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Remplacer le contenu de la branche distante #41

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2dcc6d9
Remplacer le contenu de la branche distante
Jul 8, 2025
92278b3
Formatage avec Black
Jul 8, 2025
8d481e5
Ajout du fichier nom-du-fichier.ext
Jul 21, 2025
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133 changes: 133 additions & 0 deletions cleanup_srdf_complete.sh
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#!/bin/bash
# Script complet pour nettoyer et corriger le fichier SRDF

echo "🧹 Nettoyage complet du fichier SRDF..."

WORKSPACE_PATH="$HOME/Robot5A-Simulation"
SRDF_FILE=$(find $WORKSPACE_PATH -name "armr5.srdf" -type f | head -1)

if [ -z "$SRDF_FILE" ]; then
echo "❌ Fichier SRDF (armr5.srdf) non trouvé!"
exit 1
fi

echo "📁 Fichier SRDF trouvé : $SRDF_FILE"

# Sauvegarde
BACKUP_FILE="${SRDF_FILE}.backup_complete_$(date +%Y%m%d_%H%M%S)"
cp "$SRDF_FILE" "$BACKUP_FILE"
echo "💾 Sauvegarde créée : $BACKUP_FILE"

# Compter les problèmes avant nettoyage
ARUCO_BEFORE=$(grep -c "aruco_plane" "$SRDF_FILE" 2>/dev/null || echo "0")
echo "📊 Lignes aruco_plane avant nettoyage : $ARUCO_BEFORE"

# ÉTAPE 1: Supprimer toutes les références aux aruco_plane
echo "🗑️ Suppression de toutes les références aruco_plane..."
sed -i '/aruco_plane/d' "$SRDF_FILE"

# ÉTAPE 2: Ajouter les règles manquantes pour toutes les caméras
echo "📷 Ajout des règles de collision pour toutes les caméras..."

# Créer un fichier temporaire avec les nouvelles règles
TEMP_FILE=$(mktemp)

# Copier tout sauf la balise de fermeture </robot>
sed '$d' "$SRDF_FILE" > "$TEMP_FILE"

# Ajouter les nouvelles règles pour les caméras manquantes
cat >> "$TEMP_FILE" << 'EOF'

<!-- RÈGLES DE COLLISION CAMÉRAS 3-7 - AJOUTÉES AUTOMATIQUEMENT -->

<!-- Camera 3 collisions -->
<disable_collisions link1="camera_link3" link2="base_link" reason="Camera"/>
<disable_collisions link1="camera_link3" link2="R5A_link1" reason="Camera"/>
<disable_collisions link1="camera_link3" link2="R5A_link2" reason="Camera"/>
<disable_collisions link1="camera_link3" link2="R5A_link3" reason="Camera"/>
<disable_collisions link1="camera_link3" link2="R5A_link4" reason="Camera"/>
<disable_collisions link1="camera_link3" link2="R5A_link5" reason="Camera"/>
<disable_collisions link1="camera_link3" link2="R5A_GripperLeft_Link1" reason="Camera"/>
<disable_collisions link1="camera_link3" link2="R5A_GripperLeft_Link2" reason="Camera"/>
<disable_collisions link1="camera_link3" link2="R5A_GripperLeft_Link3" reason="Camera"/>
<disable_collisions link1="camera_link3" link2="R5A_GripperRight_Link1" reason="Camera"/>
<disable_collisions link1="camera_link3" link2="R5A_GripperRight_Link2" reason="Camera"/>
<disable_collisions link1="camera_link3" link2="R5A_GripperRight_Link3" reason="Camera"/>

<!-- Camera 4 collisions -->
<disable_collisions link1="camera_link4" link2="base_link" reason="Camera"/>
<disable_collisions link1="camera_link4" link2="R5A_link1" reason="Camera"/>
<disable_collisions link1="camera_link4" link2="R5A_link2" reason="Camera"/>
<disable_collisions link1="camera_link4" link2="R5A_link3" reason="Camera"/>
<disable_collisions link1="camera_link4" link2="R5A_link4" reason="Camera"/>
<disable_collisions link1="camera_link4" link2="R5A_link5" reason="Camera"/>
<disable_collisions link1="camera_link4" link2="R5A_GripperLeft_Link1" reason="Camera"/>
<disable_collisions link1="camera_link4" link2="R5A_GripperLeft_Link2" reason="Camera"/>
<disable_collisions link1="camera_link4" link2="R5A_GripperLeft_Link3" reason="Camera"/>
<disable_collisions link1="camera_link4" link2="R5A_GripperRight_Link1" reason="Camera"/>
<disable_collisions link1="camera_link4" link2="R5A_GripperRight_Link2" reason="Camera"/>
<disable_collisions link1="camera_link4" link2="R5A_GripperRight_Link3" reason="Camera"/>

