HiveCoreRD/hivecore_robot_brain
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modify rm lib

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This commit is contained in:
david
2025-12-04 16:46:41 +08:00
parent 948785a1a8
commit afc4d983c8
4 changed files with 14 additions and 12 deletions
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16
src/brain/CMakeLists.txt
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@@ -71,7 +71,7 @@ ament_target_dependencies(brain_node
target_link_libraries(brain_node
Boost::thread
yaml-cpp
${CMAKE_CURRENT_SOURCE_DIR}/../thirdparty/rm_arm/lib/libapi_cpp.so
/usr/local/lib/libapi_cpp.so
)
install(TARGETS brain_node
@@ -172,7 +172,7 @@ if(BUILD_TESTING)
${CMAKE_CURRENT_SOURCE_DIR}/../thirdparty/rm_arm/include
)
target_link_libraries(test_cerebellum_node Boost::thread)
target_link_libraries(test_cerebellum_node yaml-cpp ${CMAKE_CURRENT_SOURCE_DIR}/../thirdparty/rm_arm/lib/libapi_cpp.so)
target_link_libraries(test_cerebellum_node yaml-cpp /usr/local/lib/libapi_cpp.so)
endif()
ament_add_gtest(test_cerebrum_node
@@ -202,7 +202,7 @@ if(BUILD_TESTING)
${CMAKE_CURRENT_SOURCE_DIR}/../thirdparty/rm_arm/include
)
target_link_libraries(test_cerebrum_node Boost::thread)
target_link_libraries(test_cerebrum_node yaml-cpp ${CMAKE_CURRENT_SOURCE_DIR}/../thirdparty/rm_arm/lib/libapi_cpp.so)
target_link_libraries(test_cerebrum_node yaml-cpp /usr/local/lib/libapi_cpp.so)
endif()
ament_add_gtest(test_sm_cerebellum
@@ -225,7 +225,7 @@ if(BUILD_TESTING)
${CMAKE_CURRENT_SOURCE_DIR}/include
${CMAKE_CURRENT_SOURCE_DIR}/../thirdparty/rm_arm/include
)
target_link_libraries(test_sm_cerebellum ${CMAKE_CURRENT_SOURCE_DIR}/../thirdparty/rm_arm/lib/libapi_cpp.so)
target_link_libraries(test_sm_cerebellum /usr/local/lib/libapi_cpp.so)
endif()
# ExecuteBtAction end-to-end single skill test
@@ -254,7 +254,7 @@ if(BUILD_TESTING)
${CMAKE_CURRENT_SOURCE_DIR}/include
${CMAKE_CURRENT_SOURCE_DIR}/../thirdparty/rm_arm/include
)
target_link_libraries(test_execute_bt_action Boost::thread yaml-cpp ${CMAKE_CURRENT_SOURCE_DIR}/../thirdparty/rm_arm/lib/libapi_cpp.so)
target_link_libraries(test_execute_bt_action Boost::thread yaml-cpp /usr/local/lib/libapi_cpp.so)
endif()
# Extended ExecuteBtAction scenario tests (multi-skill, failure, RUN interpolation, timeout, stats, cancel)
@@ -283,7 +283,7 @@ if(BUILD_TESTING)
${CMAKE_CURRENT_SOURCE_DIR}/include
${CMAKE_CURRENT_SOURCE_DIR}/../thirdparty/rm_arm/include
)
target_link_libraries(test_execute_bt_action_extended Boost::thread yaml-cpp ${CMAKE_CURRENT_SOURCE_DIR}/../thirdparty/rm_arm/lib/libapi_cpp.so)
target_link_libraries(test_execute_bt_action_extended Boost::thread yaml-cpp /usr/local/lib/libapi_cpp.so)
endif()
# Additional isolated ExecuteBtAction scenario tests
@@ -302,7 +302,7 @@ if(BUILD_TESTING)
${CMAKE_CURRENT_SOURCE_DIR}/include
${CMAKE_CURRENT_SOURCE_DIR}/../thirdparty/rm_arm/include
)
target_link_libraries(${test_name} Boost::thread yaml-cpp ${CMAKE_CURRENT_SOURCE_DIR}/../thirdparty/rm_arm/lib/libapi_cpp.so)
target_link_libraries(${test_name} Boost::thread yaml-cpp /usr/local/lib/libapi_cpp.so)
endif()
endforeach()
@@ -320,7 +320,7 @@ if(BUILD_TESTING)
${CMAKE_CURRENT_SOURCE_DIR}/include
${CMAKE_CURRENT_SOURCE_DIR}/../thirdparty/rm_arm/include
)
target_link_libraries(test_cerebrum_utils Boost::thread yaml-cpp ${CMAKE_CURRENT_SOURCE_DIR}/../thirdparty/rm_arm/lib/libapi_cpp.so)
target_link_libraries(test_cerebrum_utils Boost::thread yaml-cpp /usr/local/lib/libapi_cpp.so)
endif()
endif()

