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Merge pull request #78 from AGH-CEAI/feature/add_disable_cell_option
Add disable cell option
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‎.pre-commit-config.yaml‎

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args: [-w]
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- repo: https://github.com/astral-sh/ruff-pre-commit
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rev: v0.14.8
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rev: v0.14.9
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hooks:
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- id: ruff
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args:

‎aegis_bringup/CHANGELOG.md‎

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@@ -8,10 +8,14 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
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## [Unreleased]
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### Added
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* [PR-78](https://github.com/AGH-CEAI/aegis_ros/pull/78) - Introduced `disable_cell` and `disable_cell_collision` launch arguments.
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### Changed
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* [PR-78](https://github.com/AGH-CEAI/aegis_ros/pull/78) - Updated README.
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* [PR-73](https://github.com/AGH-CEAI/aegis_ros/pull/73) - Updated PlantUML launch files diagram.
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* [PR-63](https://github.com/AGH-CEAI/aegis_ros/pull/63) - Updated readme.
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* [PR-63](https://github.com/AGH-CEAI/aegis_ros/pull/63) - Updated README.
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* [PR-60](https://github.com/AGH-CEAI/aegis_ros/pull/60) - Updated launch files diagram.
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### Deprecated
@@ -29,7 +33,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
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### Added
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* [PR-9](https://github.com/AGH-CEAI/aegis_ros/pull/9) - Introduced `mock_hardware` and `launch_rviz` launch args.
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* [PR-9](https://github.com/AGH-CEAI/aegis_ros/pull/9) - Introduced `mock_hardware` and `launch_rviz` launch arguments.
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* [PR-7](https://github.com/AGH-CEAI/aegis_ros/pull/7) - Initial version of the Aegis ROS 2 packages.
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### Changed

‎aegis_bringup/README.md‎

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@@ -9,7 +9,7 @@ This package provides the configuration and launch files required to enable all
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## Run the project
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> [!CAUTION]
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> Never startup the project on the real hardware unattended!
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> Never start the project on real hardware unattended!
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1. Ensure that the `ros2_driver` program on the robot is loaded, and the robot is set to the `Remote` mode (the top-right corner on the teach pendant).
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@@ -21,13 +21,15 @@ ros2 launch aegis_bringup bringup.launch.py
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ros2 launch aegis_bringup bringup.launch.py mock_hardware:=false launch_rviz:=true
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```
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And you are ready to go!
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The system should now be up and running!
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Possible launch arguments:
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* `mock_hardware:={false, true}` (default: `false`) - enables the _fake_hardware_ feature of the ros2_control (the simplest "simulation").
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* `launch_rviz:={false, true}` (default: `true`) - launches visualization in RViz.
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* `mock_hardware:={false, true}` (default: `false`) – enables the _fake_hardware_ feature of the `ros2_control` (the simplest "simulation")
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* `launch_rviz:={false, true}` (default: `true`) – launches visualization in RViz
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* `disable_cell:={false, true}` (default: `false`) – completely removes the cell from the robot description
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* `disable_cell_collision:={false, true}` (default: `false`) – keeps the cell visual geometry but removes its collision geometry
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### Control the the client program on the robot via dashboard service:
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### Control the client program on the robot via dashboard service:
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```bash
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# Stop the program

‎aegis_bringup/launch/bringup.launch.py‎

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@@ -120,6 +120,24 @@ def generate_launch_description() -> LaunchDescription:
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"disable_cell",
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default_value=EnvironmentVariable("DISABLE_CELL", default_value="false"),
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description="Exclude the cell from description.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"disable_cell_collision",
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default_value=EnvironmentVariable(
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"DISABLE_CELL_COLLISION", default_value="false"
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),
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description="Exclude the cell collision from description.",
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)
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)
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declared_arguments.append(
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DeclareLaunchArgument(
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"launch_rviz",

‎aegis_description/CHANGELOG.md‎

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@@ -8,6 +8,9 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
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## [Unreleased]
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### Added
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* [PR-78](https://github.com/AGH-CEAI/aegis_ros/pull/78) - Added logic to allow selective inclusion of cell visual and collision geometry.
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### Changed
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* [PR-77](https://github.com/AGH-CEAI/aegis_ros/pull/77) - Changed `ur_base` frame to the `world` frame (simulation simplification).

