Bill Finger
213179adbd
- 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.
153 lines
4.8 KiB
CMake
153 lines
4.8 KiB
CMake
cmake_minimum_required(VERSION 3.8)
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project(rbs_bt_executor)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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find_package(ament_cmake REQUIRED)
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find_package(ament_cmake_python REQUIRED)
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find_package(rclpy REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(rclcpp_action REQUIRED)
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find_package(moveit_msgs REQUIRED)
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find_package(moveit_core REQUIRED)
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find_package(moveit_ros_planning REQUIRED)
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find_package(moveit_ros_planning_interface REQUIRED)
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find_package(ament_index_cpp REQUIRED)
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# find_package(behavior_tree REQUIRED)
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find_package(behaviortree_ros2 REQUIRED)
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find_package(behaviortree_cpp REQUIRED)
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find_package(geometry_msgs REQUIRED)
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find_package(control_msgs REQUIRED)
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find_package(lifecycle_msgs REQUIRED)
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find_package(rcl_interfaces REQUIRED)
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find_package(rbs_skill_interfaces REQUIRED)
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find_package(env_manager_interfaces REQUIRED)
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find_package(rbs_utils REQUIRED)
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find_package(tf2_eigen REQUIRED)
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find_package(tf2_ros REQUIRED)
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find_package(rbs_utils_interfaces REQUIRED)
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if (NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 17)
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endif()
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set(dependencies
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rclcpp
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rclcpp_action
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geometry_msgs
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moveit_msgs
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moveit_core
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moveit_ros_planning
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moveit_ros_planning_interface
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ament_index_cpp
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rbs_skill_interfaces
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# behavior_tree
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behaviortree_ros2
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btcpp_ros2_interfaces
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control_msgs
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lifecycle_msgs
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rcl_interfaces
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env_manager_interfaces
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rbs_utils
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tf2_ros
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tf2_eigen
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rbs_utils_interfaces
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)
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include_directories(include)
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add_library(rbs_skill_move_topose_bt_action_client SHARED src/MoveToPose.cpp)
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list(APPEND plugin_libs rbs_skill_move_topose_bt_action_client)
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add_library(rbs_skill_gripper_move_bt_action_client SHARED src/GripperCommand.cpp)
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list(APPEND plugin_libs rbs_skill_gripper_move_bt_action_client)
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add_library(rbs_get_grasp_pose_skill_client SHARED src/GetGraspPose.cpp)
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list(APPEND plugin_libs rbs_get_grasp_pose_skill_client)
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add_library(rbs_get_place_pose_skill_client SHARED src/GetPlacePose.cpp)
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list(APPEND plugin_libs rbs_get_place_pose_skill_client)
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add_library(rbs_skill_move_joint_state SHARED src/MoveToJointStates.cpp)
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list(APPEND plugin_libs rbs_skill_move_joint_state)
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# add_library(rbs_add_planning_scene_object SHARED src/AddPlanningSceneObject.cpp)
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# list(APPEND plugin_libs rbs_add_planning_scene_object)
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# add_library(rbs_assemble_process_state SHARED src/AssembleProcessState.cpp)
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# list(APPEND plugin_libs rbs_assemble_process_state)
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# add_library(rbs_pose_estimation SHARED src/PoseEstimation.cpp)
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# list(APPEND plugin_libs rbs_pose_estimation)
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add_library(rbs_object_detection SHARED src/ObjectDetection.cpp)
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list(APPEND plugin_libs rbs_object_detection)
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# add_library(rbs_env_manager_starter SHARED src/EnvManager.cpp)
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# list(APPEND plugin_libs rbs_env_manager_starter)
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add_library(rbs_skill_move_topose_array_bt_action_client SHARED src/MoveToPoseArray.cpp)
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list(APPEND plugin_libs rbs_skill_move_topose_array_bt_action_client)
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add_library(rbs_get_workspace SHARED src/GetWorkspace.cpp)
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list(APPEND plugin_libs rbs_get_workspace)
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add_library(rbs_act SHARED src/rbsBTAction.cpp)
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list(APPEND plugin_libs rbs_act)
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add_executable(rbs_bt_executor src/TreeRunner.cpp)
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ament_target_dependencies(rbs_bt_executor ${dependencies})
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add_executable(bt_exec src/BTExec.cpp)
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ament_target_dependencies(bt_exec ${dependencies})
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foreach(bt_plugin ${plugin_libs})
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ament_target_dependencies(${bt_plugin} ${dependencies})
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target_compile_definitions(${bt_plugin} PRIVATE BT_PLUGIN_EXPORT)
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endforeach()
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install(DIRECTORY launch bt_trees config DESTINATION share/${PROJECT_NAME})
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# INSTALL PLUGIN TARGETS https://github.com/BehaviorTree/BehaviorTree.CPP/pull/804
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install(TARGETS
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${plugin_libs}
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ARCHIVE DESTINATION share/${PROJECT_NAME}/bt_plugins
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LIBRARY DESTINATION share/${PROJECT_NAME}/bt_plugins
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RUNTIME DESTINATION share/${PROJECT_NAME}/bt_plugins
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)
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install(TARGETS
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rbs_bt_executor bt_exec
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION lib/${PROJECT_NAME}
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)
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# Install Python modules
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ament_python_install_package(${PROJECT_NAME})
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# Install Python executables
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install(PROGRAMS
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scripts/rbs_interface.py
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scripts/bt_param.py
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DESTINATION lib/${PROJECT_NAME}
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)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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# the following line skips the linter which checks for copyrights
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# comment the line when a copyright and license is added to all source files
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set(ament_cmake_copyright_FOUND TRUE)
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# the following line skips cpplint (only works in a git repo)
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# comment the line when this package is in a git repo and when
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# a copyright and license is added to all source files
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set(ament_cmake_cpplint_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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endif()
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ament_export_dependencies(${dependencies})
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ament_package()
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