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Repo for ROS2 packages related to Robossembler
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Bill Finger 213179adbd feat: enhance pick-and-place functionality with behavior tree support for place operations 
- Added `GetPlacePose` skill client library and associated service node to handle place pose retrieval, including preplace and postplace poses.
- Created new behavior trees (`pick_and_place.xml`, `place_object.xml`) for handling pick-and-place operations with enhanced modularity.
- Updated `AssemblyConfig` to include `place_poses` alongside `grasp_poses`, improving flexibility in assembly workflows.
- Refactored YAML parsing and codebase to differentiate between `grasp_poses` and `place_poses` for better clarity and maintainability.
- Updated related XML behavior tree nodes, scripts, and skill structures to integrate `GetPlacePose` functionality.
- Adjusted gripper command maximum effort to `3.0` for improved control.
- Added a new message definition for `GetPlacePose` service in the `rbs_utils_interfaces` package.
- Updated CMakeLists.txt to include the new service and ensure proper build configuration.
2024-12-18 14:14:01 +03:00
docs docs: update docs 2024-12-09 20:13:11 +03:00
env_manager@d3d1935568 fix: update requirements 2024-12-11 22:06:42 +03:00
rbs_bringup Add assembly configuration integration and refactor launches 2024-12-06 12:14:29 +03:00
rbs_bt_executor feat: enhance pick-and-place functionality with behavior tree support for place operations 2024-12-18 14:14:01 +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 feat: specify submodule branch and improve goal success handling 2024-12-11 23:10:38 +03:00
rbs_task_planner update dependencies in package 2024-10-29 10:07:44 +03:00
rbs_utils feat: enhance pick-and-place functionality with behavior tree support for place operations 2024-12-18 14:14:01 +03:00
rbss_movetopose add test examples 2024-12-11 23:22:57 +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 update scenario version 2024-12-13 17:23:11 +03:00
robonomics Add minimal pick-and-place case with world embedded 2023-03-31 20:24:56 +00:00
test_examples add rosbag example 2024-12-13 16:03:42 +03:00
.gitignore fix: rbs_utils when config name is empty 2024-12-11 19:55:29 +03:00
.gitlab-ci.yml fix: gitlab-ci repos 2024-12-09 21:23:57 +03:00
.gitmodules feat: specify submodule branch and improve goal success handling 2024-12-11 23:10:38 +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