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* ArUcoサンプルとピッキング動作の追加 (#169) * arucoマーカの認識 * マーカ位置をm系に変換 * マーカ位置姿勢をtfに配信 * tfのsubscribe * マーカ位置が静止していることを検知 * スタイル修正 * picking動作追加 * 不要な記述を削除 * スタイル修正 * 不要な行を削除 * マーカ位置修正 * 把持姿勢の調整 * tf確認用rviz config追加 * URL更新 * マーカ認識位置のオフセットを削除 * Rviz configの切り替えを実装 * デフォルトで起動するスクリプトを修正 Co-authored-by: Shota Aoki <s.aoki@rt-net.jp> * ArUcoの辞書についてコメント追加 * 変数名修正 * デバッグ用処理を削除 * 変数名変更 * コメント追加 * tfの時間計算を修正 * 現在時刻の取得方法変更 * 不要なモジュールの削除 Co-authored-by: Shota Aoki <s.aoki@rt-net.jp> * Update README * Update README * PythonExpressionをUnlessConditionに置き換え * 複数マーカに対応 (cherry picked from commit aa3792b54ae873125a34611f93a0fecec57466c6) * 把持対象のframe id変更 * スタイル修正 * 待機姿勢を関節負荷の低いものに変更 * Update README * Update README * スタイル修正 Co-authored-by: Shota Aoki <s.aoki@rt-net.jp> * サンプル動画URL更新 (#172) * READMEに動画追加 * README修正 * tf2_geometry_msgs.hppの更新 * gz_ros2_controlのブランチを変更 * コメント修正 * コメント修正 * Update README --------- Co-authored-by: Shota Aoki <s.aoki@rt-net.jp>
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| # Copyright 2022 RT Corporation | ||
| # | ||
| # Licensed under the Apache License, Version 2.0 (the "License"); | ||
| # you may not use this file except in compliance with the License. | ||
| # You may obtain a copy of the License at | ||
| # | ||
| # http://www.apache.org/licenses/LICENSE-2.0 | ||
| # | ||
| # Unless required by applicable law or agreed to in writing, software | ||
| # distributed under the License is distributed on an "AS IS" BASIS, | ||
| # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| # See the License for the specific language governing permissions and | ||
| # limitations under the License. | ||
|
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| import os | ||
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| from ament_index_python.packages import get_package_share_directory | ||
| from crane_x7_description.robot_description_loader import RobotDescriptionLoader | ||
| from launch import LaunchDescription | ||
| from launch.actions import DeclareLaunchArgument | ||
| from launch.substitutions import LaunchConfiguration | ||
| from launch_ros.actions import SetParameter | ||
| from launch_ros.actions import Node | ||
| import yaml | ||
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| def load_file(package_name, file_path): | ||
| package_path = get_package_share_directory(package_name) | ||
| absolute_file_path = os.path.join(package_path, file_path) | ||
|
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| try: | ||
| with open(absolute_file_path, 'r') as file: | ||
| return file.read() | ||
| except EnvironmentError: # parent of IOError, OSError *and* WindowsError where available | ||
| return None | ||
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| def load_yaml(package_name, file_path): | ||
| package_path = get_package_share_directory(package_name) | ||
| absolute_file_path = os.path.join(package_path, file_path) | ||
|
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| try: | ||
| with open(absolute_file_path, 'r') as file: | ||
| return yaml.safe_load(file) | ||
| except EnvironmentError: # parent of IOError, OSError *and* WindowsError where available | ||
| return None | ||
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| def generate_launch_description(): | ||
| description_loader = RobotDescriptionLoader() | ||
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| robot_description_semantic_config = load_file( | ||
| 'crane_x7_moveit_config', 'config/crane_x7.srdf') | ||
| robot_description_semantic = { | ||
| 'robot_description_semantic': robot_description_semantic_config} | ||
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| kinematics_yaml = load_yaml('crane_x7_moveit_config', 'config/kinematics.yaml') | ||
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| declare_example_name = DeclareLaunchArgument( | ||
| 'example', default_value='aruco_detection', | ||
| description=('Set an example executable name: ' | ||
| '[aruco_detection]') | ||
| ) | ||
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| declare_use_sim_time = DeclareLaunchArgument( | ||
| 'use_sim_time', default_value='false', | ||
| description=('Set true when using the gazebo simulator.') | ||
| ) | ||
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| picking_node = Node(name="pick_and_place_tf", | ||
| package='crane_x7_examples', | ||
| executable='pick_and_place_tf', | ||
| output='screen', | ||
| parameters=[{'robot_description': description_loader.load()}, | ||
| robot_description_semantic, | ||
| kinematics_yaml]) | ||
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| detection_node = Node(name=[LaunchConfiguration('example'), '_node'], | ||
| package='crane_x7_examples', | ||
| executable=LaunchConfiguration('example'), | ||
| output='screen') | ||
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| return LaunchDescription([ | ||
| declare_use_sim_time, | ||
| SetParameter(name='use_sim_time', value=LaunchConfiguration('use_sim_time')), | ||
| picking_node, | ||
| detection_node, | ||
| declare_example_name | ||
| ]) |
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