Develop

.devcontainer/Dockerfile

@@ -1,4 +1,4 @@
-FROM ros:humble
+FROM ros:jazzy
 
 # Add vscode user with same UID and GID as your host system
 # (modified from https://code.visualstudio.com/remote/advancedcontainers/add-nonroot-user#_creating-a-nonroot-user)

.devcontainer/devcontainer.json

@@ -1,5 +1,5 @@
 {
-  "name": "Omron Arm humble",
+  "name": "Omron Arm Jazzy",
   "dockerFile": "Dockerfile",
   "remoteUser": "ubuntu",
   "containerEnv": {

.github/workflows/compile.yml

@@ -0,0 +1,51 @@
+name: Compile Check
+
+on:
+  workflow_dispatch:
+
+  push:
+    branches:
+      - main
+      - develop
+
+  pull_request:
+    branches:
+      - main
+      - develop
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  build:
+    runs-on: ubuntu-24.04
+
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v4
+
+      - name: Set up ROS 2 Jazzy
+        uses: ros-tooling/setup-ros@v0.7
+        with:
+          required-ros-distributions: jazzy
+
+      - name: Install system tooling
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y python3-colcon-common-extensions python3-rosdep
+
+      - name: Initialize rosdep
+        run: |
+          sudo rosdep init || true
+          rosdep update
+
+      - name: Install package dependencies
+        run: |
+          rosdep install --from-paths . --ignore-src --rosdistro jazzy -r -y
+
+      - name: Build workspace
+        shell: bash
+        run: |
+          source /opt/ros/jazzy/setup.bash
+          colcon build --event-handlers console_direct+

README.md

@@ -1,10 +1,16 @@
-# Omron ARM package
+# TMR ROS2 package
 
 To view the original Readme.md [click here](./docs/README.md)
 
 This package is a combination of documentation from [OmronAPAC/Omron_TM_ROS2](https://github.com/OmronAPAC/Omron_TM_ROS2) and functionality of [TechmanRobotInc/tmr_ros2](https://github.com/TechmanRobotInc/tmr_ros2)
 
-View [Developer's Guide](https://github.com/CollaborativeRoboticsLab/omron_arm/blob/humble/docs/DeveloperGuide.adoc).
+View [Developer's Guide](https://github.com/CollaborativeRoboticsLab/tmr_ros2/blob/humble/docs/DeveloperGuide.adoc).
+
+| Branch | ROS2 Version | Compile |
+|--------|--------------|---------|
+| main | Jazzy | [![main](https://github.com/CollaborativeRoboticsLab/tmr_ros2/actions/workflows/compile.yml/badge.svg?branch=main)](https://github.com/CollaborativeRoboticsLab/tmr_ros2/actions/workflows/compile.yml?query=branch%3Amain) |
+| develop | Jazzy | [![develop](https://github.com/CollaborativeRoboticsLab/tmr_ros2/actions/workflows/compile.yml/badge.svg?branch=develop)](https://github.com/CollaborativeRoboticsLab/tmr_ros2/actions/workflows/compile.yml?query=branch%3Adevelop) |
+| humble | Humble | [![humble](https://github.com/CollaborativeRoboticsLab/tmr_ros2/actions/workflows/compile.yml/badge.svg?branch=humble)](https://github.com/CollaborativeRoboticsLab/tmr_ros2/actions/workflows/compile.yml?query=branch%3Ahumble) |
 
 ## Setup
 
@@ -23,7 +29,7 @@ sudo apt install ros-humble-moveit ros-humble-controller-manager ros-humble-join
 Clone the repositories into the `src` folder by
 
 ```sh
-git clone https://github.com/CollaborativeRoboticsLab/omron_arm.git
+git clone https://github.com/CollaborativeRoboticsLab/tmr_ros2.git
 ```
 
 Build by
@@ -37,9 +43,9 @@ colcon build
 
 ### Initialization
 
-1. [Startup TMFLow software with a listener node](https://github.com/CollaborativeRoboticsLab/omron_arm/blob/humble/docs/README.md#-tmflow-listen-node-setup)
+1. [Startup TMFLow software with a listener node](https://github.com/CollaborativeRoboticsLab/tmr_ros2/blob/humble/docs/README.md#-tmflow-listen-node-setup)
 
