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Merged
Yadunund merged 55 commits into from
Jan 25, 2025
Merged

Introduce a RMF transportation workcell #42

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308a4d8
Migrate to ros2dds bridge
luca-della-vedova Nov 21, 2024
0cbb8ec
Bump ros2dds bridge version to fix warning spam
luca-della-vedova Dec 11, 2024
dc87dbf
Add source to transporter API
luca-della-vedova Nov 8, 2024
2871130
WIP first draft of RMF integration
luca-della-vedova Nov 21, 2024
89fbbe4
Change signals to contain task ids
luca-della-vedova Nov 21, 2024
a45f187
Move signaling from workcell to system orchestrator
luca-della-vedova Dec 4, 2024
d9e80fe
Change RMF transporter to be a workcell instead
luca-della-vedova Dec 9, 2024
f5cd789
Fix cancellation, feedback
luca-della-vedova Dec 9, 2024
89203ff
Add TransportAmr capability and RMF workcell
luca-della-vedova Dec 11, 2024
7574be9
Revert transporter changes
luca-della-vedova Dec 11, 2024
cd666b0
Add missing dependency
luca-della-vedova Dec 11, 2024
9ee9b55
Reintroduce signal queueing, cleanup debugs
luca-della-vedova Dec 12, 2024
5802441
Go back to task signaling
luca-della-vedova Dec 12, 2024
167061c
Remove backup files
luca-della-vedova Dec 12, 2024
d3c54a3
Add visualization package
luca-della-vedova Dec 13, 2024
cac92bd
Add demo package based on rmf_demos
luca-della-vedova Dec 13, 2024
08bc9d2
Remove printout
luca-della-vedova Dec 13, 2024
3452bf7
Move to nexus_integration_tests instead
luca-della-vedova Dec 13, 2024
e12f7b6
Fix integration test
luca-della-vedova Dec 13, 2024
4e83aa3
Fix repos file, reintroduce comprehensive test
luca-della-vedova Dec 13, 2024
4fe4811
Make sure AMRs are up before sending task
luca-della-vedova Dec 18, 2024
8540f3a
Fix copyrights for new files
luca-della-vedova Dec 19, 2024
aefa7a7
Merge branch 'main' into luca/rmf_transporter
luca-della-vedova Dec 27, 2024
6567fbb
Add dependency to yaml-cpp-vendor to nexus_capabilities
luca-della-vedova Dec 31, 2024
c96fdbf
Remove ament_target_dependencies
luca-della-vedova Dec 31, 2024
ead8808
Rename capability and add rmf namespace
luca-della-vedova Jan 3, 2025
18070e6
AmrDestination -> Destination
luca-della-vedova Jan 3, 2025
668cbe8
Merge branch 'main' into luca/rmf_transporter
luca-della-vedova Jan 6, 2025
2ddcafa
Split main / rmf main and create new integration test
luca-della-vedova Jan 6, 2025
82311cb
Move RMF orchestator to RMF launch file
luca-della-vedova Jan 6, 2025
17401d7
Merge branch 'main' into luca/rmf_transporter
luca-della-vedova Jan 8, 2025
c9f4726
Merge branch 'main' into luca/rmf_transporter
Yadunund Jan 10, 2025
161b2a4
Vendor RMF launch files, remove building_map_tools
luca-della-vedova Jan 10, 2025
64abc78
Namespace, file renaming, copyright
luca-della-vedova Jan 10, 2025
851082c
Reuse nexus_msgs structs, event based publication
luca-della-vedova Jan 10, 2025
65085d7
Remove nexus_visualization dependency
luca-della-vedova Jan 10, 2025
558b7d5
Remove nexus_visualization
luca-della-vedova Jan 10, 2025
3a5c1e7
Fix plugin path
luca-della-vedova Jan 10, 2025
a3999ad
Cleanup
luca-della-vedova Jan 10, 2025
f6dc652
Merge branch 'main' into luca/rmf_transporter
Yadunund Jan 13, 2025
f55bab2
Remove signaling at the system orchestrator level
luca-della-vedova Jan 14, 2025
f9705a7
Remove duplicated behavior trees and use remapping
luca-della-vedova Jan 14, 2025
0ad6bea
Remove unnecessary variable
luca-della-vedova Jan 14, 2025
541083e
Update copyrights
Yadunund Jan 15, 2025
bc73f23
Fix launch
Yadunund Jan 18, 2025
5d3daf8
Fix potential UB with comments, updated README to build with rmf.repos
aaronchongth Jan 20, 2025
1795826
Removed comments
aaronchongth Jan 20, 2025
08fa387
Sim demo with models from fuel using template sdf (#62)
aaronchongth Jan 22, 2025
5aa3daa
Use new DeliveryRobotWithConveyor model from fuel
aaronchongth Jan 22, 2025
285def7
Make remap_task_types and rviz_config launch args
Yadunund Jan 22, 2025
43ec932
Move maps into config/rmf
Yadunund Jan 22, 2025
3e9a291
Also make bt_path and max_jobs launch args
Yadunund Jan 22, 2025
43978e0
rmf_demos_fleet_adapter available via rosdep
Yadunund Jan 23, 2025
5fff133
Set nested models as static as well
aaronchongth Jan 23, 2025
6c6de52
Rename dispatch_transporter to assign_transporter_workcell
Yadunund Jan 25, 2025
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12 changes: 11 additions & 1 deletion nexus_capabilities/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -15,8 +15,12 @@ set(dep_pkgs
nexus_common
nexus_endpoints
nexus_orchestrator_msgs
nlohmann_json
rclcpp
rclcpp_lifecycle
rmf_dispenser_msgs
rmf_task_msgs
yaml_cpp_vendor
yaml-cpp
)
foreach(pkg ${dep_pkgs})
Expand Down Expand Up @@ -80,7 +84,7 @@ target_link_libraries(${PROJECT_NAME}
BT::behaviortree_cpp_v3
rclcpp::rclcpp
rclcpp_lifecycle::rclcpp_lifecycle
yaml-cpp
yaml-cpp::yaml-cpp
)

