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Repo for ROS2 packages related to Robossembler
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Bill Finger b1e20696fe Refactor robot arm and runtime initialization logic 
- Updated error message in `rbs_arm.py` to use the complete joint names for improved clarity.
- Refactored `scene.py` to replace asynchronous parameter retrieval with synchronous methods for reliability and simplified implementation.
- Enhanced `runtime.launch.py`:
  - Added new launch arguments `use_rbs_utils` and `assembly_config_name`.
  - Included additional parameters in runtime node initialization.
  - Adjusted runtime node arguments for debugging and clarity.
- Updated `runtime.py`:
  - Introduced `MultiThreadedExecutor` for improved threading and node handling.
  - Refactored the `main` function for cleaner node lifecycle management.
2024-12-06 12:10:35 +03:00
docs update documentation and gitignore 2024-12-06 12:05:53 +03:00
env_manager Refactor robot arm and runtime initialization logic 2024-12-06 12:10:35 +03:00
rbs_bringup refactor launch configuration for robot and environment setup 2024-11-30 19:30:13 +03:00
rbs_bt_executor refactor(rbs_skill_servers): update action configuration, dependencies, and skills 2024-11-06 23:57:47 +03:00
rbs_perception update dependencies in package 2024-10-29 10:07:44 +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 enhance skill server parameter handling and assembly service 2024-11-30 19:32:37 +03:00
rbs_task_planner update dependencies in package 2024-10-29 10:07:44 +03:00
rbs_utils enhance skill server parameter handling and assembly service 2024-11-30 19:32:37 +03:00
rbss_movetopose update dependencies in package 2024-10-29 10:07:44 +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 add support for real robot mode in runtime launch 2024-12-01 00:54:06 +03:00
robonomics Add minimal pick-and-place case with world embedded 2023-03-31 20:24:56 +00:00
.gitignore update documentation and gitignore 2024-12-06 12:05:53 +03:00
.gitlab-ci.yml Multi-Robot Setup 2024-04-18 13:29:36 +00:00
Dockerfile Update Dockerfile and dependencies, add installation guide 2024-11-20 21:07:19 +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