-2. [Establish Remote connection to TM Robot](https://github.com/CollaborativeRoboticsLab/omron_arm/blob/humble/docs/README.md#-remote-connection-to-tm-robot)
+2. [Establish Remote connection to TM Robot](https://github.com/CollaborativeRoboticsLab/tmr_ros2/blob/humble/docs/README.md#-remote-connection-to-tm-robot)
 
 3. Once the robot starts up, it needs to have the listner node loaded (via TMFlow) and should be in the auto mode. On the arm it needs to flash blue and red, while on the pendent a blue light should appear near letter A.
 

tm_moveit/tm12_moveit_config/config/chomp_planning.yaml

@@ -1,10 +1,12 @@
-planning_plugin: chomp_interface/CHOMPPlanner
-request_adapters: >-
-  default_planner_request_adapters/AddTimeParameterization
-  default_planner_request_adapters/FixWorkspaceBounds
-  default_planner_request_adapters/FixStartStateBounds
-  default_planner_request_adapters/FixStartStateCollision
-  default_planner_request_adapters/FixStartStatePathConstraints
+planning_plugins:
+  - chomp_interface/CHOMPPlanner
+request_adapters:
+  - default_planning_request_adapters/ValidateWorkspaceBounds
+  - default_planning_request_adapters/CheckStartStateBounds
+  - default_planning_request_adapters/CheckStartStateCollision
+response_adapters:
+  - default_planning_response_adapters/AddTimeOptimalParameterization
+  - default_planning_response_adapters/ValidateSolution
 start_state_max_bounds_error: 0.1
 planning_time_limit: 10.0
 max_iterations: 200

tm_moveit/tm12_moveit_config/config/joint_limits.yaml

@@ -11,30 +11,30 @@ joint_limits:
   joint_1:
     has_velocity_limits: true
     max_velocity: 2.0943951023931953
-    has_acceleration_limits: false
-    max_acceleration: 0
+    has_acceleration_limits: true
+    max_acceleration: 2.0943951023931953
   joint_2:
     has_velocity_limits: true
     max_velocity: 2.0943951023931953
-    has_acceleration_limits: false
-    max_acceleration: 0
+    has_acceleration_limits: true
+    max_acceleration: 2.0943951023931953
   joint_3:
     has_velocity_limits: true
     max_velocity: 3.1415926535897931
-    has_acceleration_limits: false
-    max_acceleration: 0
+    has_acceleration_limits: true
+    max_acceleration: 3.1415926535897931
   joint_4:
     has_velocity_limits: true
     max_velocity: 3.1415926535897931
-    has_acceleration_limits: false
-    max_acceleration: 0
+    has_acceleration_limits: true
+    max_acceleration: 3.1415926535897931
   joint_5:
     has_velocity_limits: true
     max_velocity: 3.1415926535897931
-    has_acceleration_limits: false
-    max_acceleration: 0
+    has_acceleration_limits: true
+    max_acceleration: 3.1415926535897931
   joint_6:
     has_velocity_limits: true
     max_velocity: 3.1415926535897931
-    has_acceleration_limits: false
-    max_acceleration: 0
+    has_acceleration_limits: true
+    max_acceleration: 3.1415926535897931

tm_moveit/tm12_moveit_config/config/ompl_planning.yaml

@@ -1,11 +1,14 @@
-planning_plugin: ompl_interface/OMPLPlanner
-request_adapters: >-
-  default_planner_request_adapters/AddTimeOptimalParameterization
-  default_planner_request_adapters/ResolveConstraintFrames
-  default_planner_request_adapters/FixWorkspaceBounds
-  default_planner_request_adapters/FixStartStateBounds
-  default_planner_request_adapters/FixStartStateCollision
-  default_planner_request_adapters/FixStartStatePathConstraints
+planning_plugins:
+  - ompl_interface/OMPLPlanner
+request_adapters:
+  - default_planning_request_adapters/ResolveConstraintFrames
+  - default_planning_request_adapters/ValidateWorkspaceBounds
+  - default_planning_request_adapters/CheckStartStateBounds
+  - default_planning_request_adapters/CheckStartStateCollision
+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:
   SBLkConfigDefault:

tm_moveit/tm12_moveit_config/config/pilz_industrial_motion_planner_planning.yaml

@@ -1,10 +1,8 @@
-planning_plugin: pilz_industrial_motion_planner/CommandPlanner
-request_adapters: >-
-  default_planner_request_adapters/FixWorkspaceBounds
-  default_planner_request_adapters/FixStartStateBounds
-  default_planner_request_adapters/FixStartStateCollision
-  default_planner_request_adapters/FixStartStatePathConstraints
+planning_plugins:
+  - pilz_industrial_motion_planner/CommandPlanner
+request_adapters:
+  - default_planning_request_adapters/ValidateWorkspaceBounds
+  - default_planning_request_adapters/CheckStartStateBounds
+  - default_planning_request_adapters/CheckStartStateCollision
 default_planner_config: PTP
-capabilities: >-
-    pilz_industrial_motion_planner/MoveGroupSequenceAction
-    pilz_industrial_motion_planner/MoveGroupSequenceService
+capabilities: pilz_industrial_motion_planner/MoveGroupSequenceAction pilz_industrial_motion_planner/MoveGroupSequenceService

tm_moveit/tm12x_moveit_config/config/chomp_planning.yaml

@@ -1,10 +1,12 @@
-planning_plugin: chomp_interface/CHOMPPlanner
-request_adapters: >-
-  default_planner_request_adapters/AddTimeParameterization
-  default_planner_request_adapters/FixWorkspaceBounds
-  default_planner_request_adapters/FixStartStateBounds
-  default_planner_request_adapters/FixStartStateCollision
-  default_planner_request_adapters/FixStartStatePathConstraints
+planning_plugins:
+  - chomp_interface/CHOMPPlanner
+request_adapters:
+  - default_planning_request_adapters/ValidateWorkspaceBounds
+  - default_planning_request_adapters/CheckStartStateBounds
+  - default_planning_request_adapters/CheckStartStateCollision
+response_adapters:
+  - default_planning_response_adapters/AddTimeOptimalParameterization
+  - default_planning_response_adapters/ValidateSolution
 start_state_max_bounds_error: 0.1
 planning_time_limit: 10.0
 max_iterations: 200

tm_moveit/tm12x_moveit_config/config/joint_limits.yaml

@@ -11,30 +11,30 @@ joint_limits:
   joint_1:
     has_velocity_limits: true
     max_velocity: 2.0943951023931953
-    has_acceleration_limits: false
-    max_acceleration: 0
+    has_acceleration_limits: true
+    max_acceleration: 2.0943951023931953
   joint_2:
     has_velocity_limits: true
     max_velocity: 2.0943951023931953
-    has_acceleration_limits: false
-    max_acceleration: 0
+    has_acceleration_limits: true
+    max_acceleration: 2.0943951023931953
   joint_3:
     has_velocity_limits: true
     max_velocity: 3.1415926535897931
-    has_acceleration_limits: false
-    max_acceleration: 0
+    has_acceleration_limits: true
+    max_acceleration: 3.1415926535897931
   joint_4:
     has_velocity_limits: true
     max_velocity: 3.1415926535897931
-    has_acceleration_limits: false
-    max_acceleration: 0
+    has_acceleration_limits: true
+    max_acceleration: 3.1415926535897931
   joint_5:
     has_velocity_limits: true
     max_velocity: 3.1415926535897931
-    has_acceleration_limits: false
-    max_acceleration: 0
+    has_acceleration_limits: true
+    max_acceleration: 3.1415926535897931
   joint_6:
     has_velocity_limits: true
     max_velocity: 3.1415926535897931
-    has_acceleration_limits: false
-    max_acceleration: 0
+    has_acceleration_limits: true
+    max_acceleration: 3.1415926535897931

tm_moveit/tm12x_moveit_config/config/ompl_planning.yaml

@@ -1,11 +1,14 @@
-planning_plugin: ompl_interface/OMPLPlanner
-request_adapters: >-
-  default_planner_request_adapters/AddTimeOptimalParameterization
-  default_planner_request_adapters/ResolveConstraintFrames
-  default_planner_request_adapters/FixWorkspaceBounds
-  default_planner_request_adapters/FixStartStateBounds
-  default_planner_request_adapters/FixStartStateCollision
-  default_planner_request_adapters/FixStartStatePathConstraints
+planning_plugins:
+  - ompl_interface/OMPLPlanner
+request_adapters:
+  - default_planning_request_adapters/ResolveConstraintFrames
+  - default_planning_request_adapters/ValidateWorkspaceBounds
+  - default_planning_request_adapters/CheckStartStateBounds
+  - default_planning_request_adapters/CheckStartStateCollision
+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:
   SBLkConfigDefault:

tm_moveit/tm12x_moveit_config/config/pilz_industrial_motion_planner_planning.yaml

