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dual arm demo pr #555

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merged 3 commits into from
Aug 30, 2024
Merged

dual arm demo pr #555

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9616e6a
dual arm demo pr
Jul 30, 2024
02a838f
Versioning issues and misc changes
Jul 30, 2024
7434155
fixing cb_load_waypoints spelling error
Aug 1, 2024
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3 changes: 1 addition & 2 deletions smacc2_client_library/moveit2z_client/CHANGELOG.rst
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@@ -1,15 +1,14 @@
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Changelog for package moveit2z_client
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

2.3.16 (2023-07-16)
-------------------
* Merge branch 'humble' of https://github.com/robosoft-ai/SMACC2 into humble
* Brettpac branch (`#518 <https://github.com/robosoft-ai/SMACC2/issues/518>`_)
* Attempt to fix weird issue with ros buildfarm
* More on this buildfarm issue
---------
Co-authored-by: brettpac <[email protected]>
Co-authored-by: brettpac <[email protected]>
* Contributors: brettpac, pabloinigoblasco

2.3.6 (2023-03-12)
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2 changes: 1 addition & 1 deletion ...av2z_client/nav2z_client/include/nav2z_client/client_behaviors/cb_load_waypoints_file.hpp
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Expand Up @@ -30,7 +30,7 @@ struct CbLoadWaypointsFile : public smacc2::SmaccAsyncClientBehavior
public:
CbLoadWaypointsFile(std::string filepath);

CbLoadWaypointsFile(std::string parameter_name, std::string packagenamesapce);
CbLoadWaypointsFile(std::string parameter_name, std::string packagenamespace);

void onEntry() override;

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4 changes: 2 additions & 2 deletions ...ry/nav2z_client/nav2z_client/src/nav2z_client/client_behaviors/cb_load_waypoints_file.cpp
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Expand Up @@ -27,8 +27,8 @@ namespace cl_nav2z

CbLoadWaypointsFile::CbLoadWaypointsFile(std::string filepath) : filepath_(filepath) {}

CbLoadWaypointsFile::CbLoadWaypointsFile(std::string parameter_name, std::string packagenamesapce)
: parameterName_(parameter_name), packageNamespace_(packagenamesapce)
CbLoadWaypointsFile::CbLoadWaypointsFile(std::string parameter_name, std::string packagenamespace)
: parameterName_(parameter_name), packageNamespace_(packagenamespace)
{
}

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3 changes: 3 additions & 0 deletions smacc2_sm_reference_library/sm_multi_panda_sim/panda_arm_1_moveit_config/package.xml
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Expand Up @@ -36,6 +36,9 @@
<!-- TODO(#40): Package not available in ROS 2, find equivalent when migrating launch files
<exec_depend>topic_tools</exec_depend>
-->
<!-- This package is referenced in the warehouse launch files, but does not build out of the box at the moment.
Commented the dependency until this works. -->
<!-- <exec_depend>warehouse_ros_mongo</exec_depend> -->

<export>
<build_type>ament_cmake</build_type>
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1 change: 1 addition & 0 deletions smacc2_sm_reference_library/sm_multi_panda_sim/panda_arm_2_moveit_config/package.xml
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Expand Up @@ -39,6 +39,7 @@
-->
<!-- This package is referenced in the warehouse launch files, but does not build out of the box at the moment.
Commented the dependency until this works. -->
<!-- <exec_depend>warehouse_ros_mongo</exec_depend> -->

<export>
<build_type>ament_cmake</build_type>
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61 changes: 0 additions & 61 deletions smacc2_sm_reference_library/sm_multi_panda_sim/sm_multi_panda_sim/CHANGELOG.rst
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This file was deleted.

4 changes: 2 additions & 2 deletions ...m_multi_panda_sim/clients/move_group/client_behaviors/cb_move_synchronized_link_goals.hpp
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Expand Up @@ -34,7 +34,7 @@ namespace cl_moveit2z
class CbMoveSynchronizedLinkGoals : public smacc2::SmaccAsyncClientBehavior
{
public:
CbMoveSynchronizedLinkGoals(const std::vector<geometry_msgs::msg::PoseStamped>& /*poses*/, const std::vector<std::string>& /*names*/)
CbMoveSynchronizedLinkGoals(const std::vector<geometry_msgs::msg::PoseStamped>& poses, const std::vector<std::string>& names)
{

}
Expand Down Expand Up @@ -66,7 +66,7 @@ class CbMoveSynchronizedLinkGoals : public smacc2::SmaccAsyncClientBehavior
}

private:
void onMessageReceived(const sensor_msgs::msg::JointState & /*msg*/)
void onMessageReceived(const sensor_msgs::msg::JointState & msg)
{
postSuccessEvent();
mutex.unlock();
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2 changes: 1 addition & 1 deletion ...m/include/sm_multi_panda_sim/clients/move_group/client_behaviors/cb_wait_joint_states.hpp
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Expand Up @@ -70,7 +70,7 @@ class CbWaitJointState : public smacc2::SmaccAsyncClientBehavior
}

private:
void onMessageReceived(const sensor_msgs::msg::JointState & /*msg*/)
void onMessageReceived(const sensor_msgs::msg::JointState & msg)
{
RCLCPP_INFO(getLogger(), "CbWaitJointState::onMessageReceived, posting event");
postSuccessEvent();
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1 change: 1 addition & 0 deletions smacc2_sm_reference_library/sm_multi_panda_sim/sm_multi_panda_sim/package.xml
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Expand Up @@ -16,6 +16,7 @@
<depend>smacc2</depend>
<depend>moveit2z_client</depend>
<depend>controller_manager</depend>
<!-- <depend>warehouse_ros_mongo</depend> -->
<depend>moveit_configs_utils</depend>
<exec_depend>moveit_resources_panda_description</exec_depend>

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