Add dsr_practice package

src/azas_bringup/azas_bringup/joint_state_relay_legacy.py

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+#!/usr/bin/env python3
+
+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import JointState
+
+
+class JointStateRelay(Node):
+    def __init__(self):
+        super().__init__("joint_state_relay")
+        self.declare_parameter("input_topic", "/dsr01/joint_states")
+        self.declare_parameter("output_topic", "/joint_states")
+
+        input_topic = self.get_parameter("input_topic").value
+        output_topic = self.get_parameter("output_topic").value
+
+        self.publisher = self.create_publisher(JointState, output_topic, 10)
+        self.subscription = self.create_subscription(
+            JointState,
+            input_topic,
+            self.callback,
+            10,
+        )
+        self.get_logger().info(f"Relaying {input_topic} -> {output_topic}")
+
+    def callback(self, msg):
+        self.publisher.publish(msg)
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = JointStateRelay()
+    try:
+        rclpy.spin(node)
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
+
+
+if __name__ == "__main__":
+    main()

src/azas_bringup/config/moveit_py.yaml

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+/**:
+  ros__parameters:
+    planning_scene_monitor_options:
+      name: "planning_scene_monitor"
+      robot_description: "robot_description"
+      joint_state_topic: "/joint_states"
+      attached_collision_object_topic: "/moveit_cpp/planning_scene_monitor"
+      publish_planning_scene_topic: "/moveit_cpp/publish_planning_scene"
+      monitored_planning_scene_topic: "/moveit_cpp/monitored_planning_scene"
+      wait_for_initial_state_timeout: 10.0
+
+    planning_pipelines:
+      pipeline_names: ["ompl", "pilz_industrial_motion_planner", "chomp", "ompl_rrt_star"]
+
+    plan_request_params:
+      planning_attempts: 1
+      planning_pipeline: ompl
+      max_velocity_scaling_factor: 0.1
+      max_acceleration_scaling_factor: 0.1
+
+    ompl_rrtc:
+      plan_request_params:
+        planning_attempts: 1
+        planning_pipeline: ompl
+        planner_id: "RRTConnectkConfigDefault"
+        max_velocity_scaling_factor: 1.0
+        max_acceleration_scaling_factor: 1.0
+        planning_time: 1.0
+
+    ompl_rrt_star:
+      plan_request_params:
+        planning_attempts: 1
+        planning_pipeline: ompl_rrt_star
+        planner_id: "RRTstarkConfigDefault"
+        max_velocity_scaling_factor: 1.0
+        max_acceleration_scaling_factor: 1.0
+        planning_time: 1.5
+
+    pilz_lin:
+      plan_request_params:
+        planning_attempts: 1
+        planning_pipeline: pilz_industrial_motion_planner
+        planner_id: "PTP"
+        max_velocity_scaling_factor: 0.1
+        max_acceleration_scaling_factor: 0.1
+        planning_time: 0.8
+
+    chomp:
+      plan_request_params:
+        planning_attempts: 1
+        planning_pipeline: chomp
+        max_velocity_scaling_factor: 1.0
+        max_acceleration_scaling_factor: 1.0
+        planning_time: 1.5

src/azas_bringup/launch/bar_sort_node_legacy.launch.py

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+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.substitutions import PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
+from moveit_configs_utils import MoveItConfigsBuilder
+
+def generate_launch_description():
+    moveit_config = (
+        MoveItConfigsBuilder(
+            robot_name="m0609",
+            package_name="dsr_moveit_config_m0609",
+        )
+        .robot_description()
+        .robot_description_semantic(file_path="config/dsr.srdf")
+        .robot_description_kinematics()
+        .joint_limits()
+        .trajectory_execution()
+        .planning_scene_monitor()
+        .sensors_3d()
+        .to_moveit_configs()
+    )
+
+    moveit_py_params = PathJoinSubstitution(
+        [FindPackageShare("azas_bringup"), "config", "moveit_py.yaml"]
+    )
+
+    return LaunchDescription(
+        [
+            Node(
+                package="azas_perception",
+                executable="bar_sort_legacy_node",
+                output="screen",
+                parameters=[
+                    moveit_config.to_dict(),
+                    moveit_py_params,
+                ],
+            )
+        ]
+    )