‎aegis_description/launch/robot_description.launch.py‎

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def generate_launch_description():
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tf_prefix = LaunchConfiguration("tf_prefix", default="")
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mock_hardware = LaunchConfiguration("mock_hardware", default="false")
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disable_cell = LaunchConfiguration("disable_cell", default="false")
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disable_cell_collision = LaunchConfiguration(
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"disable_cell_collision", default="false"
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)
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robot_description_str = Command(
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[
@@ -32,6 +36,12 @@ def generate_launch_description():
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" ",
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"mock_hardware:=",
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mock_hardware,
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" ",
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"disable_cell:=",
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disable_cell,
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" ",
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"disable_cell_collision:=",
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disable_cell_collision,
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]
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)
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‎aegis_description/urdf/aegis.urdf.xacro‎

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Original file line numberDiff line numberDiff line change
@@ -1,6 +1,8 @@
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<?xml version="1.0"?>
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<robot xmlns:xacro="http://wiki.ros.org/xacro" name="aegis">
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<xacro:arg name="mock_hardware" default="false"/>
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<xacro:arg name="disable_cell" default="false"/>
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<xacro:arg name="disable_cell_collision" default="false"/>
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<xacro:arg name="base_link" default="world"/>
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<xacro:arg name="prefix" default=""/>
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<xacro:include filename="$(find aegis_description)/urdf/aegis.xacro"/>
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<link name="$(arg base_link)"/>
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<xacro:aegis_robot parent="$(arg base_link)" tf_prefix="$(arg tf_prefix)" prefix="$(arg prefix)" mock_hardware="$(arg mock_hardware)"/>
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<xacro:aegis_robot
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parent="$(arg base_link)"
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tf_prefix="$(arg tf_prefix)"
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prefix="$(arg prefix)"
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mock_hardware="$(arg mock_hardware)"
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disable_cell="$(arg disable_cell)"
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disable_cell_collision="$(arg disable_cell_collision)"
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/>
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</robot>

‎aegis_description/urdf/aegis.xacro‎

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@@ -13,8 +13,8 @@
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<xacro:include filename="$(find aegis_description)/urdf/modules/camera_tool_basler.xacro"/>
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<xacro:include filename="$(find aegis_description)/urdf/modules/lens_computar.xacro"/>
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16-
<xacro:macro name="aegis_robot" params="parent tf_prefix prefix mock_hardware">
17-
<xacro:cell parent="${parent}"/>
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<xacro:macro name="aegis_robot" params="parent tf_prefix prefix mock_hardware disable_cell disable_cell_collision">
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<xacro:cell parent="${parent}" disable_cell="${disable_cell}" disable_cell_collision="${disable_cell_collision}"/>
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<xacro:ur_definition name="aegis" parent="${parent}" tf_prefix="${tf_prefix}" mock_hardware="${mock_hardware}"/>
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<xacro:adapter_to_sensor parent="tool0" prefix="${prefix}"/>
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<xacro:ft_sensor_schunk_axia80 parent="adapter_to_sensor_end" prefix="${prefix}" mock_hardware="${mock_hardware}"/>
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<xacro:mount_camera_tool_luxonis parent="adapter_mount_front" prefix="${prefix}"/>
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<xacro:mount_camera_tool_basler parent="adapter_mount_right" prefix="${prefix}" side="right"/>
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<xacro:mount_camera_tool_basler parent="adapter_mount_left" prefix="${prefix}" side="left"/>
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<xacro:camera_scene_luxonis parent="cell"/>
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<xacro:camera_scene_luxonis parent="base_link"/>
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<xacro:camera_tool_luxonis parent="mount_front_end" prefix="${prefix}"/>
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<xacro:camera_tool_basler parent="mount_right_end" prefix="${prefix}" side="right"/>
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<xacro:camera_tool_basler parent="mount_left_end" prefix="${prefix}" side="left"/>

‎aegis_description/urdf/modules/camera_scene_luxonis.xacro‎

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parent="${parent}"
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camera_model="$(arg scene_camera_model)"
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base_frame="$(arg scene_camera_base_frame)"
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cam_pos_x="0.014"
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cam_pos_y="0.33"
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cam_pos_z="1.972"
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cam_roll="${pi / 2}"
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cam_pos_x="0.33"
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cam_pos_y="0.014"
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cam_pos_z="1.166"
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cam_roll="0"
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cam_pitch="${pi / 2}"
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cam_yaw="0"
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rs_compat="$(arg scene_camera_rs_compat)"