<!-- Camera 5 collisions (PROBLÉMATIQUE) -->
<disable_collisions link1="camera_link5" link2="base_link" reason="Camera"/>
<disable_collisions link1="camera_link5" link2="R5A_link1" reason="Camera"/>
<disable_collisions link1="camera_link5" link2="R5A_link2" reason="Camera"/>
<disable_collisions link1="camera_link5" link2="R5A_link3" reason="Camera"/>
<disable_collisions link1="camera_link5" link2="R5A_link4" reason="Camera"/>
<disable_collisions link1="camera_link5" link2="R5A_link5" reason="Camera"/>
<disable_collisions link1="camera_link5" link2="R5A_GripperLeft_Link1" reason="Camera"/>
<disable_collisions link1="camera_link5" link2="R5A_GripperLeft_Link2" reason="Camera"/>
<disable_collisions link1="camera_link5" link2="R5A_GripperLeft_Link3" reason="Camera"/>
<disable_collisions link1="camera_link5" link2="R5A_GripperRight_Link1" reason="Camera"/>
<disable_collisions link1="camera_link5" link2="R5A_GripperRight_Link2" reason="Camera"/>
<disable_collisions link1="camera_link5" link2="R5A_GripperRight_Link3" reason="Camera"/>

<!-- Camera 6 collisions -->
<disable_collisions link1="camera_link6" link2="base_link" reason="Camera"/>
<disable_collisions link1="camera_link6" link2="R5A_link1" reason="Camera"/>
<disable_collisions link1="camera_link6" link2="R5A_link2" reason="Camera"/>
<disable_collisions link1="camera_link6" link2="R5A_link3" reason="Camera"/>
<disable_collisions link1="camera_link6" link2="R5A_link4" reason="Camera"/>
<disable_collisions link1="camera_link6" link2="R5A_link5" reason="Camera"/>
<disable_collisions link1="camera_link6" link2="R5A_GripperLeft_Link1" reason="Camera"/>
<disable_collisions link1="camera_link6" link2="R5A_GripperLeft_Link2" reason="Camera"/>
<disable_collisions link1="camera_link6" link2="R5A_GripperLeft_Link3" reason="Camera"/>
<disable_collisions link1="camera_link6" link2="R5A_GripperRight_Link1" reason="Camera"/>
<disable_collisions link1="camera_link6" link2="R5A_GripperRight_Link2" reason="Camera"/>
<disable_collisions link1="camera_link6" link2="R5A_GripperRight_Link3" reason="Camera"/>

<!-- Camera 7 collisions -->
<disable_collisions link1="camera_link7" link2="base_link" reason="Camera"/>
<disable_collisions link1="camera_link7" link2="R5A_link1" reason="Camera"/>
<disable_collisions link1="camera_link7" link2="R5A_link2" reason="Camera"/>
<disable_collisions link1="camera_link7" link2="R5A_link3" reason="Camera"/>
<disable_collisions link1="camera_link7" link2="R5A_link4" reason="Camera"/>
<disable_collisions link1="camera_link7" link2="R5A_link5" reason="Camera"/>
<disable_collisions link1="camera_link7" link2="R5A_GripperLeft_Link1" reason="Camera"/>
<disable_collisions link1="camera_link7" link2="R5A_GripperLeft_Link2" reason="Camera"/>
<disable_collisions link1="camera_link7" link2="R5A_GripperLeft_Link3" reason="Camera"/>
<disable_collisions link1="camera_link7" link2="R5A_GripperRight_Link1" reason="Camera"/>
<disable_collisions link1="camera_link7" link2="R5A_GripperRight_Link2" reason="Camera"/>
<disable_collisions link1="camera_link7" link2="R5A_GripperRight_Link3" reason="Camera"/>

</robot>
EOF

# Remplacer le fichier original
mv "$TEMP_FILE" "$SRDF_FILE"

# Vérifications finales
ARUCO_AFTER=$(grep -c "aruco_plane" "$SRDF_FILE" 2>/dev/null || echo "0")
CAMERAS_TOTAL=$(grep -c "camera_link" "$SRDF_FILE")