src/azas_bringup/launch/click_pick_node_legacy.launch.py

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+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.substitutions import PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
+from moveit_configs_utils import MoveItConfigsBuilder
+
+def generate_launch_description():
+    # Doosan M0609 MoveIt 기본 설정 (URDF, SRDF, kinematics, controllers 등)
+    moveit_config = (
+        MoveItConfigsBuilder(
+            robot_name="m0609",
+            package_name="dsr_moveit_config_m0609",
+        )
+        .robot_description()                # m0609.urdf.xacro
+        .robot_description_semantic(file_path="config/dsr.srdf")  # dsr.srdf
+        .robot_description_kinematics()     # kinematics.yaml
+        .joint_limits()                     # joint_limits.yaml
+        .trajectory_execution()             # moveit_controllers.yaml
+        .planning_scene_monitor()           # sensors_3d.yaml 등과 연동
+        .sensors_3d()
+        .to_moveit_configs()
+    )
+
+    # 🔹 MoveItPy 전용 YAML 추가
+    moveit_py_params = PathJoinSubstitution(
+        [FindPackageShare("azas_bringup"), "config", "moveit_py.yaml"]
+    )
+
+    return LaunchDescription(
+        [
+            Node(
+                package="azas_perception",
+                executable="click_pick_legacy_node",
+                output="screen",
+                # MoveIt config + MoveItPy용 설정을 같이 넘김
+                parameters=[
+                    moveit_config.to_dict(),
+                    moveit_py_params,
+                ],
+            )
+        ]
+    )

src/azas_bringup/launch/collision_obstacle_legacy.launch.py

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+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.substitutions import PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
+from moveit_configs_utils import MoveItConfigsBuilder
+
+def generate_launch_description():
+    # Doosan M0609 MoveIt 기본 설정 (URDF, SRDF, kinematics, controllers 등)
+    moveit_config = (
+        MoveItConfigsBuilder(
+            robot_name="m0609",
+            package_name="dsr_moveit_config_m0609",
+        )
+        .robot_description()                # m0609.urdf.xacro
+        .robot_description_semantic()       # dsr.srdf
+        .robot_description_kinematics()     # kinematics.yaml
+        .joint_limits()                     # joint_limits.yaml
+        .trajectory_execution()             # moveit_controllers.yaml
+        .planning_scene_monitor()           # sensors_3d.yaml 등과 연동
+        .sensors_3d()
+        .to_moveit_configs()
+    )
+
+    # 🔹 MoveItPy 전용 YAML 추가
+    moveit_py_params = PathJoinSubstitution(
+        [FindPackageShare("azas_bringup"), "config", "moveit_py.yaml"]
+    )
+
+    return LaunchDescription(
+        [
+            Node(
+                package="azas_motion",
+                executable="collision_obstacle_legacy",
+                output="screen",
+                # MoveIt config + MoveItPy용 설정을 같이 넘김
+                parameters=[
+                    moveit_config.to_dict(),
+                    moveit_py_params,
+                ],
+            )
+        ]
+    )
+

src/azas_bringup/launch/gear_assembly_legacy.launch.py

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+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.substitutions import PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
+from moveit_configs_utils import MoveItConfigsBuilder
+
+def generate_launch_description():
+    # Doosan M0609 MoveIt 기본 설정 (URDF, SRDF, kinematics, controllers 등)
+    moveit_config = (
+        MoveItConfigsBuilder(
+            robot_name="m0609",
+            package_name="dsr_moveit_config_m0609",
+        )
+        .robot_description()                # m0609.urdf.xacro
+        .robot_description_semantic()       # dsr.srdf
+        .robot_description_kinematics()     # kinematics.yaml
+        .joint_limits()                     # joint_limits.yaml
+        .trajectory_execution()             # moveit_controllers.yaml
+        .planning_scene_monitor()           # sensors_3d.yaml 등과 연동
+        .sensors_3d()
+        .to_moveit_configs()
+    )
+
+    # 🔹 MoveItPy 전용 YAML 추가
+    moveit_py_params = PathJoinSubstitution(
+        [FindPackageShare("azas_bringup"), "config", "moveit_py.yaml"]
+    )
+
+    return LaunchDescription(
+        [
+            Node(
+                package="azas_motion",
+                executable="gear_assembly_legacy",
+                output="screen",
+                # MoveIt config + MoveItPy용 설정을 같이 넘김
+                parameters=[
+                    moveit_config.to_dict(),
+                    moveit_py_params,
+                ],
+            )
+        ]
+    )

