Bill Finger
5c2c67567d
- Improved `get_grasp_pose_callback` with regex for grasp pose matching and added fallback mechanisms for `pregrasp_pose` and `postgrasp_pose`. - Introduced `_create_pose_msg` and `_create_pose_msg_from_name` helper functions for dynamic transform-to-pose conversion. - Updated `GetGraspPose.srv` to include `pregrasp_pose` and `postgrasp_pose` in the service response structure. - Enhanced TF listener integration in `assembly_config_service.py` for dynamic pose retrieval and parameter management. - Added `rbs_utils_interfaces` dependency in `CMakeLists.txt` and introduced new `GetGraspPose` node for behavior tree integration. - Replaced `MoveGripper` with `GripperCommand` to improve gripper state transitions. - Refactored `MoveToPose` and `GetWorkspace` nodes for enhanced logging and parameter handling. - Updated `workspace_movement.xml` and `grasp_object.xml` with improved actions and configurations. |
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| .. | ||
| bt_trees | ||
| config | ||
| include/rbs_bt_executor | ||
| launch | ||
| rbs_bt_executor | ||
| scripts | ||
| src | ||
| CMakeLists.txt | ||
| package.xml | ||