Merge branch 'main' into refactor-existing-objectives-adjust-pose

src/picknik_ur_base_config/config/config.yaml

@@ -28,11 +28,6 @@ hardware:
   # [Optional, default=True]
   launch_robot_state_publisher: True
 
-  # If the MoveIt Pro Agent should launch cameras when simulated.
-  # This must be False when using mock hardware, since there are no cameras simulated.
-  # [Optional, default=True]
-  launch_cameras_when_simulated: False
-
   # The robot's IP address.
   # [Required]
   ip: "0.0.0.0"
@@ -56,12 +51,6 @@ hardware:
     package: "moveit_studio_agent"
     path: "launch/blank.launch.py"
 
-  # Configuration details for cameras and scene planning.
-  # [Required]
-  camera_config_file:
-    package: "picknik_ur_base_config"
-    path: "config/cameras.yaml"
-
   # Parameters used to configure the robot description through XACRO.
   # A URDF and SRDF are both required.
   # [Required]

src/picknik_ur_base_config/launch/agent_bridge.launch.xml

@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+    <include file="$(find-pkg-share moveit_studio_agent)/launch/studio_agent_bridge.launch.xml"/>
+    <include file="$(find-pkg-share moveit_studio_rest_api)/launch/rest_api.launch.xml"/>
+</launch>

src/picknik_ur_base_config/launch/rs_cameras.launch.xml

@@ -0,0 +1,45 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <arg name="scene_camera_serial_no" default="'0'" />
+  <arg name="wrist_mounted_camera_serial_no" default="'0'" />
+
+  <!-- Scene camera  -->
+  <include file="$(find-pkg-share realsense2_camera)/launch/rs_launch.py">
+    <arg name="camera_name" value="scene_camera"/>
+    <arg name="serial_no" value="$(var scene_camera_serial_no)"/>
+    <arg name="device_type" value="D415"/>
+    <arg name="depth_module.profile" value="640x480x6"/>
+    <arg name="pointcloud.enable" value="True"/>
+    <arg name="pointcloud.ordered_pc" value="True"/>
+    <arg name="decimation_filter.enable" value="False"/>
+
+    <!--# information about the topics the camera publishes the raw image and info-->
+    <arg name="rgb_info" value="/scene_camera/color/camera_info"/>
+    <arg name="rgb_image" value="/scene_camera/color/image_raw"/>
+    <arg name="registered_rgb_depth_pair.depth_info" value="/scene_camera/color/camera_info"/>
+    <arg name="registered_rgb_depth_pair.depth_image" value="/scene_camera/depth/image_rect_raw"/>
+    <arg name="registered_rgb_depth_pair.registered_info" value="/scene_camera/color/camera_info"/>
+    <arg name="registered_rgb_depth_pair.registered_image" value="/scene_camera/depth/image_rect_raw"/>
+  </include>
+
+  <!-- Wrist camera  -->
+  <include file="$(find-pkg-share realsense2_camera)/launch/rs_launch.py">
+    <arg name="camera_name" value="wrist_mounted_camera"/>
+    <arg name="serial_no" value="$(var wrist_mounted_camera_serial_no)"/>
+    <arg name="device_type" value="D415"/>
+    <arg name="depth_module.profile" value="640x480x6"/>
+    <arg name="pointcloud.enable" value="True"/>
+    <arg name="pointcloud.ordered_pc" value="True"/>
+    <arg name="decimation_filter.enable" value="False"/>
+
+    <!-- information about the topics the camera publishes the raw image and info -->
+    <arg name="rgb_info" value="/wrist_mounted_camera/color/camera_info"/>
+    <arg name="rgb_image" value="/wrist_mounted_camera/color/image_raw"/>
+
+    <!-- By adding registered_rgb_depth_pair, This camera can be used for "Set Transform From Click" -->
+    <arg name="registered_rgb_depth_pair.depth_info" value="/wrist_mounted_camera/depth/camera_info"/>
+    <arg name="registered_rgb_depth_pair.depth_image" value="/wrist_mounted_camera/depth/image_rect_raw"/>
+    <arg name="registered_rgb_depth_pair.registered_info" value="/wrist_mounted_camera/depth_registered/camera_info"/>
+    <arg name="registered_rgb_depth_pair.registered_image" value="/wrist_mounted_camera/depth_registered/image_rect"/>
+  </include>
+</launch>

src/picknik_ur_base_config/package.xml

@@ -20,6 +20,7 @@
   <exec_depend>moveit_studio_behavior</exec_depend>
   <exec_depend>moveit_studio_ur_pstop_manager</exec_depend>
   <exec_depend>picknik_accessories</exec_depend>
+  <exec_depend>realsense2_camera</exec_depend>
   <exec_depend>realsense2_description</exec_depend>
   <exec_depend>robotiq_description</exec_depend>
   <exec_depend>robotiq_controllers</exec_depend>

src/picknik_ur_gazebo_config/config/config.yaml

@@ -31,9 +31,6 @@ hardware:
   # This should be false if you are launching the robot state publisher as part of drivers.
   launch_robot_state_publisher: True
 
