ros2rag issueshttps://git-st.inf.tu-dresden.de/jastadd/ros2rag/-/issues2020-07-29T10:54:59+02:00https://git-st.inf.tu-dresden.de/jastadd/ros2rag/-/issues/23configure safety zone better2020-07-29T10:54:59+02:00René Schöneconfigure safety zone betterIdeal would be a safety zone, that the robot moves through (maybe only depending on the concrete trajectory).
Currently, the robot is _always_ in the safety zone, because the first (immutable) part of the robot is contained in it.Ideal would be a safety zone, that the robot moves through (maybe only depending on the concrete trajectory).
Currently, the robot is _always_ in the safety zone, because the first (immutable) part of the robot is contained in it.Implementation for paperJohannes MeyJohannes Meyhttps://git-st.inf.tu-dresden.de/jastadd/ros2rag/-/issues/30Add Goal-/Application-Model module2020-07-16T13:55:16+02:00René SchöneAdd Goal-/Application-Model moduleIdea: workflow with given points and "worktime"
Workflow = { move to point $`P_i`$ - Wait $`t_i`$ seconds } $`\forall i \in I`$
Grammar:
```=
Application ::= WorkPose* /Workflow/ RobotState;
RobotState ::= <CurrentPosition:DoublePosi...Idea: workflow with given points and "worktime"
Workflow = { move to point $`P_i`$ - Wait $`t_i`$ seconds } $`\forall i \in I`$
Grammar:
```=
Application ::= WorkPose* /Workflow/ RobotState;
RobotState ::= <CurrentPosition:DoublePosition>;
WorkPose ::= <Position:DoublePosition> <Duration:double>;
Workflow ::= Step* /<NextPosition:DoublePosition>/ ;
abstract Step ;
MoveTo : Step ::= <Position:DoublePosition> ; // in [m,m,m]
Work : Step ::= <Duration:double> ; // in s
rel Step.successor <-> Step.predecessor*;
rel Workflow.currentStep? -> Step;
```
Definitions:
```java=1
read Goal.CurrentPosition using ... ;
write Workflow.NextPosition using CreateTrajectoryMessage, SerializeTrajectory;
CreateTrajectoryMessage maps DoublePosition dp to plan.TrajectoryMessage {:
// compute intermediate points at ROS side, not here
:}
```Implementation for paperRené SchöneRené Schönehttps://git-st.inf.tu-dresden.de/jastadd/ros2rag/-/issues/31Ignore unknown parts of config.yaml2020-07-16T13:54:13+02:00René SchöneIgnore unknown parts of config.yamlImplementation for paperRené SchöneRené Schönehttps://git-st.inf.tu-dresden.de/jastadd/ros2rag/-/issues/29Read from common YAML config2020-07-07T19:45:29+02:00René SchöneRead from common YAML configOnce specified, change config format from JSON to YAML.
Tasks:
- [x] update Gradle to include YAML reader of Jackson
- [x] update data configuration to match input format
- [x] adapt starter main to new data configurationOnce specified, change config format from JSON to YAML.
Tasks:
- [x] update Gradle to include YAML reader of Jackson
- [x] update data configuration to match input format
- [x] adapt starter main to new data configurationImplementation for paperRené SchöneRené Schönehttps://git-st.inf.tu-dresden.de/jastadd/ros2rag/-/issues/28Update safety zones2020-07-02T19:48:01+02:00René SchöneUpdate safety zonesCoordinates in safety zones and joint positions are meant to be voxels (and are transformed from coordinates in meters coming from ROS)
Tasks:
- [x] Remove size from safety zone nonterminal
- [x] Update `isInSafetyZone` to a now simple...Coordinates in safety zones and joint positions are meant to be voxels (and are transformed from coordinates in meters coming from ROS)
Tasks:
- [x] Remove size from safety zone nonterminal
- [x] Update `isInSafetyZone` to a now simpler calculation by just comparing all safety zone coordinates with all joint positionsImplementation for paperRené SchöneRené Schönehttps://git-st.inf.tu-dresden.de/jastadd/ros2rag/-/issues/27Check if example is working as intended2020-06-30T16:27:20+02:00René SchöneCheck if example is working as intendedAs the example model has never really been tested, this should be done now.
- [x] Test if computation is done when new, but unchanged value (after transformation) for position arrives
- [x] Test if `inSafetyZone` attribute works as inte...As the example model has never really been tested, this should be done now.
- [x] Test if computation is done when new, but unchanged value (after transformation) for position arrives
- [x] Test if `inSafetyZone` attribute works as intended
- [x] Test if robotconfig message is only sent, if it actually has changedImplementation for paperRené SchöneRené Schöne