Update to SNP 5.0 (#14)

* Removed snp_automate_application package in favor of using predefined BT plugins * Flattened repo hierarchy * Added freespace motion group to launch file * Updated to SNP 5.0
ros-industrial-consortium · Aug 15, 2024 · e7d8691 · e7d8691
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commit e7d8691
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Showing 45 changed files with 16 additions and 278 deletions.
diff --git a/.github/workflows/ubuntu.yml b/.github/workflows/ubuntu.yml
@@ -21,7 +21,7 @@ jobs:
       matrix:
         distro: [humble]
     container:
-      image: ghcr.io/ros-industrial-consortium/scan_n_plan_workshop:${{ matrix.distro }}-4.6
+      image: ghcr.io/ros-industrial-consortium/scan_n_plan_workshop:${{ matrix.distro }}-5.0
       env:
         CCACHE_DIR: ${{ github.workspace }}/${{ matrix.distro }}/.ccache
         DEBIAN_FRONTEND: noninteractive

diff --git a/snp_automate_2023/CMakeLists.txt → CMakeLists.txt b/snp_automate_2023/CMakeLists.txt → CMakeLists.txt
diff --git a/...alibration/cal_data_collection.launch.xml → calibration/cal_data_collection.launch.xml b/...alibration/cal_data_collection.launch.xml → calibration/cal_data_collection.launch.xml
diff --git a/...ate_2023/calibration/calibrate.launch.xml → calibration/calibrate.launch.xml b/...ate_2023/calibration/calibrate.launch.xml → calibration/calibrate.launch.xml
diff --git a/..._2023/calibration/charuco_target_7x5.yaml → calibration/charuco_target_7x5.yaml b/..._2023/calibration/charuco_target_7x5.yaml → calibration/charuco_target_7x5.yaml
diff --git a/...automate_2023/calibration/intrinsics.yaml → calibration/intrinsics.yaml b/...automate_2023/calibration/intrinsics.yaml → calibration/intrinsics.yaml
diff --git a/...ibration/modified_circle_grid_target.yaml → calibration/modified_circle_grid_target.yaml b/...ibration/modified_circle_grid_target.yaml → calibration/modified_circle_grid_target.yaml
diff --git a/snp_automate_2023/config/app.rviz → config/app.rviz b/snp_automate_2023/config/app.rviz → config/app.rviz
@@ -22,8 +22,8 @@ Panels:
       - /Current View1
     Name: Views
     Splitter Ratio: 0.5
-  - Class: snp_automate_application/AutomateApplication
-    Name: AutomateApplication
+  - Class: snp/SNPApplication
+    Name: SNPApplication
   - Class: rviz_common/Displays
     Help Height: 70
     Name: Displays
@@ -565,7 +565,7 @@ Visualization Manager:
       Yaw: 1.3503996133804321
     Saved: ~
 Window Geometry:
-  AutomateApplication:
+  SNPApplication:
     collapsed: false
   Displays:
     collapsed: false

