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Trajecotry Bleding in robot client #17

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Trajecotry Bleding in robot client #17

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b0c97e4
Working on bleinding with robot client, push unfishined work in bt_ex…
mamueluth Dec 18, 2024
1c2bddc
Fin indention and only execute sequence if elements in the queue
mamueluth Dec 19, 2024
b3109cf
Fix idention for execution with blending
mamueluth Dec 20, 2024
af5914b
Add node to executor and spinn node
mamueluth Dec 20, 2024
0b3cdd3
Call blending action synchronous
mamueluth Dec 20, 2024
3bb1720
add move_object service (#16)
muritane Dec 20, 2024
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1 change: 1 addition & 0 deletions sr_manipulation_interfaces/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -41,6 +41,7 @@ set(srv_files
srv/PublishPoseAsTF.srv
srv/RemoveObjects.srv
srv/GetObjectPose.srv
srv/MoveObject.srv
srv/AttachObject.srv
srv/DetachObject.srv
srv/MoveToPose.srv
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3 changes: 3 additions & 0 deletions sr_manipulation_interfaces/action/Manip.action
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Expand Up @@ -22,6 +22,8 @@ bool disable_scene_handling

# only plan, not execution
bool only_plan
float64 blend_radius
bool add_to_blending_queue

# enforce the planner profile (empty means use default)
string planner_profile
Expand All @@ -32,6 +34,7 @@ string gripper_cmd_action_name
string[] controller_names
float64 velocity_scaling_factor
float64 acceleration_scaling_factor
float64 allowed_planning_time
bool preempt_ok
---
# final state effectively reached
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2 changes: 2 additions & 0 deletions sr_manipulation_interfaces/msg/ManipType.msg
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Expand Up @@ -18,3 +18,5 @@ int8 MANIP_MOVE_POSTPLACE=55
int8 MANIP_GRIPPER_ADJUST=100
int8 MANIP_GRIPPER_OPEN=101
int8 MANIP_GRIPPER_CLOSE=102
# additional actions
int8 EXECUTE_MOVE_SEQUENCE=120
6 changes: 6 additions & 0 deletions sr_manipulation_interfaces/srv/MoveObject.srv
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@@ -0,0 +1,6 @@
# Request
string object_id
geometry_msgs/PoseStamped pose
---
# Response
ServiceResult result
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