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.
152 lines
2.8 KiB
YAML
152 lines
2.8 KiB
YAML
camera:
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- clip_color: !tuple
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- 0.01
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- 1000.0
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clip_depth: !tuple
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- 0.05
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- 10.0
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enable: true
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height: 128
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horizontal_fov: 1.0471975511965976
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image_format: R8G8B8
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name: robot_camera
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noise_mean: null
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noise_stddev: null
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publish_color: true
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publish_depth: true
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publish_points: true
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random_pose_focal_point_z_offset: 0.0
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random_pose_mode: orbit
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random_pose_orbit_distance: 1.0
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random_pose_orbit_height_range: !tuple
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- 0.1
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- 0.7
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random_pose_orbit_ignore_arc_behind_robot: 0.39269908169872414
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random_pose_rollout_counter: 0.0
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random_pose_rollouts_num: 1
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random_pose_select_position_options: []
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relative_to: base_link
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spawn_position: !tuple
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- 0.0
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- 0.0
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- 1.0
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spawn_quat_xyzw: !tuple
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- 0.0
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- 0.70710678118
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- 0.0
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- 0.70710678118
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type: rgbd_camera
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update_rate: 10
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vertical_fov: 1.0471975511965976
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width: 128
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gravity: !tuple
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- 0.0
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- 0.0
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- -9.80665
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gravity_std: !tuple
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- 0.0
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- 0.0
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- 0.0232
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light:
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color: !tuple
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- 1.0
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- 1.0
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- 1.0
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- 1.0
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direction: !tuple
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- 0.5
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- -0.25
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- -0.75
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distance: 1000.0
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model_rollouts_num: 1
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radius: 25.0
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random_minmax_elevation: !tuple
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- -0.15
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- -0.65
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type: sun
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visual: true
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objects:
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- color: null
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name: bishop
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orientation: !tuple
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- 1.0
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- 0.0
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- 0.0
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- 0.0
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position: !tuple
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- 0.0
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- 1.0
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- 0.3
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randomize:
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count: 0
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models_rollouts_num: 0
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random_color: false
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random_model: false
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random_orientation: false
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random_pose: false
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random_position: false
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random_spawn_position_segments: []
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random_spawn_position_update_workspace_centre: false
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random_spawn_volume: !tuple
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- 0.5
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- 0.5
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- 0.5
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relative_to: world
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static: false
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texture: []
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type: "model"
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physics_rollouts_num: 0
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plugins:
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fts_broadcaster: false
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scene_broadcaster: false
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sensors_render_engine: ogre2
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user_commands: false
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robot:
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gripper_joint_positions: 0.0
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joint_positions:
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- 1.57
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- 0.5
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- 3.14159
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- 1.5
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- 0.0
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- 1.4
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- 0.0
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name: rbs_arm
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randomizer:
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joint_positions: false
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joint_positions_above_object_spawn: false
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joint_positions_above_object_spawn_elevation: 0.2
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joint_positions_above_object_spawn_xy_randomness: 0.2
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joint_positions_std: 0.1
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pose: false
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spawn_volume: !tuple
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- 1.0
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- 1.0
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- 0.0
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spawn_position: !tuple
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- 0.0
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- 0.0
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- 0.0
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spawn_quat_xyzw: !tuple
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- 0.0
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- 0.0
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- 0.0
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- 1.0
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urdf_string: ""
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with_gripper: true
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terrain:
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model_rollouts_num: 1
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name: ground
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size: !tuple
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- 1.5
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- 1.5
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spawn_position: !tuple
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- 0
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- 0
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- 0
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spawn_quat_xyzw: !tuple
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- 0
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- 0
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- 0
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- 1
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type: flat
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