diff --git a/snp_automate_2023/config/calibration.yaml → config/calibration.yaml b/snp_automate_2023/config/calibration.yaml → config/calibration.yaml
diff --git a/snp_automate_2023/config/controllers.yaml → config/controllers.yaml b/snp_automate_2023/config/controllers.yaml → config/controllers.yaml
diff --git a/...utomate_2023/config/rviz_base_config.rviz → config/rviz_base_config.rviz b/...utomate_2023/config/rviz_base_config.rviz → config/rviz_base_config.rviz
diff --git a/snp_automate_2023/config/scan_traj.yaml → config/scan_traj.yaml b/snp_automate_2023/config/scan_traj.yaml → config/scan_traj.yaml
diff --git a/...te_application/config/snp_automate.btproj → config/snp_automate.btproj b/...te_application/config/snp_automate.btproj → config/snp_automate.btproj
diff --git a/...omate_application/config/snp_automate.xml → config/snp_automate.xml b/...omate_application/config/snp_automate.xml → config/snp_automate.xml
diff --git a/snp_automate_2023/config/tpp.yaml → config/tpp.yaml b/snp_automate_2023/config/tpp.yaml → config/tpp.yaml
diff --git a/snp_automate_2023/config/workcell.srdf → config/workcell.srdf b/snp_automate_2023/config/workcell.srdf → config/workcell.srdf
diff --git a/...utomate_2023/config/workcell_plugins.yaml → config/workcell_plugins.yaml b/...utomate_2023/config/workcell_plugins.yaml → config/workcell_plugins.yaml
diff --git a/dependencies.repos b/dependencies.repos
@@ -14,3 +14,7 @@
     local-name: motoros2_fjt_pt_queue_proxy
     uri: https://github.com/gavanderhoorn/motoros2_fjt_pt_queue_proxy.git
     version: 9279969b6eec46b82fd4867ebeabfe534d653b6f
+- git:
+    local-name: motoros2_behavior_tree
+    uri: https://github.com/marip8/motoros2_behavior_tree.git
+    version: 0.1.0
diff --git a/docker/docker-compose.yml b/docker/docker-compose.yml
@@ -4,7 +4,7 @@ services:
       context: ..
       dockerfile: docker/Dockerfile
       args:
-        - TAG=humble-4.6
+        - TAG=humble-5.0
     environment:
       DISPLAY: $DISPLAY
       XAUTHORITY: $XAUTHORITY

diff --git a/snp_automate_2023/launch/start.launch.xml → launch/start.launch.xml b/snp_automate_2023/launch/start.launch.xml → launch/start.launch.xml
@@ -30,13 +30,16 @@
   </include>
 
   <node pkg="rviz2" exec="rviz2" args="-d $(find-pkg-share snp_automate_2023)/config/app.rviz" output="screen">
-    <param name="bt_files" value="[$(find-pkg-share snp_automate_application)/config/snp_automate.xml]"/>
+    <param name="bt_files" value="[$(find-pkg-share snp_automate_2023)/config/snp_automate.xml]"/>
+    <param name="bt_plugin_libs" value="[$(find-pkg-prefix snp_application)/lib/libsnp_application_bt_plugins.so]"/>
+    <param name="bt_ros_plugin_libs" value="[$(find-pkg-prefix snp_application)/lib/libsnp_application_bt_plugins.so, $(find-pkg-prefix motoros2_behavior_tree)/lib/libmotoros2_behavior_tree.so]"/>
     <param name="tree" value="main"/>
+
     <!-- Application -->
-    <param name="bt_short_timeout" value="15"/>
     <param name="config_file" value="$(find-pkg-share snp_automate_2023)/config/tpp.yaml"/>
     <param name="mesh_file" value="/tmp/results_mesh.ply"/>
     <param name="motion_group" value="manipulator"/>
+    <param name="freespace_motion_group" value="manipulator"/>
     <param name="reference_frame" value="$(var reference_frame)"/>
     <param name="tcp_frame" value="sand_tcp"/>
     <param name="camera_frame" value="camera_color_optical_frame"/>
@@ -114,7 +117,7 @@
     </node>
   </group>
   <group if="$(var sim_robot)">
-    <node pkg="snp_automate_application" exec="motoros2_simulator.py"/>
+    <node pkg="motoros2_behavior_tree" exec="motoros2_simulator.py"/>
     <group if="$(var bypass_execution)">
       <node pkg="snp_motion_execution" exec="execution_simulator" >
         <param name="follow_joint_trajectory_action" value="$(var follow_joint_trajectory_action)"/>