‎aegis_description/urdf/modules/cell.xacro‎

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<?xml version="1.0"?>
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<robot xmlns:xacro="http://ros.org/wiki/xacro">
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<xacro:macro name="cell" params="parent">
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<joint name="world_to_cell" type="fixed">
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<origin xyz="0 0 -0.806" rpy="0 0 -${0.5 * pi}"/>
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<parent link="${parent}"/>
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<child link="cell"/>
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</joint>
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<xacro:macro name="cell" params="parent disable_cell disable_cell_collision">
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<xacro:unless value="${disable_cell}">
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<joint name="world_to_cell" type="fixed">
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<origin xyz="0 0 -0.806" rpy="0 0 -${0.5 * pi}"/>
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<parent link="${parent}"/>
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<child link="cell"/>
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</joint>
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<link name="cell">
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<visual>
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<origin xyz="-0.460 -0.240 0.786" rpy="0 0 0"/>
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<geometry>
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<mesh filename="package://aegis_description/meshes/cell.dae" scale="1.0 1.0 1.0"/>
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</geometry>
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</visual>
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<collision>
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<origin xyz="0 -0.162 0.435" rpy="0 0 0"/>
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<geometry>
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<box size="0.72 0.324 0.87"/>
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</geometry>
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</collision>
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<collision>
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<origin xyz="0 0.162 0.41" rpy="0 0 0"/>
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<geometry>
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<box size="0.72 0.324 0.82"/>
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</geometry>
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</collision>
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<collision>
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<origin xyz="0.48 0 0.97" rpy="0 0 0"/>
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<geometry>
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<box size="0.08 0.648 1.94"/>
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</geometry>
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</collision>
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<collision>
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<origin xyz="0.4 0 0.435" rpy="0 0 0"/>
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<geometry>
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<box size="0.08 0.648 0.87"/>
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</geometry>
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</collision>
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<collision>
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<origin xyz="-0.48 0 0.97" rpy="0 0 0"/>
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<geometry>
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<box size="0.08 0.648 1.94"/>
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</geometry>
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</collision>
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<collision>
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<origin xyz="-0.4 0 0.435" rpy="0 0 0"/>
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<geometry>
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<box size="0.08 0.648 0.87"/>
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</geometry>
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</collision>
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<collision>
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<origin xyz="0 0.04 1.98" rpy="0 0 0"/>
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<geometry>
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<box size="1.04 0.728 0.08"/>
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</geometry>
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</collision>
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<collision>
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<origin xyz="0 -0.62 1.2" rpy="0 0 0"/>
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<geometry>
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<box size="2.4 0.02 2.4"/>
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</geometry>
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</collision>
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</link>
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<link name="cell">
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<visual>
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<origin xyz="-0.460 -0.240 0.786" rpy="0 0 0"/>
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<geometry>
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<mesh filename="package://aegis_description/meshes/cell.dae" scale="1.0 1.0 1.0"/>
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</geometry>
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</visual>
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<xacro:unless value="${disable_cell_collision}">
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<collision>
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<origin xyz="0 -0.162 0.435" rpy="0 0 0"/>
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<geometry>
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<box size="0.72 0.324 0.87"/>
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</geometry>
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</collision>
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<collision>
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<origin xyz="0 0.162 0.41" rpy="0 0 0"/>
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<geometry>
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<box size="0.72 0.324 0.82"/>
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</geometry>
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</collision>
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<collision>
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<origin xyz="0.48 0 0.97" rpy="0 0 0"/>
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<geometry>
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<box size="0.08 0.648 1.94"/>
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</geometry>
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</collision>
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<collision>
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<origin xyz="0.4 0 0.435" rpy="0 0 0"/>
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<geometry>
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<box size="0.08 0.648 0.87"/>
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</geometry>
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</collision>
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<collision>
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<origin xyz="-0.48 0 0.97" rpy="0 0 0"/>
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<geometry>
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<box size="0.08 0.648 1.94"/>
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</geometry>
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</collision>
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<collision>
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<origin xyz="-0.4 0 0.435" rpy="0 0 0"/>
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<geometry>
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<box size="0.08 0.648 0.87"/>
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</geometry>
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</collision>
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<collision>
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<origin xyz="0 0.04 1.98" rpy="0 0 0"/>
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<geometry>
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<box size="1.04 0.728 0.08"/>
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</geometry>
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</collision>
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<collision>
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<origin xyz="0 -0.62 1.2" rpy="0 0 0"/>
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<geometry>
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<box size="2.4 0.02 2.4"/>
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</geometry>
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</collision>
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</xacro:unless>
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</link>
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</xacro:unless>
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</xacro:macro>
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</robot>

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