target_compile_features(${PROJECT_NAME} PUBLIC cxx_std_17)
Expand Down Expand Up @@ -126,6 +130,8 @@ add_library(nexus_builtin_capabilities SHARED
src/capabilities/gripper_control.cpp
src/capabilities/plan_motion_capability.cpp
src/capabilities/plan_motion.cpp
src/capabilities/rmf_request.cpp
src/capabilities/rmf_request_capability.cpp
)

target_compile_options(nexus_builtin_capabilities PUBLIC INTERFACE cxx_std_17)
Expand All @@ -135,9 +141,13 @@ target_link_libraries(nexus_builtin_capabilities
${PROJECT_NAME}
nexus_common::nexus_common
nexus_endpoints::nexus_endpoints
nlohmann_json::nlohmann_json
pluginlib::pluginlib
tf2::tf2
tf2_ros::tf2_ros
${rmf_dispenser_msgs_TARGETS}
${rmf_task_msgs_TARGETS}
yaml-cpp
)

install(
Expand Down
4 changes: 4 additions & 0 deletions nexus_capabilities/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -13,13 +13,17 @@
<depend>nexus_common</depend>
<depend>nexus_endpoints</depend>
<depend>nexus_orchestrator_msgs</depend>
<depend>nlohmann-json-dev</depend>
<depend>pluginlib</depend>
<depend>rclcpp</depend>
<depend>rclcpp_lifecycle</depend>
<depend>rmf_dispenser_msgs</depend>
<depend>rmf_task_msgs</depend>
<depend>rmf_utils</depend>
<depend>tf2</depend>
<depend>tf2_ros</depend>
<depend>yaml-cpp</depend>
<depend>yaml_cpp_vendor</depend>

<export>
<build_type>ament_cmake</build_type>
Expand Down
4 changes: 4 additions & 0 deletions nexus_capabilities/src/capabilities/plugins.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -18,4 +18,8 @@
<class type="nexus::capabilities::PlanMotionCapability" base_class_type="nexus::Capability">
<description>PlanMotion capability.</description>
</class>

<class type="nexus::capabilities::RMFRequestCapability" base_class_type="nexus::Capability">
<description>RMFRequest capability.</description>
</class>
</library>
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