diff --git a/snp_automate_2023/launch/test.launch.xml → launch/test.launch.xml b/snp_automate_2023/launch/test.launch.xml → launch/test.launch.xml
diff --git a/...ate_2023/meshes/collision/ati_bracket.ply → meshes/collision/ati_bracket.ply b/...ate_2023/meshes/collision/ati_bracket.ply → meshes/collision/ati_bracket.ply
diff --git a/...tomate_2023/meshes/collision/ati_hose.ply → meshes/collision/ati_hose.ply b/...tomate_2023/meshes/collision/ati_hose.ply → meshes/collision/ati_hose.ply
diff --git a/...ate_2023/meshes/collision/ati_spindle.ply → meshes/collision/ati_spindle.ply b/...ate_2023/meshes/collision/ati_spindle.ply → meshes/collision/ati_spindle.ply
diff --git a/...te_2023/meshes/collision/ati_standoff.ply → meshes/collision/ati_standoff.ply b/...te_2023/meshes/collision/ati_standoff.ply → meshes/collision/ati_standoff.ply
diff --git a/...tomate_2023/meshes/collision/ati_tool.ply → meshes/collision/ati_tool.ply b/...tomate_2023/meshes/collision/ati_tool.ply → meshes/collision/ati_tool.ply
diff --git a/...e_2023/meshes/collision/hc10_standoff.ply → meshes/collision/hc10_standoff.ply b/...e_2023/meshes/collision/hc10_standoff.ply → meshes/collision/hc10_standoff.ply
diff --git a/..._2023/meshes/collision/sensor_bracket.ply → meshes/collision/sensor_bracket.ply b/..._2023/meshes/collision/sensor_bracket.ply → meshes/collision/sensor_bracket.ply
diff --git a/...automate_2023/meshes/collision/sponge.ply → meshes/collision/sponge.ply b/...automate_2023/meshes/collision/sponge.ply → meshes/collision/sponge.ply
diff --git a/...ate_2023/meshes/collision/steel_table.ply → meshes/collision/steel_table.ply b/...ate_2023/meshes/collision/steel_table.ply → meshes/collision/steel_table.ply
diff --git a/snp_automate_2023/meshes/part_scan.ply → meshes/part_scan.ply b/snp_automate_2023/meshes/part_scan.ply → meshes/part_scan.ply
diff --git a/...tomate_2023/meshes/visual/steel_table.ply → meshes/visual/steel_table.ply b/...tomate_2023/meshes/visual/steel_table.ply → meshes/visual/steel_table.ply
diff --git a/...tomate_2023/motoros2/motoros2_config.yaml → motoros2/motoros2_config.yaml b/...tomate_2023/motoros2/motoros2_config.yaml → motoros2/motoros2_config.yaml
diff --git a/snp_automate_2023/package.xml → package.xml b/snp_automate_2023/package.xml → package.xml
@@ -23,6 +23,7 @@
   <exec_depend>controller_manager</exec_depend>
   <exec_depend>joint_trajectory_controller</exec_depend>
   <exec_depend>joint_state_broadcaster</exec_depend>
+  <exec_depend>motoros2_behavior_tree</exec_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

diff --git a/snp_automate_application/CMakeLists.txt b/snp_automate_application/CMakeLists.txt
diff --git a/snp_automate_application/include/snp_automate_application/bt/snp_automate_bt_ros_nodes.h b/snp_automate_application/include/snp_automate_application/bt/snp_automate_bt_ros_nodes.h
diff --git a/snp_automate_application/include/snp_automate_application/snp_automate_widget.h b/snp_automate_application/include/snp_automate_application/snp_automate_widget.h
diff --git a/snp_automate_application/package.xml b/snp_automate_application/package.xml
diff --git a/snp_automate_application/plugin_description.xml b/snp_automate_application/plugin_description.xml
diff --git a/snp_automate_application/scripts/motoros2_simulator.py b/snp_automate_application/scripts/motoros2_simulator.py
diff --git a/snp_automate_application/src/bt/snp_automate_bt_ros_nodes.cpp b/snp_automate_application/src/bt/snp_automate_bt_ros_nodes.cpp
diff --git a/snp_automate_application/src/snp_automate_panel.cpp b/snp_automate_application/src/snp_automate_panel.cpp
diff --git a/snp_automate_application/src/snp_automate_widget.cpp b/snp_automate_application/src/snp_automate_widget.cpp
diff --git a/snp_automate_2023/urdf/ros2_control.xacro → urdf/ros2_control.xacro b/snp_automate_2023/urdf/ros2_control.xacro → urdf/ros2_control.xacro
diff --git a/snp_automate_2023/urdf/workcell.xacro → urdf/workcell.xacro b/snp_automate_2023/urdf/workcell.xacro → urdf/workcell.xacro