Squashed 'src/lab_sim/' content from commit 2ee0461

git-subtree-dir: src/lab_sim
git-subtree-split: 2ee0461a27dc2165441ce9362a81db44303177d4

Author: MikeWrock

CMakeLists.txt

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+cmake_minimum_required(VERSION 3.22)
+project(lab_sim)
+
+find_package(ament_cmake REQUIRED)
+find_package(picknik_accessories REQUIRED)
+
+
+# Install all XML files in directory
+set(PICKNIK_ACCESSORIES_SHARE_DIR
+"${CMAKE_INSTALL_PREFIX}/../picknik_accessories/share/picknik_accessories/mujoco_assets/"
+)
+# Destination directory
+set(DEST_DIR "${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME}/description/")
+
+install(DIRECTORY "${PICKNIK_ACCESSORIES_SHARE_DIR}"
+        DESTINATION "${DEST_DIR}"
+        FILES_MATCHING PATTERN "*")
+
+# Install individual XML files
+# set(EXTERNAL_XML_FILES
+#   "${PICKNIK_ACCESSORIES_SHARE_DIR}/ur5e/ur5e_globals.xml"
+#   "${PICKNIK_ACCESSORIES_SHARE_DIR}/ur5e/ur5e.xml"
+#   # Add additional files here if desired
+# )
+# foreach(xml_file IN LISTS EXTERNAL_XML_FILES)
+#   install(FILES "${xml_file}"
+#           DESTINATION "${DEST_DIR}"
+#   )
+# endforeach()
+
+install(
+  DIRECTORY
+    config
+    description
+    launch
+    objectives
+    waypoints
+  DESTINATION
+    share/${PROJECT_NAME}
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

CONTRIBUTING.md

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+Any contribution that you make to this repository will
+be under the 3-Clause BSD License, as dictated by that
+[license](https://opensource.org/licenses/BSD-3-Clause).
+
+# Contributing to this Repository
+
+Thanks for getting involved! If you want to add to this repository, please reach out to [email protected].

LICENSE

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+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+   * Redistributions of source code must retain the above copyright
+     notice, this list of conditions and the following disclaimer.
+
+   * Redistributions in binary form must reproduce the above copyright
+     notice, this list of conditions and the following disclaimer in the
+     documentation and/or other materials provided with the distribution.
+
+   * Neither the name of the copyright holder nor the names of its
+     contributors may be used to endorse or promote products derived from
+     this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.

README.md

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+# lab_sim
+
+A MoveIt Pro simulation for PickNik's Universal Robots (UR) arm in a pharmaceutical environment.
+
+For detailed documentation see: [MoveIt Pro Documentation](https://docs.picknik.ai/)

config/config.yaml

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+#
+#  This contains information for a unique instance of a robot.
+#
+
+# Name of the package to specialize
+based_on_package: "picknik_ur_base_config"
+hardware:
+  # Parameters used to configure the robot description through XACRO.
+  # A URDF and SRDF are both required.
+  # [Required]
+  robot_description:
+    urdf:
+      package: "lab_sim"
+      path: "description/picknik_ur.xacro"
+    srdf:
+      package: "lab_sim"
+      path: "config/moveit/picknik_ur.srdf"
+    urdf_params:
+      - mujoco_model: "description/scene.xml"
+
+moveit_params:
+  servo:
+    package: "lab_sim"
+    path: "config/moveit/ur_servo.yaml"
+  joint_limits:
+    package: "lab_sim"
+    path: "config/moveit/joint_limits.yaml"
+  servo_joint_limits:
+    package: "lab_sim"
+    path: "config/moveit/hard_joint_limits.yaml"
+
+# Configuration for loading behaviors and objectives.
+# [Required]
+objectives:
+  # List of plugins for loading custom behaviors.
+  # [Required]
+  behavior_loader_plugins:
+    # This plugin will load the core MoveIt Pro Behaviors.
+    # Add additional plugin loaders as needed.
+    core:
+      - "moveit_studio::behaviors::CoreBehaviorsLoader"
+      - "moveit_studio::behaviors::MTCCoreBehaviorsLoader"
+      - "moveit_studio::behaviors::ServoBehaviorsLoader"
+      - "moveit_studio::behaviors::VisionBehaviorsLoader"
+      - "picknik_registration::PicknikRegistrationBehaviorsLoader"
+  # Specify source folder for objectives
+  # [Required]
+  objective_library_paths:
+    sim_objectives:
+      package_name: "lab_sim"
+      relative_path: "objectives"
+  # Specify the location of the saved waypoints file.
+  # [Required]
+  waypoints_file:
+    package_name: "lab_sim"
+    relative_path: "waypoints/ur_waypoints.yaml"
+
+
+# Configuration for launching ros2_control processes.
+# [Required, if using ros2_control]
+ros2_control:
+  config:
+    package: "lab_sim"
+    path: "config/control/picknik_ur.ros2_control.yaml"
+  # MoveIt Pro will load and activate these controllers at start up to ensure they are available.
+  # If not specified, it is up to the user to ensure the appropriate controllers are active and available
+  # for running the application.
+  # [Optional, default=[]]
+  controllers_active_at_startup:
+    - "force_torque_sensor_broadcaster"
+    - "robotiq_gripper_controller"
+    - "joint_state_broadcaster"
+    - "servo_controller"
+  # Load but do not start these controllers so they can be activated later if needed.
+  controllers_inactive_at_startup:
+    - "joint_trajectory_controller"
+    - "joint_trajectory_admittance_controller"
+    - "velocity_force_controller"
+  # Any controllers here will not be spawned by MoveIt Pro.
+  # [Optional, default=[]]
+  controllers_not_managed: []
+  # Optionally configure remapping rules to let multiple controllers receive commands on the same topic.
+  # [Optional, default=[]]
+  controller_shared_topics: []