Code

Create simulation handlers#102

Code

Merged

alexvannobel merged 35 commits intofeature/improve-simulationKinovarobotics/ros_kortex:feature/improve-simulationfrom feature/create-simulation-handlers-managerKinovarobotics/ros_kortex:feature/create-simulation-handlers-managerCopy head branch name to clipboardJun 22, 2020

+1,765-279

Commits

Commits on Jun 9, 2020

• Created interface class and put the RPC handlers in robot folder

  alexvannobel

  committed
  7f5f14c

  Copy full SHA for 7f5f14c

• Now the robot functions interface work just like before

  alexvannobel

  committed
  8fe70f3

  Copy full SHA for 8fe70f3

• Added templates and generation for simulated services

  alexvannobel

  committed
  e0d02d3

  Copy full SHA for e0d02d3

• Added the simulation services to the driver headers

  alexvannobel

  committed
  6637d45

  Copy full SHA for 6637d45

• Added newly generated files to repo

  alexvannobel

  committed
  892513b

  Copy full SHA for 892513b

Commits on Jun 10, 2020

• Added simulation option to the driver so the gazebo package can launch the kortex_driver too, in a different mode

  alexvannobel

  committed
  382909f

  Copy full SHA for 382909f

• Adapt joint_limits files to correctly take prefix option

  alexvannobel

  committed
  4e44824

  Copy full SHA for 4e44824

• Change description and control files to support prefix option

  alexvannobel

  committed
  0e6cfe6

  Copy full SHA for 0e6cfe6

• Change MoveIt config launch and config files to enable prefix option - only SRDF modifications remain

  alexvannobel

  committed
  9de4f6c

  Copy full SHA for 9de4f6c

• Added xacro usage in SRDF files to be able to prefix joint names

  alexvannobel

  committed
  ab82fde

  Copy full SHA for ab82fde

Commits on Jun 11, 2020

• Adjust ompl planning launch and config files to support prefixing joint names

  alexvannobel

  committed
  3c01900

  Copy full SHA for 3c01900

• Remove --inorder from xacro calls since it's default now

  alexvannobel

  committed
  f22a40d

  Copy full SHA for f22a40d

• Merge branch 'feature/improve-simulation' into feature/adapt-simulation-launch-files

  alexvannobel

  committed
  edec94a

  Copy full SHA for edec94a

• Set default gripper in launch files

  alexvannobel

  committed
  5587eea

  Copy full SHA for 5587eea

• Add namespace to launch file parameters passed to driver

  alexvannobel

  committed
  d1990b5

  Copy full SHA for d1990b5

• Added class and implementation for simulator

  alexvannobel

  committed
  6b86feb

  Copy full SHA for 6b86feb

• Add stubs and register handlers for Action API

  alexvannobel

  committed
  fd2c4f3

  Copy full SHA for fd2c4f3

Commits on Jun 15, 2020

• Add implementation for default actions and ReacAction/ReadAllActions

  alexvannobel

  committed
  4e66bc9

  Copy full SHA for 4e66bc9

• Added some unit tests for simulator and CreateAction implentation

  alexvannobel

  committed
  088919e

  Copy full SHA for 088919e

• Added the case where the prefix could be empty in XACRO

  alexvannobel

  committed
  f9abad1

  Copy full SHA for f9abad1

• Added prefix support for fake controllers in MoveIt configs

  alexvannobel

  committed
  efcf923

  Copy full SHA for efcf923

• Added a missing prefix value for Gen3 and fix the if and unless tags

  alexvannobel

  committed
  6f5b45b

  Copy full SHA for 6f5b45b

• Add test launch file to launch simulator unit tests

  alexvannobel

  committed
  19811b5

  Copy full SHA for 19811b5

• Don't create the gripper Move Group if no gripper on the arm

  alexvannobel

  committed
  1d24817

  Copy full SHA for 1d24817

• Added DeleteAction implementation and tests

  alexvannobel

  committed
  e2843c0

  Copy full SHA for e2843c0

Commits on Jun 16, 2020

• Add implementation and tests for UpdateAction

  alexvannobel

  committed
  634e36b

  Copy full SHA for 634e36b

• Added basic frame for a threaded action executor

  alexvannobel

  committed
  b7be7b7

  Copy full SHA for b7be7b7

• Added publishing for action topic before and after action execution

  alexvannobel

  committed
  c5d5785

  Copy full SHA for c5d5785

• Added StopAction logic and tests for executing and aborting actions

  alexvannobel

  committed
  798b43c

  Copy full SHA for 798b43c

• Added stubs for other RPCs we want to support at first in simulation

  alexvannobel

  committed
  45ae121

  Copy full SHA for 45ae121

• Added implementation for other RPCs worth simulating

  alexvannobel

  committed
  3f33b02

  Copy full SHA for 3f33b02

• Added some data structure checks and TODOs in executors

  alexvannobel

  committed
  6fd9104

  Copy full SHA for 6fd9104

• Added tests for newly added RPCs

  alexvannobel

  committed
  a78256f

  Copy full SHA for a78256f

• Merge branch 'feature/improve-simulation' into feature/create-simulation-handlers-manager

  alexvannobel

  committed
  6a1b08f

  Copy full SHA for 6a1b08f

Commits on Jun 17, 2020

• Remove merge artefacts

  alexvannobel

  committed
  e490b55

  Copy full SHA for e490b55