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Repo for ROS2 packages related to Robossembler
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Bill Finger 0c6b01bbfe feat: improve behavior tree executor and dependency management 
- **CMakeLists.txt**:
  - Commented out the unused `rbs_env_manager_starter` library.
- **Behavior Trees**:
  - Added new `grasp_object.xml` behavior tree for grasping operations.
  - Modified `test_tree.xml` to update `robot_name` in the `WorkspaceMovement` subtree.
- **Source Code Updates**:
  - Removed `EnvManager.cpp`, deprecating its functionality.
  - Formatting `GetWorkspace.cpp`
  - Formatting `MoveGripper.cpp`
  - Formatting `MoveToJointStates.cpp`
  - Formatting `PoseEstimation.cpp` and `TreeRunner.cpp`
- **Assembly Config Service**:
  - Added broadcasting for grasp pose transformations in `assembly_config_service.py`.

These updates enhance modularity, maintainability, and the overall functionality of the behavior tree executor.
2024-12-09 18:25:32 +03:00
docs docs: fix typo in russian docs and fix cd path in installation instruction 2024-12-09 18:22:14 +03:00
env_manager@ab51561f9d refactor: move env_manager to new repo 2024-12-09 18:19:38 +03:00
rbs_bringup Add assembly configuration integration and refactor launches 2024-12-06 12:14:29 +03:00
rbs_bt_executor feat: improve behavior tree executor and dependency management 2024-12-09 18:25:32 +03:00
rbs_perception interface node synchronized + readme for perception 2024-12-09 12:51:20 +03:00
rbs_simulation fix: delete old env_manager launch in rbs_bringup and rbs_simulation 2024-10-10 13:20:02 +03:00
rbs_skill_interfaces refactor(rbs_skill_servers): update action configuration, dependencies, and skills 2024-11-06 23:57:47 +03:00
rbs_skill_servers Add assembly configuration integration and refactor launches 2024-12-06 12:14:29 +03:00
rbs_task_planner update dependencies in package 2024-10-29 10:07:44 +03:00
rbs_utils feat: improve behavior tree executor and dependency management 2024-12-09 18:25:32 +03:00
rbss_movetopose interface node synchronized + readme for perception 2024-12-09 12:51:20 +03:00
rbss_objectdetection update dependencies in package 2024-10-29 10:07:44 +03:00
rbss_poseestimation update dependencies in package 2024-10-29 10:07:44 +03:00
repos feat: update build scripts and dependencies 2024-12-09 18:24:33 +03:00
robonomics Add minimal pick-and-place case with world embedded 2023-03-31 20:24:56 +00:00
.gitignore update documentation and gitignore 2024-12-06 12:05:53 +03:00
.gitlab-ci.yml feat: update build scripts and dependencies 2024-12-09 18:24:33 +03:00
.gitmodules refactor: move env_manager to new repo 2024-12-09 18:19:38 +03:00
Dockerfile feat: update build scripts and dependencies 2024-12-09 18:24:33 +03:00
LICENSE Added LICENSE for all packages 2022-08-12 06:21:32 +00:00
README.md update documentation and gitignore 2024-12-06 12:05:53 +03:00

README.md

Robossembler ROS2

Repo for ROS2 packages related to Robossembler

Packages List

  1. env_manager - virtual environment switching manager and related packages
    • env_interface - base class for creating a specific environment based on the ROS 2 LifeCycle Node
    • env_manager - main package of the virtual environment switching manager
    • env_manager_interfaces - ROS 2 interfaces for env_manager, describe messages about the state of the environment, services for configuring/loading/enabling/unloading the environment
    • gz_environment - a specific instance of env_interface for the Gazebo simulator
    • planning_scene_manager - sync env with planning scene for MoveIt 2
    • rbs_gym - training module with reinforcement: management of the learning process, formation of simulation environments, management of action spaces (actions) and perception (observation), task management, utilities
  2. rbs_bringup - package for launching different launch scenarios: simulation, real robot, different hardware configurations (multi-robot)
  3. rbs_bt_executor - module for launching behavior trees on Behavior Tree CPP v4
  4. rbs_interface - package for linking trees with skill servers
  5. rbs_perception - machine perception module, where different versions are implemented
  6. rbs_simulation - models for simulation
  7. rbs_skill_interfaces - commonly used (common) interfaces for interacting with Skill Servers and the Behavior Tree (specific interfaces are placed in Skill Server packages)
  8. rbs_skill_servers - Skill Server packages: Move, Object Detection, 6D Pose Estimation
  9. rbs_task_planner - PDDL-based task scheduler
  10. rbs_utils - working with a config containing capture positions for details
  11. rbss_objectdetection - Object Detection Skill Server using YOLOv8

Installation instructon RU

Installation instructon EN