動作確認のため、support_jazzyをマージ

.docker/README.md

@@ -7,10 +7,10 @@ https://github.com/rt-net/crane_plus/pkgs/container/crane_plus
 をアップロードしています。
 tagにはROSのディストリビューションを指定してください。
 
-Humbleディストリビューションのイメージをダウンロードする場合は次のコマンドを実行します。
+Jazzyディストリビューションのイメージをダウンロードする場合は次のコマンドを実行します。
 
 ```sh
-$ docker pull ghcr.io/rt-net/crane_plus:humble
+$ docker pull ghcr.io/rt-net/crane_plus:jazzy
 ```
 
 ### ノードの起動
@@ -67,9 +67,9 @@ $ rocker --x11 --net=host --privileged \
 `./build_source.sh $ROS_DISTRO`を実行してイメージを作成します。
 
 ```sh
-# humbleディストリビューションのイメージを作成する
+# jazzyディストリビューションのイメージを作成する
 $ cd crane_plus/.docker
-$ ./build_source.sh humble
+$ ./build_source.sh jazzy
 ...
-Successfully tagged crane_plus:humble
+Successfully tagged crane_plus:jazzy
 ```

.docker/build_source.sh

@@ -4,7 +4,7 @@ set -e
 
 if [ $# -eq 0 ]; then
     echo "Please set ROS_DISTRO to the argument."
-    echo "e.g. ./build_source.sh humble"
+    echo "e.g. ./build_source.sh jazzy"
 fi
 ROS_DISTRO=$1
 

.docker/source/Dockerfile

@@ -1,4 +1,4 @@
-ARG ROS_DISTRO="humble"
+ARG ROS_DISTRO="jazzy"
 FROM osrf/ros:${ROS_DISTRO}-desktop
 ENV OVERLAY_WS /root/overlay_ws
 WORKDIR $OVERLAY_WS/src
@@ -31,12 +31,6 @@ RUN mkdir -p /root/.gazebo/models && \
     git pull origin master && \
     rm -rf .git
 
-# Download ignition model
-RUN ign fuel download -v 4 -u https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/sun && \
-    ign fuel download -v 4 -u https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/ground%20plane && \
-    ign fuel download -v 4 -u https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/wood%20cube%205cm && \
-    ign fuel download -v 4 -u https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/table
-
 # Edit entrypoint to source overlay setup file
 WORKDIR $OVERLAY_WS
 RUN sed --in-place --expression \

.github/workflows/build_docker_image.yml

@@ -7,7 +7,7 @@ on:
   workflow_dispatch:
 
 env:
-  ROS_DISTRO: humble
+  ROS_DISTRO: jazzy
   REGISTRY: ghcr.io
 
 jobs:

.gitignore

@@ -55,5 +55,4 @@ docs/_build/
 
 # PyBuilder
 target/
-.pytest_cache
-.vscode
+.pytest_cache

README.md

@@ -0,0 +1,123 @@
+# crane_plus
+
+[![industrial_ci](https://github.com/rt-net/crane_plus/workflows/industrial_ci/badge.svg?branch=master)](https://github.com/rt-net/crane_plus/actions?query=workflow%3Aindustrial_ci+branch%3Amaster)
+
+ROS 2 package suite of CRANE+ V2.
+
+<img src=https://www.rt-shop.jp/images/RT/CRANEplusV2.png width=400px/><img src=https://rt-net.github.io/images/crane-plus/pick_and_place.gif width=400px />
+
+## Table of Contents
+
+- [Supported ROS 2 distributions](#supported-ROS-2-distributions)
+- [Requirements](#requirements)
+- [Installation](#installation)
+  - [Binary installation](#binary-installation)
+  - [Source Build](#source-build)
+- [Quick Start](#quick-start)
+- [Packages](#packages)
+- [License](#license)
+- [Disclaimer](#disclaimer)
+
+## Supported ROS 2 distributions
+
+- [Foxy](https://github.com/rt-net/crane_plus/tree/foxy-devel)
+- [Humble](https://github.com/rt-net/crane_plus/tree/humble-devel)
+- Jazzy
+## Requirements
+
+- CRANE+ V2
+  - [Product Introduction](https://rt-net.jp/products/cranev2/)
+  - [Web Shop](https://www.rt-shop.jp/index.php?main_page=product_info&cPath=1348_1&products_id=3626&language=ja)
+- Linux OS
+  - Ubuntu 24.04
+- ROS
+  - [Jazzy Jalisco](https://docs.ros.org/en/jazzy/Installation.html)
+
+## Installation
+
+### Docker images
+
+ビルド済みのパッケージ含むDocker imageを用意してます。
+詳細は[.docker/README.md](./.docker/README.md)を参照してください。
+
+### Binary installation
+
+```sh
+$ sudo apt update 
+$ sudo apt install ros-jazzy-crane-plus
+```
+
+### Source Build
+
+```sh
+# Setup ROS environment
+$ source /opt/ros/jazzy/setup.bash
+
+# Download crane_plus repository
+$ mkdir -p ~/ros2_ws/src
+$ cd ~/ros2_ws/src
+$ git clone https://github.com/rt-net/crane_plus.git
+
+# Install dependencies
+$ rosdep install -r -y -i --from-paths .
+
+# Build & Install
+$ cd ~/ros2_ws
+$ colcon build --symlink-install
+$ source ~/ros2_ws/install/setup.bash
+```
+
+## Quick Start
+
+```sh
+# Connect CRANE+ V2 to PC, then
+$ source ~/ros2_ws/install/setup.bash
+$ ros2 launch crane_plus_examples demo.launch.py port_name:=/dev/ttyUSB0
+
+# Terminal 2
+$ source ~/ros2_ws/install/setup.bash
+$ ros2 launch crane_plus_examples example.launch.py example:='gripper_control'
+
+# Press [Ctrl-c] to terminate.
+```
+
+<img src=https://rt-net.github.io/images/crane-plus/gripper_control.gif width=500px />
+
+詳細は[crane_plus_examples](./crane_plus_examples/README.md)
+を参照してください。
+
+## Packages
+
+- crane_plus_control
+  - [README](./crane_plus_control/README.md)
+  - CRANE+ V2を制御するパッケージです
+  - USB通信ポートの設定方法をREAMDEに記載してます
+- crane_plus_description
+  - [README](./crane_plus_description/README.md)
+  - CRANE+ V2のモデルデータ（xacro）を定義するパッケージです
+- crane_plus_examples
+  - [README](./crane_plus_examples/README.md)
+  - CRANE+ V2のサンプルコード集です
+- crane_plus_gazebo
+  - [README](./crane_plus_gazebo/README.md)
+  - CRANE+ V2のGazeboシミュレーションパッケージです
+- crane_plus_moveit_config
+  - [README](./crane_plus_moveit_config/README.md)
+  - CRANE+ V2の`moveit2`設定ファイルです
+
+## License
+
+このリポジトリはApache 2.0ライセンスの元、公開されています。 
+ライセンスについては[LICENSE](./LICENSE)を参照ください。
+
+サーボモータのAX-12Aに関するCADモデルの使用については、ROBOTIS社より使用許諾を受けています。 
+CRANE+ V2に使用されているROBOTIS社の部品類にかかる著作権、商標権、その他の知的財産権は、ROBOTIS社に帰属します。
+
+We have obtained permission from ROBOTIS Co., Ltd. to use CAD models relating to servo motors AX-12A. The proprietary rights relating to any components or parts manufactured by ROBOTIS and used in this product, including but not limited to copyrights, trademarks, and other intellectual property rights, shall remain vested in ROBOTIS.
+
+## Disclaimer
+
+本ソフトウェアはApache 2.0ライセンスで、「AS IS」（現状有姿のまま）で提供しています。本ソフトウェアに関する無償サポートはありません。
+
+当該製品および当ソフトウェアの使用中に生じたいかなる損害も株式会社アールティでは一切の責任を負いかねます。 ユーザー自身で作成されたプログラムに適切な制限動作が備わっていない場合、本体の損傷や、本体が周囲や作業者に接触、あるいは衝突し、思わぬ重大事故が発生する危険があります。 ユーザーの責任において十分に安全に注意した上でご使用下さい。
+

crane_plus_description/package.xml

@@ -9,6 +9,7 @@
 
   <author email="[email protected]">Shota Aoki</author>
   <author email="[email protected]">Atsushi Kuwagata</author>
+  <author email="[email protected]">Nozomi Mizoguchi</author>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>ament_cmake_python</buildtool_depend>

crane_plus_moveit_config/config/ompl_planning.yaml

@@ -11,10 +11,14 @@ response_adapters:
   - default_planning_response_adapters/AddTimeOptimalParameterization
   - default_planning_response_adapters/ValidateSolution
   - default_planning_response_adapters/DisplayMotionPath
-
-start_state_max_bounds_error: 0.1
-
 planner_configs:
+  APSConfigDefault:
+    type: geometric::AnytimePathShortening
+    shortcut: 1  # Attempt to shortcut all new solution paths
+    hybridize: 1  # Compute hybrid solution trajectories
+    max_hybrid_paths: 36  # Number of hybrid paths generated per iteration
+    num_planners: 8  # The number of default planners to use for planning
+    planners: "RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect"  # A comma-separated list of planner types (e.g., "PRM,EST,RRTConnect"Optionally, planner parameters can be passed to change the default:"PRM[max_nearest_neighbors=5],EST[goal_bias=.5],RRT[range=10. goal_bias=.1]"
   SBLkConfigDefault:
     type: geometric::SBL
     range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
@@ -141,6 +145,7 @@ planner_configs:
 
 arm:
   planner_configs:
+    - APSConfigDefault
     - SBLkConfigDefault
     - ESTkConfigDefault
     - LBKPIECEkConfigDefault
@@ -167,6 +172,7 @@ arm:
     - TrajOptDefault
 gripper:
   planner_configs:
+    - APSConfigDefault
     - SBLkConfigDefault
     - ESTkConfigDefault
     - LBKPIECEkConfigDefault

