One devel

.gitmodules

@@ -43,7 +43,4 @@
 	path = submodules/match_robot_controllers
 	url = https://github.com/match-ROS/match_robot_controllers.git
 	branch = main
-[submodule "submodules/gazebo_ros_link_attacher"]
-	path = submodules/gazebo_ros_link_attacher
-	url = https://github.com/pal-robotics/gazebo_ros_link_attacher
-	branch = melodic-devel
+

mir/mir_actions/CHANGELOG.rst

@@ -0,0 +1,76 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package mir_actions
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+1.1.8 (2025-05-13)
+------------------
+* package.xml: Use SPDX license declaration
+* Move repo to DFKI-NI
+* Contributors: Martin Günther
+
+1.1.7 (2023-01-20)
+------------------
+* Update MirMoveBase action to 2.10.3.1
+* Don't set cmake_policy CMP0048
+* Contributors: Martin Günther
+
+1.1.6 (2022-06-02)
+------------------
+* Rename mir_100 -> mir
+  This is in preparation of mir_250 support.
+* Contributors: Martin Günther
+
+1.1.5 (2022-02-11)
+------------------
+
+1.1.4 (2021-12-10)
+------------------
+
+1.1.3 (2021-06-11)
+------------------
+* Merge branch 'melodic-2.8' into noetic
+* Remove RelativeMove action
+  It was removed in MiR software 2.4.0.
+* Update mir_actions to MiR 2.8.3
+* Adjust to changed MirMoveBase action (MiR >= 2.4.0)
+  See `#45 <https://github.com/DFKI-NI/mir_robot/issues/45>`_.
+* Contributors: Martin Günther
+
+1.1.2 (2021-05-12)
+------------------
+
+1.1.1 (2021-02-11)
+------------------
+* Contributors: Martin Günther
+
+1.1.0 (2020-06-30)
+------------------
+* Initial release into noetic
+* Contributors: Martin Günther
+
+1.0.6 (2020-06-30)
+------------------
+* Set cmake_policy CMP0048 to fix warning
+* Contributors: Martin Günther
+
+1.0.5 (2020-05-01)
+------------------
+
+1.0.4 (2019-05-06)
+------------------
+* Update mir_msgs and mir_actions to MiR 2.3.1
+* Contributors: Martin Günther
+
+1.0.3 (2019-03-04)
+------------------
+
+1.0.2 (2018-07-30)
+------------------
+
+1.0.1 (2018-07-17)
+------------------
+
+1.0.0 (2018-07-12)
+------------------
+* Initial release
+* Contributors: Martin Günther

mir/mir_actions/CMakeLists.txt

@@ -0,0 +1,40 @@
+cmake_minimum_required(VERSION 3.5.1)
+project(mir_actions)
+
+find_package(catkin REQUIRED COMPONENTS
+  actionlib
+  geometry_msgs
+  message_generation
+  mir_msgs
+  nav_msgs
+)
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+# Generate actions in the 'action' folder
+add_action_files(
+  FILES
+    MirMoveBase.action
+)
+
+# Generate added messages and services with any dependencies listed here
+generate_messages(
+  DEPENDENCIES
+    geometry_msgs
+    mir_msgs
+    nav_msgs
+)
+
+###################################
+## catkin specific configuration ##
+###################################
+catkin_package(
+  CATKIN_DEPENDS
+    actionlib
+    geometry_msgs
+    message_runtime
+    mir_msgs
+    nav_msgs
+)

