move_to_pose_cartesian
|
|
src/mtp_jtc_cart.cpp
|
|
"rbs_skill_actions::MoveToPoseJtcCartesian"
|
|
mtp_jtc_cart)
|
|
|
|
add_ros2_component(move_to_pose_moveit
|
|
src/mtp_moveit.cpp
|
|
"rbs_skill_actions::MoveitMtp"
|
|
mtp_moveit)
|
|
|
|
add_ros2_component(move_to_pose_moveit_cartesian
|
|
src/mtp_moveit_cart.cpp
|
|
"rbs_skill_actions::MoveitMtpCart"
|
|
mtp_moveit_cart)
|
|
|
|
# Install directories and targets
|
|
install(DIRECTORY include/ DESTINATION include)
|
|
install(DIRECTORY launch config DESTINATION share/${PROJECT_NAME})
|
|
|
|
install(
|
|
TARGETS
|
|
gripper_action_server
|
|
cartesian_move_to_pose
|
|
move_to_joint_states
|
|
move_to_pose
|
|
move_to_pose_cartesian
|
|
move_to_pose_moveit_cartesian
|
|
move_to_pose_moveit
|
|
ARCHIVE DESTINATION lib
|
|
LIBRARY DESTINATION lib
|
|
RUNTIME DESTINATION lib/${PROJECT_NAME})
|
|
|
|
ament_export_include_directories(include)
|
|
|
|
ament_python_install_package(${PROJECT_NAME})
|
|
install(PROGRAMS
|
|
scripts/test_cartesian_controller.py
|
|
scripts/move_to_pose.py
|
|
DESTINATION lib/${PROJECT_NAME}
|
|
)
|
|
|
|
ament_package()
|