echo ""
echo "✅ Nettoyage terminé !"
echo "📊 Références aruco_plane supprimées : $ARUCO_BEFORE"
echo "📊 Références aruco_plane restantes : $ARUCO_AFTER"
echo "📷 Total lignes caméras : $CAMERAS_TOTAL"
echo ""
echo "🔧 Maintenant recompilez :"
echo " cd $WORKSPACE_PATH"
echo " colcon build --packages-select robot_moveit_config"
echo " source install/setup.bash"
echo " ros2 launch robot_control visual_sim.launch.py"
4 changes: 1 addition & 3 deletions src/robot_control/launch/moveit_control.launch.py
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Expand Up @@ -37,9 +37,7 @@ def generate_launch_description():
# MoveIt configuration using MoveItConfigsBuilder
moveit_config = (
MoveItConfigsBuilder("robot_moveit_config", package_name="robot_moveit_config")
.robot_description(
file_path=xacro_file, mappings={"use_sim_time": "true"}
)
.robot_description(file_path=xacro_file, mappings={"use_sim_time": "true"})
.robot_description_semantic("config/armr5.srdf")
.robot_description_kinematics("config/kinematics.yaml")
.joint_limits("config/joint_limits.yaml")
Expand Down
4 changes: 1 addition & 3 deletions src/robot_control/launch/moveit_control2.launch.py
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Expand Up @@ -36,9 +36,7 @@ def generate_launch_description():
# MoveIt configuration using MoveItConfigsBuilder
moveit_config = (
MoveItConfigsBuilder("robot_moveit_config", package_name="robot_moveit_config")
.robot_description(
file_path=xacro_file, mappings={"use_sim_time": "true"}
)
.robot_description(file_path=xacro_file, mappings={"use_sim_time": "true"})
.robot_description_semantic("config/armr5.srdf")
.robot_description_kinematics("config/kinematics.yaml")
.joint_limits("config/joint_limits.yaml")
Expand Down
4 changes: 1 addition & 3 deletions src/robot_control/launch/moveit_control_gui.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -37,9 +37,7 @@ def generate_launch_description():
# MoveIt configuration using MoveItConfigsBuilder
moveit_config = (
MoveItConfigsBuilder("robot_moveit_config", package_name="robot_moveit_config")
.robot_description(
file_path=xacro_file, mappings={"use_sim_time": "true"}
)
.robot_description(file_path=xacro_file, mappings={"use_sim_time": "true"})
.robot_description_semantic("config/armr5.srdf")
.robot_description_kinematics("config/kinematics.yaml")
.joint_limits("config/joint_limits.yaml")
Expand Down
30 changes: 17 additions & 13 deletions src/robot_control/launch/visual_sim.launch.py
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Expand Up @@ -18,8 +18,14 @@
)
from launch.event_handlers import OnProcessExit, OnProcessStart
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.conditions import IfCondition, UnlessCondition # Added for conditional execution
from launch.substitutions import LaunchConfiguration, PythonExpression # Added for launch configurations and expressions
from launch.conditions import (
IfCondition,
UnlessCondition,
) # Added for conditional execution
from launch.substitutions import (
LaunchConfiguration,
PythonExpression,
) # Added for launch configurations and expressions
from launch_ros.actions import Node, SetParameter
import xacro
from moveit_configs_utils import MoveItConfigsBuilder
Expand All @@ -40,13 +46,11 @@ def generate_launch_description():

# Declare the 'num_cameras' launch argument
num_cameras_arg = DeclareLaunchArgument(
'num_cameras',
default_value='1',
description='Number of cameras (1 or 2)'
"num_cameras", default_value="1", description="Number of cameras (1 or 2)"
)

# Launch configuration to access 'num_cameras' argument
num_cameras = LaunchConfiguration('num_cameras')
num_cameras = LaunchConfiguration("num_cameras")

# Package Directories
pkg_name = "robot_description" # Name of the robot description package
Expand Down Expand Up @@ -187,7 +191,7 @@ def generate_launch_description():
parameters=[
{"use_sim_time": True},
],
condition=UnlessCondition(PythonExpression(['"', num_cameras, '" == "2"']))
condition=UnlessCondition(PythonExpression(['"', num_cameras, '" == "2"'])),
)

# Aruco Detector Double Node
Expand All @@ -198,7 +202,7 @@ def generate_launch_description():
parameters=[
{"use_sim_time": True},
],
condition=IfCondition(PythonExpression(['"', num_cameras, '" == "2"']))
condition=IfCondition(PythonExpression(['"', num_cameras, '" == "2"'])),
)

# Launch Visual Joint State Publisher Node
Expand All @@ -214,10 +218,10 @@ def generate_launch_description():
[
num_cameras_arg, # Added the launch argument
Node(
package='joint_state_publisher',
executable='joint_state_publisher',
output='screen',
parameters=[{'use_sim_time': True}]
package="joint_state_publisher",
executable="joint_state_publisher",
output="screen",
parameters=[{"use_sim_time": True}],
),
SetParameter(name="use_sim_time", value=True), # Enable simulation time
RegisterEventHandler(
Expand All @@ -237,7 +241,7 @@ def generate_launch_description():
target_action=load_arm_controller,
on_exit=[
load_gripper_controller,
move_group_node
move_group_node,
], # Load gripper controller before move group
)
),
Expand Down
8 changes: 7 additions & 1 deletion src/robot_description/CMakeLists.txt
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Expand Up @@ -21,5 +21,11 @@ install(
${CMAKE_CURRENT_SOURCE_DIR}/urdf/r5a_v_ros.urdf.xacro
DESTINATION share/${PROJECT_NAME}/urdf
)
# Installer les matériaux
install(DIRECTORY media/materials/
DESTINATION share/${PROJECT_NAME}/materials/)

ament_package()
install(DIRECTORY worlds/
DESTINATION share/${PROJECT_NAME}/worlds/)

ament_package()
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