Sync with ros2 branch (#195)

* 点群認識サンプルの追加 (#176)

* 点群を0.5mの距離でフィルタリング

* Voxel gridでダウンサンプリング

* 点群の座標変換

* 点群の座標変換修正

* 点群の取得範囲変更

* KdTreeによるクラスタリング

* 認識した物体位置をtfで配信

* スタイル修正

* ファイル名変更

* point_cloud_detectionをサンプル実行用launchに追加

* 不要な変数を削除

* Update README

* プレース後の物体を再度把持してしまうためプレース位置修正

* 認識後の点群をRvizに表示

* 平面検出処理追加

* コメント修正

* READMEに動画URL追加

* tfの表示時間短縮

* タイムスタンプを一致させるためheaderをコピー

* 点群の重心位置を物体位置として配信

* tfの取得時間の範囲を変更

* 物体位置の高さ制限を追加

* 平面検出をコメントアウト

* newをmake_sharedに置き換え

* 点群処理を複数の関数に分割

* Copyright表記修正

Co-authored-by: Shota Aoki <[email protected]>

* Update README

* 変数の型修正

Co-authored-by: Shota Aoki <[email protected]>

* 変数の型修正

Co-authored-by: Shota Aoki <[email protected]>

* 変数名修正

Co-authored-by: Shota Aoki <[email protected]>

* 点群取得範囲修正

Co-authored-by: Shota Aoki <[email protected]>

* 平面検出の判定条件修正

Co-authored-by: Shota Aoki <[email protected]>

* for文を範囲for文に変更

Co-authored-by: Shota Aoki <[email protected]>

* for文を範囲for文に変更

Co-authored-by: Shota Aoki <[email protected]>

* 認識範囲に点群がない場合INFOを出力

---------

Co-authored-by: Shota Aoki <[email protected]>

* バージョンタグを4.2.0に更新 (#177)

v4.2.0に更新

* 色認識サンプルの追加 (#183)

* 色認識追加

* 二値化画像を配信

* 不要な処理を削除

* RVizに二値化画像を表示

* 距離のオフセット追加

* 変数名変更

* カーネルを変更

* 不要な空行を削除

* 画像取得時のheaderをtfに使用

* コメント、変数名修正

* Update README

* コメント修正

* 変数名変更

* 動画URL追加

* バージョンタグを4.3.0に更新 (#184)

* Remove gz ros2 controll installation. (#189)

Remove gz ros2 controll installation

* Gazeboのclockをtopicへ配信 (#192)

ros_gz_bridge追加

* goal_toleranceの設定と把持角の調整 (#193)

* goal_tolerance調整

* グリッパ角調整

* Prepare for release 4.4.0 (#194)

4.4.0

---------

Co-authored-by: Shota Aoki <[email protected]>

.ci.rosinstall

@@ -1,8 +1,4 @@
 - git:
     uri: https://github.com/rt-net/crane_x7_description.git
     local-name: crane_x7_description
-    version: ros2
-- git:
-    uri: https://github.com/ros-controls/gz_ros2_control.git
-    local-name: gz_ros2_control
-    version: humble
+    version: ros2

README.en.md

@@ -55,7 +55,6 @@ $ git clone -b ros2 https://github.com/rt-net/crane_x7_ros.git
 $ git clone -b ros2 https://github.com/rt-net/crane_x7_description.git
 
 # Install dependencies
-$ git clone -b humble https://github.com/ros-controls/gz_ros2_control.git
 $ rosdep install -r -y -i --from-paths .
 
 # Build & Install

README.md

@@ -57,7 +57,6 @@ $ git clone -b ros2 https://github.com/rt-net/crane_x7_ros.git
 $ git clone -b ros2 https://github.com/rt-net/crane_x7_description.git
 
 # Install dependencies
-$ git clone -b humble https://github.com/ros-controls/gz_ros2_control.git
 $ rosdep install -r -y -i --from-paths .
 
 # Build & Install

crane_x7/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>crane_x7</name>
-  <version>4.3.0</version>
+  <version>4.4.0</version>
   <description>ROS 2 package suite of CRANE-X7</description>
   <maintainer email="[email protected]">RT Corporation</maintainer>
   <license>Apache License 2.0</license>

crane_x7_control/config/crane_x7_controllers.yaml

@@ -29,6 +29,7 @@ crane_x7_arm_controller:
 crane_x7_gripper_controller:
   ros__parameters:
     joint: crane_x7_gripper_finger_a_joint
+    goal_tolerance: 0.1
 
     command_interfaces:
       - position

crane_x7_control/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>crane_x7_control</name>
-  <version>4.3.0</version>
+  <version>4.4.0</version>
   <description>The CRANE-X7 control package</description>
   <maintainer email="[email protected]">RT Corporation</maintainer>
   <license>Apache License 2.0</license>

crane_x7_examples/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>crane_x7_examples</name>
-  <version>4.3.0</version>
+  <version>4.4.0</version>
   <description>CRANE-X7 examples package</description>
   <maintainer email="[email protected]">RT Corporation</maintainer>
   <license>Apache License 2.0</license>

crane_x7_examples/src/pick_and_place_tf.cpp

@@ -163,7 +163,7 @@ class PickAndPlaceTf : public rclcpp::Node
   {
     const double GRIPPER_DEFAULT = 0.0;
     const double GRIPPER_OPEN = angles::from_degrees(60.0);
-    const double GRIPPER_CLOSE = angles::from_degrees(15.0);
+    const double GRIPPER_CLOSE = angles::from_degrees(20.0);
 
     // 何かを掴んでいた時のためにハンドを開閉
     control_gripper(GRIPPER_OPEN);

crane_x7_gazebo/launch/crane_x7_with_table.launch.py

@@ -82,12 +82,20 @@ def generate_launch_description():
                 output='screen',
             )
 
+    bridge = Node(
+                package='ros_gz_bridge',
+                executable='parameter_bridge',
+                arguments=['/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock'],
+                output='screen'
+            )
+
     return LaunchDescription([
         SetParameter(name='use_sim_time', value=True),
         ign_gazebo,
         ignition_spawn_entity,
         move_group,
         spawn_joint_state_controller,
         spawn_arm_controller,
-        spawn_gripper_controller
+        spawn_gripper_controller,
+        bridge
     ])

crane_x7_gazebo/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>crane_x7_gazebo</name>
-  <version>4.3.0</version>
+  <version>4.4.0</version>
   <description>The crane_x7_gazebo package</description>
   <maintainer email="[email protected]">RT Corporation</maintainer>
   <license>Apache License 2.0</license>

crane_x7_moveit_config/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>crane_x7_moveit_config</name>
-  <version>4.3.0</version>
+  <version>4.4.0</version>
   <description>CRANE-X7 move_group config package</description>
   <maintainer email="[email protected]">RT Corporation</maintainer>
   <license>Apache License 2.0</license>