From f5d1d0f1e188e2b285186254061afccec73c8f7e Mon Sep 17 00:00:00 2001 From: Dave Kroezen Date: Mon, 27 May 2024 10:46:51 +0200 Subject: [PATCH 1/2] Changes from Airborne --- .../action/StringerPlace.action | 35 +++++++++++++------ 1 file changed, 25 insertions(+), 10 deletions(-) diff --git a/penelope_aerospace_pl_msgs/action/StringerPlace.action b/penelope_aerospace_pl_msgs/action/StringerPlace.action index 32a3973..b712fb2 100644 --- a/penelope_aerospace_pl_msgs/action/StringerPlace.action +++ b/penelope_aerospace_pl_msgs/action/StringerPlace.action @@ -13,9 +13,22 @@ # Action goal fields #------------------------------------------------------------------------------- -# One PoseArray per stringer placement. The path consists of the setpoints to -# reach. -geometry_msgs/PoseArray[] paths +# Position of the end effector at the home position above the storage table +geometry_msgs/PoseStamped home_position +#'storage_table_frame' + [0, 0, dz \approx + +# Positions of the stringers on the storage table +geometry_msgs/PoseStamped[] stringer_storage_positions +#'storage_table_frame' +[dx, dy, 0] + +# Positions of the stringers on the skin +geometry_msgs/PoseStamped[] stringer_skin_positions +#'stringer_1_frame' + [dx, dy, 0] + +# Position of the end effector in the mould, above the skin +geometry_msgs/PoseStamped mould_position +#stringer_1_frame + [0, 0, dz] +#middle_of_jig_position, determine z # Indicate if the poses in the array have the end-effector close enough to the # final position such that the sensors are within their measurement range. @@ -26,14 +39,16 @@ bool[] sensors_in_range #------------------------------------------------------------------------------- # Action result fields #------------------------------------------------------------------------------- -# coordinates for the final gantry position after correcting the errors -geometry_msgs/PoseStamped final_stringer_pose +# poses for the final gantry position after correcting the errors +geometry_msgs/PoseStamped[] final_stringer_poses +#geometry_msgs/Pose[] final_stringer_poses # Estimated skin position resulting from the stringer placements. Every place # operation generates a separate estimate -geometry_msgs/PoseStamped skin_pose_estimate +geometry_msgs/PoseStamped[] skin_pose_estimates +#geometry_msgs/Pose[] skin_pose_estimates -# Number of iterations to get placement within tolerance +# Number of iterations to get placement within tolerance, per stringer placed uint16[] attempts # Placement result per stringer, corresponding to the stringer IDS in @@ -53,8 +68,8 @@ string message # Action feedback fields #------------------------------------------------------------------------------- -# Module specific state +# Closed loop placement state StringerPlaceState process_state -# Generic module state -ModuleState module_state +# Module process state +ModuleState module_state \ No newline at end of file From b6f5c7c1aac340b742dd8d7e6be763385c04db82 Mon Sep 17 00:00:00 2001 From: Dave Kroezen Date: Mon, 27 May 2024 10:48:26 +0200 Subject: [PATCH 2/2] Rename action --- penelope_aerospace_pl_msgs/CMakeLists.txt | 2 +- .../{StringerPlace.action => AccurateStringerPlacement.action} | 0 2 files changed, 1 insertion(+), 1 deletion(-) rename penelope_aerospace_pl_msgs/action/{StringerPlace.action => AccurateStringerPlacement.action} (100%) diff --git a/penelope_aerospace_pl_msgs/CMakeLists.txt b/penelope_aerospace_pl_msgs/CMakeLists.txt index cdd1886..fe8b2fc 100644 --- a/penelope_aerospace_pl_msgs/CMakeLists.txt +++ b/penelope_aerospace_pl_msgs/CMakeLists.txt @@ -13,11 +13,11 @@ find_package(shape_msgs REQUIRED) find_package(trajectory_msgs) rosidl_generate_interfaces(${PROJECT_NAME} + "action/AccurateStringerPlacement.action" "action/CobotDrill.action" "action/DvmInspect.action" "action/InductionWeld.action" "action/InfraredThermographyInspect.action" - "action/StringerPlace.action" "msg/CobotDrillingHole.msg" "msg/CobotDrillingHoleArray.msg" "msg/CobotDrillingHoleState.msg" diff --git a/penelope_aerospace_pl_msgs/action/StringerPlace.action b/penelope_aerospace_pl_msgs/action/AccurateStringerPlacement.action similarity index 100% rename from penelope_aerospace_pl_msgs/action/StringerPlace.action rename to penelope_aerospace_pl_msgs/action/AccurateStringerPlacement.action