src/azas_bringup/launch/mp_basic_legacy.launch.py

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+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.substitutions import PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
+from moveit_configs_utils import MoveItConfigsBuilder
+
+def generate_launch_description():
+    # Doosan M0609 MoveIt 기본 설정 (URDF, SRDF, kinematics, controllers 등)
+    moveit_config = (
+        MoveItConfigsBuilder(
+            robot_name="m0609",
+            package_name="dsr_moveit_config_m0609",
+        )
+        .robot_description()                # m0609.urdf.xacro
+        .robot_description_semantic(file_path="config/dsr.srdf")  # dsr.srdf
+        .robot_description_kinematics()     # kinematics.yaml
+        .joint_limits()                     # joint_limits.yaml
+        .trajectory_execution()             # moveit_controllers.yaml
+        .planning_scene_monitor()           # sensors_3d.yaml 등과 연동
+        .sensors_3d()
+        .to_moveit_configs()
+    )
+
+    # 🔹 MoveItPy 전용 YAML 추가
+    moveit_py_params = PathJoinSubstitution(
+        [FindPackageShare("azas_bringup"), "config", "moveit_py.yaml"]
+    )
+
+    return LaunchDescription(
+        [
+            Node(
+                package="azas_motion",
+                executable="mp_basic_legacy",
+                output="screen",
+                # MoveIt config + MoveItPy용 설정을 같이 넘김
+                parameters=[
+                    moveit_config.to_dict(),
+                    moveit_py_params,
+                ],
+            )
+        ]
+    )
+

src/azas_bringup/launch/mp_waypoint_legacy.launch.py

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+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.substitutions import PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
+from moveit_configs_utils import MoveItConfigsBuilder
+
+def generate_launch_description():
+    # Doosan M0609 MoveIt 기본 설정 (URDF, SRDF, kinematics, controllers 등)
+    moveit_config = (
+        MoveItConfigsBuilder(
+            robot_name="m0609",
+            package_name="dsr_moveit_config_m0609",
+        )
+        .robot_description()                # m0609.urdf.xacro
+        .robot_description_semantic()       # dsr.srdf
+        .robot_description_kinematics()     # kinematics.yaml
+        .joint_limits()                     # joint_limits.yaml
+        .trajectory_execution()             # moveit_controllers.yaml
+        .planning_scene_monitor()           # sensors_3d.yaml 등과 연동
+        .sensors_3d()
+        .to_moveit_configs()
+    )
+
+    # 🔹 MoveItPy 전용 YAML 추가
+    moveit_py_params = PathJoinSubstitution(
+        [FindPackageShare("azas_bringup"), "config", "moveit_py.yaml"]
+    )
+
+    return LaunchDescription(
+        [
+            Node(
+                package="azas_motion",
+                executable="mp_waypoint_legacy",
+                output="screen",
+                # MoveIt config + MoveItPy용 설정을 같이 넘김
+                parameters=[
+                    moveit_config.to_dict(),
+                    moveit_py_params,
+                ],
+            )
+        ]
+    )
+

src/azas_bringup/launch/mp_waypoint_pilz_legacy.launch.py

@@ -0,0 +1,43 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.substitutions import PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
+from moveit_configs_utils import MoveItConfigsBuilder
+
+def generate_launch_description():
+    # Doosan M0609 MoveIt 기본 설정 (URDF, SRDF, kinematics, controllers 등)
+    moveit_config = (
+        MoveItConfigsBuilder(
+            robot_name="m0609",
+            package_name="dsr_moveit_config_m0609",
+        )
+        .robot_description()                # m0609.urdf.xacro
+        .robot_description_semantic()       # dsr.srdf
+        .robot_description_kinematics()     # kinematics.yaml
+        .joint_limits()                     # joint_limits.yaml
+        .trajectory_execution()             # moveit_controllers.yaml
+        .planning_scene_monitor()           # sensors_3d.yaml 등과 연동
+        .sensors_3d()
+        .to_moveit_configs()
+    )
+
+    # 🔹 MoveItPy 전용 YAML 추가
+    moveit_py_params = PathJoinSubstitution(
+        [FindPackageShare("azas_bringup"), "config", "moveit_py.yaml"]
+    )
+
+    return LaunchDescription(
+        [
+            Node(
+                package="azas_motion",
+                executable="mp_waypoint_pilz_legacy",
+                output="screen",
+                # MoveIt config + MoveItPy용 설정을 같이 넘김
+                parameters=[
+                    moveit_config.to_dict(),
+                    moveit_py_params,
+                ],
+            )
+        ]
+    )
+