@@ -1,10 +1,8 @@
-planning_plugin: pilz_industrial_motion_planner/CommandPlanner
-request_adapters: >-
-  default_planner_request_adapters/FixWorkspaceBounds
-  default_planner_request_adapters/FixStartStateBounds
-  default_planner_request_adapters/FixStartStateCollision
-  default_planner_request_adapters/FixStartStatePathConstraints
+planning_plugins:
+  - pilz_industrial_motion_planner/CommandPlanner
+request_adapters:
+  - default_planning_request_adapters/ValidateWorkspaceBounds
+  - default_planning_request_adapters/CheckStartStateBounds
+  - default_planning_request_adapters/CheckStartStateCollision
 default_planner_config: PTP
-capabilities: >-
-    pilz_industrial_motion_planner/MoveGroupSequenceAction
-    pilz_industrial_motion_planner/MoveGroupSequenceService
+capabilities: pilz_industrial_motion_planner/MoveGroupSequenceAction pilz_industrial_motion_planner/MoveGroupSequenceService

tm_moveit/tm14_moveit_config/config/chomp_planning.yaml

@@ -1,10 +1,12 @@
-planning_plugin: chomp_interface/CHOMPPlanner
-request_adapters: >-
-  default_planner_request_adapters/AddTimeParameterization
-  default_planner_request_adapters/FixWorkspaceBounds
-  default_planner_request_adapters/FixStartStateBounds
-  default_planner_request_adapters/FixStartStateCollision
-  default_planner_request_adapters/FixStartStatePathConstraints
+planning_plugins:
+  - chomp_interface/CHOMPPlanner
+request_adapters:
+  - default_planning_request_adapters/ValidateWorkspaceBounds
+  - default_planning_request_adapters/CheckStartStateBounds
+  - default_planning_request_adapters/CheckStartStateCollision
+response_adapters:
+  - default_planning_response_adapters/AddTimeOptimalParameterization
+  - default_planning_response_adapters/ValidateSolution
 start_state_max_bounds_error: 0.1
 planning_time_limit: 10.0
 max_iterations: 200

tm_moveit/tm14_moveit_config/config/joint_limits.yaml

@@ -11,30 +11,30 @@ joint_limits:
   joint_1:
     has_velocity_limits: true
     max_velocity: 2.0943951023931953
-    has_acceleration_limits: false
-    max_acceleration: 0
+    has_acceleration_limits: true
+    max_acceleration: 2.0943951023931953
   joint_2:
     has_velocity_limits: true
     max_velocity: 2.0943951023931953
-    has_acceleration_limits: false
-    max_acceleration: 0
+    has_acceleration_limits: true
+    max_acceleration: 2.0943951023931953
   joint_3:
     has_velocity_limits: true
     max_velocity: 3.1415926535897931
-    has_acceleration_limits: false
-    max_acceleration: 0
+    has_acceleration_limits: true
+    max_acceleration: 3.1415926535897931
   joint_4:
     has_velocity_limits: true
     max_velocity: 2.6179938779914944
-    has_acceleration_limits: false
-    max_acceleration: 0
+    has_acceleration_limits: true
+    max_acceleration: 2.6179938779914944
   joint_5:
     has_velocity_limits: true
     max_velocity: 2.6179938779914944
-    has_acceleration_limits: false
-    max_acceleration: 0
+    has_acceleration_limits: true
+    max_acceleration: 2.6179938779914944
   joint_6:
     has_velocity_limits: true
     max_velocity: 3.1415926535897931
-    has_acceleration_limits: false
-    max_acceleration: 0
+    has_acceleration_limits: true
+    max_acceleration: 3.1415926535897931