Integration/panel tmux lid flow 20260609 - #49
Merged
Conversation
…factor image handling and add static checks
- Added PANEL_HIDDEN_STEP_KEYS to manage internal steps visibility in the robot pipeline control server. - Introduced realsense_usb_visible function to check for Intel RealSense device connectivity. - Updated side_grip_preflight and cup_uprighting_preflight to include RealSense USB checks. - Adjusted default values for various parameters in run_color_recipe_sequence and run_measured_dispenser_recipe_sequence scripts. - Implemented handover_cup_to_palm.py for human-robot interaction during cup handover, including perception and motion planning. - Improved stop_azas_all.sh to handle defunct processes during cleanup.
…egration/panel-tmux-lid-flow-20260609
- Refactor robot pipeline control HTML to improve clarity and flow of actions. - Enhance handover logic in Python scripts to support non-interactive approvals. - Modify shell scripts to log success and failure states for side-grip and shake operations. - Improve smoke test scripts for cocktail sequences to ensure proper publisher and subscriber counts.
Constraint: origin/develop adds the RG2FT mesh URDF, but the active M0609 MoveIt config must wire it into robot_description before collision checking can see the gripper. Rejected: Depend only on the link6 attached collision publisher | It can race startup or be skipped while MoveIt still plans with a bare robot model. Confidence: high Scope-risk: moderate Directive: Rebuild azas_description and the active dsr_moveit_config_m0609 overlay after changing gripper URDF geometry. Tested: colcon build --packages-select azas_description dsr_moveit_config_m0609 azas_perception --symlink-install; colcon build --packages-select dsr_moveit_config_m0609 --symlink-install in ~/ros2_ws; check_rg2_moveit_description.py passes for both Azas vendor and ~/ros2_ws install xacros; MoveItConfigsBuilder includes rg2_quick_changer, rg2_gripper_body, gripper_tcp, and the OnRobot RG2FT collision mesh; PYTEST_DISABLE_PLUGIN_AUTOLOAD=1 python3 -m pytest -q src/azas_perception/test/test_depth_and_detection_logic.py. Not-tested: Live real-robot obstacle planning and hardware motion with the robot/camera/gripper connected.
Constraint: dsr_description2/xacro/m0609.urdf.xacro exposes link_6 but not tool0, so the gripper-equipped Azas URDF must attach to link_6 when used by dsr_bringup2_rviz. Rejected: Leave rg2_parent_link defaulted to tool0 | robot_state_publisher can receive a disconnected gripper tree for the xacro-based Doosan description. Confidence: high Scope-risk: narrow Directive: Use rg2_parent_link:=link_6 for m0609_rg2_parametric unless the included Doosan source explicitly defines tool0. Tested: xacro m0609_rg2_parametric.urdf.xacro rg2_parent_link:=link_6 expands with RG2 links, 9 RG2 collision meshes, parent link_6, and one ros2_control tag; installed dsr_bringup2_rviz launch references m0609_rg2_parametric and parses with --show-args. Not-tested: Live RViz session connected to the real robot.
- Updated RG2 launch files to disable gripper collision publishing for improved performance. - Changed default mount orientation for RG2 in URDF and launch files to identity (0, 0, 0). - Introduced a new parameter `side_target_x_offset_m` in the YoloCupPickNode for side-grip motion planning. - Enhanced side-grip logic to apply target offset during planning and added warnings for offset usage. - Updated launch files to include the new parameter and adjusted related commands for consistency. - Added a new script to wait for lid grip status, ensuring proper sequence execution after lid closure. - Improved error handling and logging in various scripts to enhance debugging and user feedback.
Bring the develop router path into the current integration branch while preserving the local lid-marker ArUco tolerance work and adding the develop-side parameter guard. Constraint: User requested origin/develop, not the current branch upstream. Rejected: Rebase local integration commits | branch already had local integration history and a merge preserves the field branch shape. Confidence: high Scope-risk: moderate Directive: Do not run auto_cup_flow_router with enable_real_motion:=true without supervised hardware readiness. Tested: colcon build --packages-up-to azas_task_manager azas_bringup --symlink-install; ros2 launch azas_bringup auto_cup_flow_router.launch.py --show-args; python3 -m py_compile src/azas_perception/azas_perception/lid_marker.py Not-tested: Real robot auto routing launch with enable_real_motion:=true.
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
1 participant
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
변경 내용
cd /home/ssu/Azas &&
source /opt/ros/humble/setup.bash &&
source /home/ssu/ws_moveit/install/setup.bash &&
source /home/ssu/ros2_ws/install/setup.bash &&
source /home/ssu/Azas/install/setup.bash &&
ros2 launch azas_bringup auto_cup_flow_router.launch.py
enable_real_motion:=true
router_confirm:=ENABLE_AUTO_CUP_ROUTER
service_prefix:=dsr01
moveit_controller_name:=/dsr01/dsr_moveit_controller
controller_action_name:=/dsr01/dsr_moveit_controller/follow_joint_trajectory
classifier_path:=/home/ssu/Azas/cup_classifier_best.pth
classifier_arch:=resnet18
route_hold_sec:=2.0
route_stable_required_samples:=5
route_stable_min_sec:=0.8
recipe_colors:="red:2,blue:1"
cup_holder_place_z_offset_m:=-0.04
변경 타입
관련 이슈
Refs: #
테스트 방법
체크리스트
colcon build --symlink-install통과colcon test통과docs/safety_checklist.md확인 완료하드웨어 영향 여부
hardware-affecting라벨 추가