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# Пример: проект "Шахматы"
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Имеем доску, две модели фигур - коня и пешку, робота, камеру. Задачей будет из фигур в наличии расставить шахматы на доску в начальную позицию.
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### Создаём проект
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* Projects
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```json
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{
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"sid": 1,
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"name": "chess",
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"description": "Robossembler Example"
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}
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```
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### Добавляем модели твёрдых тел (фигур и доски) в библиотеку проекта
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Сначала добавляются пакеты:
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* Packages
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```json
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{
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"sid": 1,
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"project": 1,
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"type": "part_model",
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"description": "Robossembler: chessboard",
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"command": "python",
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"package": "",
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"executable": "chessboard.py",
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"args": {
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"blend": \${FILE:string:""},
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"dae": \${FILE:string:""},rbs_arm/robot1/controller
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"fbx": \${FILE:string:""},
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"...": ""
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}
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}
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```
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```json
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{
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"sid": 2,
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"project": 1,
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"type": "part_model",
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"description": "Robossembler: chess pieces",
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"command": "python",
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"package": "",
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"executable": "chess_pieces.py",
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"args": [ // ARRAY of pieces
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{
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"name": \${NAME:string:""},
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"blend": \${FILE:string:""},
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"dae": \${FILE:string:""},
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"fbx": \${FILE:string:""},
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"...": ""
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}
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]
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}
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```
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Затем при запуске "get_interface.py" для каждого пакета, получаем json со структурой:
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```json
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{
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"parts": [{"properties1": "value1", "propertiesN": "valueN"}],
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"cameras": [{"properties1": "value1", "propertiesN": "valueN"}],
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"robots": [{"properties1": "value1", "propertiesN": "valueN"}],
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"topics": [{"properties1": "value1", "propertiesN": "valueN"}],
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"datasets": [{"properties1": "value1", "propertiesN": "valueN"}],
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"weights": [{"properties1": "value1", "propertiesN": "valueN"}],
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"...": ""
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}
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```
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в которой ключи - это наши сущности из БД.
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В данном случае будет присутствовать только массив "parts". Web-сервис записывает парсинг результата в соответствующую таблицу.
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* Parts_lib
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```json
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{
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"sid": 1,
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"package": 1,
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"name": "chessboard",
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"description": "Robossembler: chessboard",
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"meshs": {
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"blend": "chessboard.blend",
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"dae": "chessboard.dae",
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"fbx": "chessboard.fbx",
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"...": ""
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}
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}
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```
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```json
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{
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"sid": 2,
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"package": 2,
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"name": "pawn",
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"description": "Robossembler: pawn",
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"meshs": {
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"blend": "pawn.blend",
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"dae": "pawn.dae",
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"fbx": "pawn.fbx",
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"...": ""
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}
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}
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```
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```json
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{
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"sid": 3,
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"package": 2,
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"name": "knight",
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"description": "Robossembler: knight",
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"meshs": {
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"blend": "knight.blend",
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"dae": "knight.dae",
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"fbx": "knight.fbx",
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"...": ""
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}
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}
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```
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Note. Кроме "sid" и "packages" все остальные поля заполняются из массива [{"properties1": "value1", "propertiesN": "valueN"}].
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### Добавляем пакет с моделью камеры в библиотеку проекта
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* Packages
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```json
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{
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"sid": 3,
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"project": 1,
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"type": "digital_twin",
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"entity": "CAMERA",
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"description": "ROS Wrapper for Intel RealSense Cameras",
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"command": "ros2 launch",
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"package": "realsense2_camera",
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"executable": "rs_launch.py",
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"args": {
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"camera_namespace": \${NAME:string:""},
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"camera_name": \${NAME:string:""},
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},
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"interfaces": {
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"cmd": "python ros2_topic_to_json.py"
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}
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}
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```
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### Добавляем экземпляр камеры в сцену (Scene Builder)
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При этом запускаем "get_interface.py" и получаем json со структурой, описанной выше, но в данном случае в результате будет
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```json
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{
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"cameras": [
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{
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"model_name": "Intel RealSense",
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"model_type": "RGBD",
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"...": "..."
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}
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],
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"topics": [
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{
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"topic_name": "camera/camera1/image_raw",
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"msg_type":"sensor_msgs/msg/Image"
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},
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{
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"topic_name": "camera/camera1/camera_info",
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"msg_type":"sensor_msgs/msg/CameraInfo"
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}
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],
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}
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```
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В БД создаются:
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* Cameras
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```json
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{
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"sid": 1,
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"package": 3,
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"model_name": "Intel RealSense",
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"model_type": "RGBD",
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"pose": {}
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}
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```
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* Topics
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```json
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{
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"sid": 1,
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"package": 3,
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"topic_name": "camera/camera1/image_raw",
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"msg_type":"sensor_msgs/msg/Image"
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}
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```
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```json
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{
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"sid": 2,
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"package": 3,
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"topic_name": "camera/camera1/camera_info",
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"msg_type":"sensor_msgs/msg/CameraInfo"
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}
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```
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### Робот добавляется аналогично камере.
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* Topics
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```json
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{
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"sid": 3,
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"package": 4,
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"topic_name": "rbs_arm/robot1/controller",
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"msg_type":"sensor_msgs/msg/JointState"
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}
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```
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```json
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{
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"sid": 4,
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"package": 4,
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"topic_name": "rbs_arm/robot1/controller1",
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"msg_type":"sensor_msgs/msg/JointState"
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}
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```
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### Добавляем пакет навыка Pose Estimation DOPE в библиотеку проекта
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* Packages
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```json
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{
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"sid": 5,
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"project": 1,
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"type": "skill_server",
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"description": "Pose Estimation Skill Dope 6D",
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"command": "ros2 launch",
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"package": "dope6d",
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"executable": "dope.py",
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"args": {
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"output_topic": \${NAME:string:"bound_box"}
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},
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"interfaces": {
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"cmd": "python ros2_topic_to_json.py"
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},
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"bt_param":[
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{
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"name": "peConfigure",
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"description": "configuring lifecycle node ROS 2",
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"type_action": "action"/"condition",
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"type": "run",
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"param": [
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{
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"type": "weights",
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"dependency": { "object_name": "knight", "weights_file": "/home/shalenikol/0_rbs/w_knight.pth", "dimensions": [0.03, 0.026, 0.065] },
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"sid": "123"
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}
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],
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"result": ["POSE"]
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},
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{ "name": "peStop", "type": "stop", "param": [], "result": [] }
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]
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}
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```
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### Запускаем "get_interfaces.py"
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* Topics
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```json
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{
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"sid": 5,
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"package": 5,
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"topic_name": "bound_box",
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"msg_type":"geometry_msgs/msg/BoundBox"
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}
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```
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* BTrees
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```json
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{
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"sid": 1,
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"package": 5,
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"command_name": "peConfigure",
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"dependency": {"$FormBuilderTemplate$"}
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}
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```
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