yenon/ROS_Workspace
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5b54db02a9e0ba6d465cb0e09805c6ffa8d08ae6
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Author SHA1 Message Date
Bastian Hofmann 5b54db02a9 Remove behavior factory attempt 2023-03-31 12:46:10 +00:00
Bastian Hofmann 07bba20386 Add basic room model 2023-03-29 14:24:58 +00:00
Bastian Hofmann 90e523d686 Add file URI so MoveIt actually finds everything. 2023-03-29 14:23:34 +00:00
Bastian Hofmann 6bda1077c2 Removed old MoveActorToTarget 2023-03-24 13:52:40 +00:00
Bastian Hofmann b8112a36b3 Removed cruft, added area parameter 2023-03-24 13:50:08 +00:00
Bastian Hofmann 65df5d10c4 Allow loading of trees from parameter 2023-03-23 13:37:11 +00:00
Bastian Hofmann 7193070220 Removed some hgardcoded paths and stray files 2023-03-21 13:04:16 +00:00
Bastian Hofmann b682211369 Removed old project files 2023-03-21 10:33:09 +00:00
Bastian Hofmann 62dc1236f8 Finally achieved parity with old implementation. 2023-03-16 03:59:27 +00:00
Bastian Hofmann 62d1c44613 Add new nodes (forgot to commit this file) 2023-03-15 09:12:11 +00:00
Bastian Hofmann b102cd405f Unify blackboard and fix segfault 2023-03-15 09:11:40 +00:00
Bastian Hofmann 3be6dee6b8 Add way of keeping heading if no target Quaternion is given. 2023-03-15 09:10:51 +00:00
Bastian Hofmann b654b06945 Fixed compiler warnings 2023-03-10 02:53:01 +00:00
Bastian Hofmann 156af3db6b Code cleanup and shutdown fixes 2023-03-09 17:04:51 +00:00
Bastian Hofmann 7293a2b797 Fixes to new actor server and tree nodes 2023-03-09 04:42:15 +00:00
Bastian Hofmann 67af90a280 Changed message types and error handling to better suit behavior tree. 2023-03-06 14:50:30 +00:00
Bastian Hofmann d9074b1103 Tree working again, just robot simulation for now 2023-02-28 09:25:50 +00:00
Bastian Hofmann 49c8a25111 it <insert expletive> works! 2023-02-23 16:33:43 +00:00
Bastian Hofmann cf9b2feb9b Attempted fixes for movegroup 2023-02-23 13:58:23 +00:00
Bastian Hofmann 329d3fe6ec Fixed actor plugin deadlock. 2023-02-23 13:58:02 +00:00
Bastian Hofmann c1f72961f3 Working iisy with ros2_control and actor in same world 2023-02-22 17:02:58 +00:00
Bastian Hofmann d19bb7e053 OMPL planning working on occasion, race during startup suspected 2023-02-16 10:17:54 +00:00
Bastian Hofmann 722a67cb9d Added rviz config for faster debugging 2023-02-15 14:30:36 +00:00
Bastian Hofmann 58fd751c64 Migrate to new ros_control 2023-02-15 14:11:12 +00:00
Bastian Hofmann 17e61a505f Final version of actor plugin 2023-02-14 17:03:17 +00:00
Bastian Hofmann bf36c02d2a Debugging and spacing. 2023-02-02 10:58:13 +00:00
Bastian Hofmann 355c8ff3b3 Merge branch 'new_rclcpp_process' 2023-02-02 06:20:54 +00:00
Bastian Hofmann 16e33e647d Added full shmem implementation, working without feedback. 2023-02-02 06:18:24 +00:00
Bastian Hofmann 1036aa919e Fixes for the new launch files for ignition 2023-01-31 19:39:30 +00:00
Bastian Hofmann fc7a74a8e8 First changes to fix multiple rclcpp instances in same process 2023-01-31 19:37:45 +00:00
Bastian Hofmann e0e44b1ffa Added "support" for controller plugin, currently segfaults. 2023-01-24 15:19:00 +00:00
Bastian Hofmann 3199b400d1 Clarify movement code 2023-01-16 12:41:34 +00:00
Bastian Hofmann f9f1766004 Connected and added movement part of Plugin. 2022-12-21 04:58:51 +00:00
Bastian Hofmann 38263dd13f Many changes to actor system. 