crane_plus_moveit_config/launch/run_move_group.launch.py

@@ -18,101 +18,87 @@
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
 from launch.substitutions import LaunchConfiguration
-import yaml
 from moveit_configs_utils import MoveItConfigsBuilder
+from moveit_configs_utils.launch_utils import DeclareBooleanLaunchArg
 from moveit_configs_utils.launches import generate_move_group_launch
 from moveit_configs_utils.launches import generate_moveit_rviz_launch
-from moveit_configs_utils.launches import generate_static_virtual_joint_tfs_launch
 from moveit_configs_utils.launches import generate_rsp_launch
-from moveit_configs_utils.launch_utils import DeclareBooleanLaunchArg
-
-def load_file(package_name, file_path):
-    package_path = get_package_share_directory(package_name)
-    absolute_file_path = os.path.join(package_path, file_path)
-
-    try:
-        with open(absolute_file_path, "r") as file:
-            return file.read()
-    except (
-        EnvironmentError
-    ):  # parent of IOError, OSError *and* WindowsError where available
-        return None
-
-
-def load_yaml(package_name, file_path):
-    package_path = get_package_share_directory(package_name)
-    absolute_file_path = os.path.join(package_path, file_path)
-
-    try:
-        with open(absolute_file_path, "r") as file:
-            return yaml.safe_load(file)
-    except (
-        EnvironmentError
-    ):  # parent of IOError, OSError *and* WindowsError where available
-        return None
+from moveit_configs_utils.launches  \
+    import generate_static_virtual_joint_tfs_launch
 
 
 def generate_launch_description():
     ld = LaunchDescription()
 
     declare_loaded_description = DeclareLaunchArgument(
-        "loaded_description",
-        default_value="",
-        description="Set robot_description text.  \
-                     It is recommended to use RobotDescriptionLoader() in crane_plus_description.",
+        'loaded_description',
+        default_value='',
+        description='Set robot_description text.  \
+                     It is recommended to use RobotDescriptionLoader() in  \
+                        crane_plus_description.',
     )
 
     ld.add_action(declare_loaded_description)
 
-    ld.add_action(DeclareBooleanLaunchArg("debug", default_value=False))
-    
+    ld.add_action(DeclareBooleanLaunchArg('debug', default_value=False))
+
     ld.add_action(
         DeclareLaunchArgument(
-            "rviz_config",
-            default_value=get_package_share_directory("crane_plus_moveit_config")
-            + "/config/moveit.rviz",
-            description="Set the path to rviz configuration file.",
+            'rviz_config',
+            default_value=get_package_share_directory(
+                'crane_plus_moveit_config'
+            )
+            + '/config/moveit.rviz',
+            description='Set the path to rviz configuration file.',
         )
     )
 
+    declare_rviz_config_file = DeclareLaunchArgument(
+        'rviz_config_file',
+        default_value=get_package_share_directory('crane_plus_moveit_config')
+        + '/launch/run_move_group.rviz',
+        description='Set the path to rviz configuration file.'
+    )
+
+    ld.add_action(declare_rviz_config_file)
+
     moveit_config = (
-        MoveItConfigsBuilder("crane_plus")
+        MoveItConfigsBuilder('crane_plus')
         .planning_scene_monitor(
             publish_robot_description=True,
             publish_robot_description_semantic=True,
         )
         .robot_description(
             file_path=os.path.join(
-                get_package_share_directory("crane_plus_description"),
-                "urdf",
-                "crane_plus.urdf.xacro",
+                get_package_share_directory('crane_plus_description'),
+                'urdf',
+                'crane_plus.urdf.xacro',
             ),
             mappings={},
         )
         .robot_description_semantic(
-            file_path="config/crane_plus.srdf",
-            mappings={"model": "crane_plus"},
+            file_path='config/crane_plus.srdf',
+            mappings={'model': 'crane_plus'},
         )
-        .joint_limits(file_path="config/joint_limits.yaml")
+        .joint_limits(file_path='config/joint_limits.yaml')
         .trajectory_execution(
-            file_path="config/controllers.yaml", moveit_manage_controllers=True
+            file_path='config/controllers.yaml', moveit_manage_controllers=True
         )
-        .planning_pipelines(pipelines=["ompl"])
-        .robot_description_kinematics(file_path="config/kinematics.yaml")
+        .planning_pipelines(pipelines=['ompl'])
+        .robot_description_kinematics(file_path='config/kinematics.yaml')
         .to_moveit_configs()
     )
 
     moveit_config.robot_description = {
-        "robot_description": LaunchConfiguration("loaded_description")
+        'robot_description': LaunchConfiguration('loaded_description')
     }
 
     moveit_config.move_group_capabilities = {
-        "capabilities": ""
+        'capabilities': ''
     }
 
     # Move group
     ld.add_entity(generate_move_group_launch(moveit_config))
-
     # RViz
     ld.add_entity(generate_moveit_rviz_launch(moveit_config))