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.
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