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Add Machine Tending Mock Hardware Configuration (#72)
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| # MoveIt Studio Workspace | ||
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| This is a sample user workspace for running MoveIt Studio with a generic Universal Robots arm. | ||
| This is a sample user workspace for running MoveIt Studio with a generic Universal Robots (UR) arm. | ||
| For more information, refer to the [MoveIt Studio Documentation](https://docs.picknik.ai/). | ||
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| Instructions for building your own MoveIt Studio configuration can be found [in the getting started guides.](https://docs.picknik.ai/en/stable/getting_started/getting_started.html) | ||
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| MoveIt Studio can be used with real robots and full simulators such as Gazebo and NVIDIA Isaac Sim. | ||
| For testing purposes, you can also use the [ROS 2 Control Mock Components](https://control.ros.org/master/doc/ros2_control/hardware_interface/doc/mock_components_userdoc.html), which is what this repo is configured to use. | ||
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| --- | ||
| ## MoveIt Studio Configuration | ||
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| This package follows the recommended layout of a MoveIt Studio configuration package. | ||
| Any configuration package or custom Behavior implementation can be included in the `src/` directory. | ||
| Packages in `src/` will be compiled and sourced by MoveIt Studio at first launch. | ||
| This workspace offers a reasonable starting point for those users looking to develop with MoveIt Studio using custom base and site configurations. | ||
| For more information refer to the [online documentation](https://docs.picknik.ai/en/stable/). | ||
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| ### Concepts | ||
| ## Universal Robots Configuration Packages | ||
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| MoveIt Studio supports two types of site configuration packages, a base config and site config. | ||
| This workspace contains several MoveIt Studio configuration packages for UR arms that inherit from each other for different applications. | ||
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| [Base configs](src/picknik_ur_base_config/README.md) are used to configure all of the system components that remain unchanged when deploying the robot to a new location. | ||
| ```mermaid | ||
| graph TB | ||
| Base[picknik_ur_base_config] --> Site[picknik_ur_site_config] | ||
| Base --> Mock[picknik_ur_mock_hw_config] | ||
| Site --> Gazebo[picknik_ur_gazebo_config] | ||
| Site --> Picknik[Other PickNik configs] | ||
| ``` | ||
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| [Site configs](src/picknik_ur_site_config/README.md) are used to override any parameters of the base configuration, or add additional features or constraints for a particular installation. | ||
| Specifically: | ||
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| This workspace offers a reasonable starting point for those users looking to develop with MoveIt Studio using custom base and site configurations. | ||
| For more information refer to the [online documentation](https://docs.picknik.ai/en/stable/). | ||
| * `picknik_ur_base_config` contains common configuration for all UR arms, real or simulated. | ||
| * `picknik_ur_mock_hw_config` provides overrides for a machine tending application simulated using mock components (no physics). | ||
| * `picknik_ur_site_config` extends the base configuration with capabilities for robots with physics and perception. | ||
| * `picknik_ur_gazebo_config` extends the site configuration with support for the Gazebo simulator. | ||
| * Other hardware-specific configurations, such as the ones used on PickNik's UR arms, inherit from `picknik_ur_site_config`. |
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| # picknik_ur_base_config | ||
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| A MoveIt Studio base configuration for PickNik's UR5e simulation. | ||
| A MoveIt Studio base configuration for PickNik's Universal Robots (UR) arms. | ||
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| For detailed documentation see: [MoveIt Studio Documentation](https://docs.picknik.ai/) |
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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: | ||
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| * Redistributions of source code must retain the above copyright | ||
| notice, this list of conditions and the following disclaimer. | ||
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| * 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. | ||
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| * 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. | ||
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| 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. |
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| cmake_minimum_required(VERSION 3.22) | ||
| project(picknik_ur_mock_hw_config) | ||
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| find_package(ament_cmake REQUIRED) | ||
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| install( | ||
| DIRECTORY | ||
| config | ||
| description | ||
| meshes | ||
| objectives | ||
| waypoints | ||
| DESTINATION | ||
| share/${PROJECT_NAME} | ||
| ) | ||
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| if(BUILD_TESTING) | ||
| find_package(ament_lint_auto REQUIRED) | ||
| ament_lint_auto_find_test_dependencies() | ||
| endif() | ||
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| ament_package() |
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