Changed Actions to fit their integrated functionality.
 2022-12-20 15:34:08 +00:00
Bastian Hofmann 9ecac8db13 Introduce new Actor functionality 2022-12-07 10:07:15 +00:00
Bastian Hofmann 42e03ac848 Fix LSP server 
Add buult binary to install location
 2022-12-07 10:06:46 +00:00
Bastian Hofmann 36c235b781 Humble merge 2022-11-22 15:27:05 +01:00
Bastian Hofmann 1ba1c7fc7b Merge remote-tracking branch 'refs/remotes/origin/master' 
Add new action based communication.
Disabled build for gazebo plugin.

# Conflicts:
#	src/ign_actor_plugin/CMakeLists.txt
 2022-09-22 09:42:03 +00:00
Bastian Hofmann 2871965ea1 Added ROS action server to new ignition actor plugin 2022-09-16 15:23:22 +02:00
Bastian Hofmann a7b8389557 Attempt to use new plugin format for tree nodes. 
Crude support for gazebo ignition
 2022-09-12 13:26:25 +02:00
Bastian Hofmann 7f9b30083f More Nodes for robot interaction, bugfixing, refactoring. 
probably final version
 2022-04-01 22:43:19 +02:00
Bastian Hofmann 7e878f2298 Some refactoring of names 
Added new nodes
 2022-03-30 23:11:14 +02:00
Bastian Hofmann 58d1d08d01 Fixed MoveConnection 2022-03-29 13:19:40 +02:00
Bastian Hofmann 406cba6989 added thread based moveit node, works once for now 2022-03-28 18:07:30 +02:00
Bastian Hofmann e8ecafc194 Created a nonfunctional node for robot movement 2022-03-27 19:26:14 +02:00
Bastian Hofmann 2d2bc89a6b i should be learning 
yet i am refactoring
this is not a poem
pain.
 2022-03-27 01:05:50 +01:00
Bastian Hofmann 435332c054 Reverting accidental commit. 2022-03-25 17:55:18 +01:00
Bastian Hofmann df9512a2b2 Migration to official movit parser 2022-03-25 16:20:10 +01:00
Bastian Hofmann 2d4d55b065 Commit before desaster 2022-03-25 14:34:30 +01:00
Bastian Hofmann cd714e6b7f Fixes to inertia matrices, now only ground collision will crash 2022-03-24 19:22:17 +01:00
Bastian Hofmann 36c56ea7c5 added moveit example 2022-03-22 16:43:37 +01:00
Bastian Hofmann e11840da5b Minor experimentation 2022-03-21 23:46:59 +01:00
Bastian Hofmann 71e384c8d7 Removed unused modules, code cleanup 2022-03-19 18:26:59 +01:00
Bastian Hofmann 0403aba97b improved iisy_config module 2022-03-18 09:16:59 +01:00
Bastian Hofmann 16816db994 improved iisy_config module 2022-03-18 09:15:41 +01:00
Bastian Hofmann b02a3a0689 Better launch process, not as hacky anymore. 2022-03-15 07:07:01 +01:00
Bastian Hofmann 2650b088f6 basic import of generated iisy_config 2022-03-15 05:53:38 +01:00
Bastian Hofmann 80da2d4153 Never changed ActorPlugin to Action, instead minor renaming and tweaks. 
Updated launch file to support GPU-acceleration of the gazebo client.
Created behavior tree for actor
Updated robot urdf, added better visualization and colliders.
 2022-03-14 21:02:55 +01:00
Bastian Hofmann 3f9b39f9d6 changes before converting ActorPlugin to Action 2022-03-03 14:29:52 +01:00
Bastian Hofmann c7e1e82b42 initial commit 2022-02-25 13:38:01 +01:00