-  # If the MoveIt Pro Agent should launch cameras when simulated.
-  launch_cameras_when_simulated: True
-
   # The robot's IP address
   ip: "0.0.0.0"
 
@@ -42,11 +39,6 @@ hardware:
     package: "picknik_ur_gazebo_config"
     path: "launch/sim/hardware_sim.launch.py"
 
-  # Override other parameters from the base config package, including
-  # the camera configuration and the robot description model.
-  camera_config_file:
-    package: "picknik_ur_gazebo_config"
-    path: "config/cameras.yaml"
   robot_description:
     urdf:
       package: "picknik_ur_gazebo_config"

src/picknik_ur_gazebo_config/launch/sim/agent_bridge.launch.xml

@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+    <include file="$(find-pkg-share moveit_studio_agent)/launch/studio_agent_bridge.launch.xml"/>
+    <include file="$(find-pkg-share moveit_studio_rest_api)/launch/rest_api.launch.xml"/>
+</launch>

src/picknik_ur_gazebo_scan_and_plan_config/CMakeLists.txt

@@ -7,6 +7,7 @@ install(
   DIRECTORY
     config
     description
+    launch
     waypoints
     objectives
   DESTINATION

src/picknik_ur_gazebo_scan_and_plan_config/launch/agent_bridge.launch.xml

@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+    <include file="$(find-pkg-share moveit_studio_agent)/launch/studio_agent_bridge.launch.xml"/>
+    <include file="$(find-pkg-share moveit_studio_rest_api)/launch/rest_api.launch.xml"/>
+</launch>

src/picknik_ur_mock_hw_config/CMakeLists.txt

@@ -7,6 +7,7 @@ install(
   DIRECTORY
     config
     description
+    launch
     meshes
     objectives
     waypoints

src/picknik_ur_mock_hw_config/launch/agent_bridge.launch.xml

@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+    <include file="$(find-pkg-share moveit_studio_agent)/launch/studio_agent_bridge.launch.xml"/>
+    <include file="$(find-pkg-share moveit_studio_rest_api)/launch/rest_api.launch.xml"/>
+</launch>

src/picknik_ur_multi_arm_config/CMakeLists.txt

@@ -7,6 +7,7 @@ install(
   DIRECTORY
     config
     description
+    launch
     objectives
     waypoints
   DESTINATION

src/picknik_ur_multi_arm_config/config/config.yaml

@@ -22,11 +22,6 @@ hardware:
   # [Optional, default=True]
   launch_robot_state_publisher: True
 
-  # If the MoveIt Pro Agent should launch cameras when simulated.
-  # This must be False when using mock hardware, since there are no cameras simulated.
-  # [Optional, default=True]
-  launch_cameras_when_simulated: False
-
   # The robot's IP address.
   # [Required]
   ip: "0.0.0.0"
@@ -50,12 +45,6 @@ hardware:
     package: "moveit_studio_agent"
     path: "launch/blank.launch.py"
 
-  # Configuration details for cameras and scene planning.
-  # [Required]
-  camera_config_file:
-    package: "picknik_ur_multi_arm_config"
-    path: "config/cameras.yaml"
-
   # Parameters used to configure the robot description through XACRO.
   # A URDF and SRDF are both required.
   # [Required]

src/picknik_ur_multi_arm_config/launch/agent_bridge.launch.xml

@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+    <include file="$(find-pkg-share moveit_studio_agent)/launch/studio_agent_bridge.launch.xml"/>
+    <include file="$(find-pkg-share moveit_studio_rest_api)/launch/rest_api.launch.xml"/>
+</launch>

src/picknik_ur_site_config/CMakeLists.txt

@@ -8,7 +8,7 @@ install(
     config
     # Uncomment the following lines if you make use of these directories in you site_config package
     # description
-    # launch
+    launch
     objectives
     # waypoints
   DESTINATION

src/picknik_ur_site_config/launch/agent_bridge.launch.xml

@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+    <include file="$(find-pkg-share moveit_studio_agent)/launch/studio_agent_bridge.launch.xml"/>
+    <include file="$(find-pkg-share moveit_studio_rest_api)/launch/rest_api.launch.xml"/>
+</launch>