2
src/brain/config/bt_vision_grasp.xml
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@@ -2,7 +2,7 @@
<BehaviorTree ID="MainTree">
<Sequence name="root">
<!-- Retry vision + hand until GripperControl_H succeeds -->
<RetryUntilSuccessful name="retry_vision_hand" num_attempts="20">
<RetryUntilSuccessful name="retry_vision_hand" num_attempts="3">
<Sequence>
<!-- <GripperCmd_H name="gripper_open" /> -->
<VisionObjectRecognition_H name="VisionObjectRecognition_H" />

2
src/brain/include/brain/cerebellum_node.hpp
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@@ -95,7 +95,7 @@ private:
rclcpp::Publisher<std_msgs::msg::String>::SharedPtr stats_pub_;
std::unordered_map<std::string, geometry_msgs::msg::PoseStamped> target_pose_;
std::vector<std::string> target_frames_{"apple", "bottle"};
std::string target_frame_{"apple"};
std::string target_frame_{"bottle"};
int64_t command_id_{0};
int64_t command_id_left_arm_ {0};
int64_t command_id_right_arm_{0};

6
src/brain/src/cerebellum_hooks.cpp
View File

@@ -516,6 +516,8 @@ void CerebellumHooks::ConfigureServiceHooks(CerebellumNode * node)
ConfigureMapSaveHooks(node);
}
#define ENABLE_CAL_GRASP_POSE
void CerebellumHooks::ConfigureVisionObjectRecognitionHooks(CerebellumNode * node)
{
using VisionSrv = interfaces::srv::VisionObjectRecognition;
@@ -527,7 +529,7 @@ void CerebellumHooks::ConfigureVisionObjectRecognitionHooks(CerebellumNode * nod
node->target_pose_[tf].header.frame_id = "RightLink6";
node->target_pose_[tf].pose = obj.pose;
// node->target_pose_[tf].pose.position.x -= obj.grab_width / 2;
// node->target_pose_[tf].pose.position.z -= 0.175;
node->target_pose_[tf].pose.position.z -= 0.175;
node->grab_width_ = obj.grab_width;
// RCLCPP_INFO(node->get_logger(), "target_frame_: %s, grab_width_: %f, updated target_pose",
// tf.c_str(), node->grab_width_);
@@ -598,7 +600,7 @@ void CerebellumHooks::ConfigureVisionObjectRecognitionHooks(CerebellumNode * nod
for (double angle : best_angles) {
for (const auto& palm : palm_facings) {
auto result = brain::GraspPoseCalculator::calculate(target_pos,
target_quat, "side", angle, palm, 0.06, 0.175, node->arm_target_frame_);
target_quat, "side", angle, palm, 0.06, 0.0, node->arm_target_frame_);
geometry_msgs::msg::Pose pre_grasp_msg;
pre_grasp_msg.position.x = result.pre_grasp_pose.position.x();