mir/mir_actions/action/MirMoveBase.action

@@ -0,0 +1,130 @@
+#goal definition
+#move type
+int16 BASE_MOVE = 0
+int16 GLOBAL_MOVE = 1
+int16 RELATIVE_MOVE = 2
+int16 RELATIVE_MARKER_MOVE = 3
+int16 DOCKING_MOVE = 4
+int16 DOCKING_GLOBAL_MOVE = 5
+int16 PATH_TYPE = 6
+int16 move_task
+
+#shared parameters
+geometry_msgs/PoseStamped target_pose
+string target_guid
+
+#global move parameters
+float64 goal_dist_threshold
+float64 goal_orientation_threshold
+nav_msgs/Path path
+float32 max_plan_time
+bool clear_costmaps
+bool pause_command
+bool continue_command
+
+#relative move parameters
+float64 yaw
+bool collision_detection
+bool collision_avoidance
+float64 disable_collision_check_dist
+float64 max_linear_speed
+float64 max_rotational_speed
+float64 pid_dist_offset
+float64 target_offset
+bool only_collision_detection
+float64 timeout
+
+#docking move parameters
+int32 pattern_type
+int32 pattern_value
+bool only_track
+bool same_goal
+string pose_frame
+geometry_msgs/Pose2D pose
+geometry_msgs/Pose2D offset
+float64 bar_length
+float64 bar_distance
+float64 shelf_leg_asymmetry_x
+float64 tolerance
+
+#Path type
+mir_msgs/MirLocalPlannerPathTypes path_type
+geometry_msgs/PoseStamped start_pose
+# float64 timeout
+
+
+---
+#result definition
+
+#shared states
+int16 UNDEFINED = 0
+int16 GOAL_REACHED = 1
+int16 FAILED = -1
+
+#global move states
+int16 MARKER_VISIBLE = 2
+int16 FAILED_NO_PATH = -2
+int16 FAILED_GOAL_IN_STATIC_OBSTACLE = -3
+int16 FAILED_GOAL_IN_FORBIDDEN_AREA = -4
+int16 FAILED_GOAL_IN_DYNAMIC_OBSTACLE = -5
+int16 FAILED_ROBOT_IN_COLLISION = -6
+int16 FAILED_ROBOT_IN_FORBIDDEN_AREA = -7
+int16 FAILED_UNKNOWN_TRAILER = -8
+int16 FAILED_TO_PASS_GLOBAL_PLAN = -9
+int16 FAILED_NO_VALID_RECOVERY_CONTROL = -10
+int16 FAILED_UNKNOWN_PLANNER_ERROR = -11
+int16 FAILED_ROBOT_OSCILLATING = -12
+int16 FAILED_SOFTWARE_ERROR = -13
+
+#relative move states
+int16 FAILED_TIMEOUT = -14
+int16 FAILED_COLLISION = -15
+int16 INVALID_GOAL = -16
+
+#docking move states
+int16 FAILED_MARKER_TRACKING_ERROR = -17
+
+#shared results
+int16 end_state
+geometry_msgs/PoseStamped end_pose
+
+#docking results
+geometry_msgs/Pose2D pose
+
+#feedback for UI
+string message
+
+---
+#feedback
+#shared
+int8 NOT_READY = -1
+int8 UNKNOWN = -2
+int8 WAITING_FOR_FLEET = -3
+int8 COLLISION = -4
+
+#global move states
+int8 PLANNING = 0
+int8 CONTROLLING = 1
+int8 CLEARING = 2
+
+#relative move states
+int8 DOCKING = 3
+
+#shared feedback
+int8 state
+
+#global move feedback
+geometry_msgs/PoseStamped base_position
+
+#relative move feedback
+geometry_msgs/PoseStamped current_goal
+geometry_msgs/PoseStamped dist_to_goal
+
+#docking move feedback
+geometry_msgs/Pose2D pose
+bool marker_inversion
+
+#path_types
+    #reverse_trolly
+int8 MOVING_FORWARD = 10
+int8 MOVING_BACKWARD = 11

mir/mir_actions/package.xml

@@ -0,0 +1,25 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>mir_actions</name>
+  <version>1.1.8</version>
+  <description>Action definitions for the MiR robot</description>
+
+  <maintainer email="martin.guenther@dfki.de">Martin Günther</maintainer>
+  <author email="martin.guenther@dfki.de">Martin Günther</author>
+
+  <license>BSD-3-Clause</license>
+
+  <url type="website">https://github.com/DFKI-NI/mir_robot</url>
+  <url type="repository">https://github.com/DFKI-NI/mir_robot</url>
+  <url type="bugtracker">https://github.com/DFKI-NI/mir_robot/issues</url>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <depend>actionlib</depend>
+  <depend>geometry_msgs</depend>
+  <depend>mir_msgs</depend>
+  <depend>nav_msgs</depend>
+
+  <build_depend>message_generation</build_depend>
+  <exec_depend>message_runtime</exec_depend>
+</package>

mir/mir_description/package.xml

@@ -18,7 +18,6 @@
   <build_depend>roslaunch</build_depend>
 
   <exec_depend>diff_drive_controller</exec_depend>
-  <exec_depend>gazebo_ros_control</exec_depend>
   <exec_depend>joint_state_controller</exec_depend>
   <exec_depend>joint_state_publisher</exec_depend>
   <exec_depend>position_controllers</exec_depend>

mir/mir_launch_hardware/launch/general_mir.launch

@@ -43,6 +43,8 @@
         </group>
     </group>
 
+    <node name="mir_battery_state_publisher" pkg="mir_launch_hardware" type="mir_battery_state_publisher.py" output="screen"/>
+
     <node name="mir_pose_simple" pkg="mir_navigation" type="mir_pose_simple.py" output="screen">
 		<param name="localization_type" value="$(arg localization_type)"/>
 		<param name="odom_topic" value="mobile_base_controller/odom"/>