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.
34 lines
1.1 KiB
XML
34 lines
1.1 KiB
XML
<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>rbs_skill_servers</name>
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<version>0.0.0</version>
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<description>TODO: Package description</description>
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<maintainer email="ur.narmak@gmail.com">bill-finger</maintainer>
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<license>Apache-2.0</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<exec_depend>ign_ros2_control</exec_depend>
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<depend>rclcpp</depend>
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<depend>moveit_core</depend>
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<depend>moveit_ros_planning</depend>
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<depend>moveit_ros_planning_interface</depend>
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<!-- <depend>moveit_servo</depend> -->
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<depend>moveit_msgs</depend>
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<depend>tf2_ros</depend>
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<depend>rclcpp_action</depend>
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<depend>geometry_msgs</depend>
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<depend>geometric_shapes</depend>
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<depend>action_msgs</depend>
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<depend>rbs_skill_interfaces</depend>
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<depend>tf2_eigen</depend>
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<depend>rbs_utils</depend>
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<depend>rclcpp_components</depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>
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