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Ashwani1330Ashwani1330
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feat(palletizing): switch to Cartesian transit path, optimize table clearance, and restore place pose
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Lines changed: 1023 additions & 849 deletions

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‎exercises/palletizing/cpp_lib/include/HAL.hpp‎

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#ifndef INCLUDE_HAL_HPP_
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#define INCLUDE_HAL_HPP_
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#include <array>
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#include <memory>
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#include <thread>
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// Forward declarations to keep ROS 2 headers out of user-facing code.
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class HALNode;
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namespace rclcpp::executors { class MultiThreadedExecutor; }
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class HAL
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{
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public:
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// Prevent instantiation. HAL acts as a global static utility.
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HAL() = delete;
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// Absolute joint movement. joints[6] in degrees, speed in [0,1], wait_time in seconds.
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static void MoveAbsJ(const std::array<double, 6>& joints, double speed, double wait_time);
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// Relative single-joint movement. joint_number in [1,6], relative_angle in degrees.
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static void MoveSingleJ(int joint_number, double relative_angle, double speed, double wait_time);
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// Absolute linear (Cartesian) move. xyz in metres, ypr in degrees.
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static void MoveLinear(const std::array<double, 3>& xyz, const std::array<double, 3>& ypr, double speed, double wait_time);
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// Absolute point-to-point (Cartesian) move. xyz in metres, ypr in degrees.
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static void MoveJoint(const std::array<double, 3>& xyz, const std::array<double, 3>& ypr, double speed, double wait_time);
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// Relative linear Cartesian increment. xyz in metres.
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static void MoveRelLinear(const std::array<double, 3>& xyz, double speed, double wait_time);
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// Relative TCP reorientation. ypr in degrees.
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static void MoveRelReor(const std::array<double, 3>& ypr, double speed, double wait_time);
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// Gripper control. relative_closure in [0,100] (0 = fully open, 100 = fully closed).
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static void GripperSet(double relative_closure, double wait_time);
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private:
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static void init();
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friend class SystemBootstrapper;
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// Hidden internal state. Not accessible to the user.
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static std::shared_ptr<HALNode> hal_node_;
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static std::shared_ptr<rclcpp::executors::MultiThreadedExecutor> executor_;
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static std::thread spin_thread_;
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};
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#endif
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#ifndef INCLUDE_HAL_HPP_
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#define INCLUDE_HAL_HPP_
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#include <array>
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#include <memory>
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#include <thread>
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// Forward declarations to keep ROS 2 headers out of user-facing code.
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class HALNode;
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namespace rclcpp::executors { class MultiThreadedExecutor; }
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class HAL
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{
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public:
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// Prevent instantiation. HAL acts as a global static utility.
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HAL() = delete;
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// Absolute joint movement. joints[6] in degrees, speed in [0,1], wait_time in seconds.
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static void MoveAbsJ(const std::array<double, 6>& joints, double speed, double wait_time);
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// Relative single-joint movement. joint_number in [1,6], relative_angle in degrees.
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static void MoveSingleJ(int joint_number, double relative_angle, double speed, double wait_time);
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// Absolute linear (Cartesian) move. xyz in metres, ypr in degrees.
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static void MoveLinear(const std::array<double, 3>& xyz, const std::array<double, 3>& ypr, double speed, double wait_time);
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// Absolute point-to-point (Cartesian) move. xyz in metres, ypr in degrees.
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static void MoveJoint(const std::array<double, 3>& xyz, const std::array<double, 3>& ypr, double speed, double wait_time);
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// Relative linear Cartesian increment. xyz in metres.
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static void MoveRelLinear(const std::array<double, 3>& xyz, double speed, double wait_time);
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// Relative TCP reorientation. ypr in degrees.
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static void MoveRelReor(const std::array<double, 3>& ypr, double speed, double wait_time);
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// Suction gripper control. on = true grips a graspable object in contact
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// with the cup, on = false releases the held object. wait_time in seconds.
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static void SuctionSet(bool on, double wait_time);
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private:
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static void init();
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friend class SystemBootstrapper;
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// Hidden internal state. Not accessible to the user.
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static std::shared_ptr<HALNode> hal_node_;
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static std::shared_ptr<rclcpp::executors::MultiThreadedExecutor> executor_;
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static std::thread spin_thread_;
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};
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#endif

‎exercises/palletizing/cpp_template/libs/include/HAL.hpp‎

Lines changed: 50 additions & 49 deletions
Original file line numberDiff line numberDiff line change
@@ -1,49 +1,50 @@
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#ifndef INCLUDE_HAL_HPP_
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#define INCLUDE_HAL_HPP_
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#include <array>
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#include <memory>
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#include <thread>
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// Forward declarations to keep ROS 2 headers out of user-facing code.
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class HALNode;
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namespace rclcpp::executors { class MultiThreadedExecutor; }
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class HAL
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{
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public:
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// Prevent instantiation. HAL acts as a global static utility.
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HAL() = delete;
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// Absolute joint movement. joints[6] in degrees, speed in [0,1], wait_time in seconds.
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static void MoveAbsJ(const std::array<double, 6>& joints, double speed, double wait_time);
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// Relative single-joint movement. joint_number in [1,6], relative_angle in degrees.
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static void MoveSingleJ(int joint_number, double relative_angle, double speed, double wait_time);
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// Absolute linear (Cartesian) move. xyz in metres, ypr in degrees.
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static void MoveLinear(const std::array<double, 3>& xyz, const std::array<double, 3>& ypr, double speed, double wait_time);
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// Absolute point-to-point (Cartesian) move. xyz in metres, ypr in degrees.
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static void MoveJoint(const std::array<double, 3>& xyz, const std::array<double, 3>& ypr, double speed, double wait_time);
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// Relative linear Cartesian increment. xyz in metres.
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static void MoveRelLinear(const std::array<double, 3>& xyz, double speed, double wait_time);
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// Relative TCP reorientation. ypr in degrees.
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static void MoveRelReor(const std::array<double, 3>& ypr, double speed, double wait_time);
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// Gripper control. relative_closure in [0,100] (0 = fully open, 100 = fully closed).
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static void GripperSet(double relative_closure, double wait_time);
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private:
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static void init();
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friend class SystemBootstrapper;
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// Hidden internal state. Not accessible to the user.
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static std::shared_ptr<HALNode> hal_node_;
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static std::shared_ptr<rclcpp::executors::MultiThreadedExecutor> executor_;
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static std::thread spin_thread_;
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};
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#endif
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#ifndef INCLUDE_HAL_HPP_
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#define INCLUDE_HAL_HPP_
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#include <array>
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#include <memory>
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#include <thread>
7+
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// Forward declarations to keep ROS 2 headers out of user-facing code.
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class HALNode;
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namespace rclcpp::executors { class MultiThreadedExecutor; }
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12+
class HAL
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{
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public:
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// Prevent instantiation. HAL acts as a global static utility.
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HAL() = delete;
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18+
// Absolute joint movement. joints[6] in degrees, speed in [0,1], wait_time in seconds.
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static void MoveAbsJ(const std::array<double, 6>& joints, double speed, double wait_time);
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// Relative single-joint movement. joint_number in [1,6], relative_angle in degrees.
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static void MoveSingleJ(int joint_number, double relative_angle, double speed, double wait_time);
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// Absolute linear (Cartesian) move. xyz in metres, ypr in degrees.
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static void MoveLinear(const std::array<double, 3>& xyz, const std::array<double, 3>& ypr, double speed, double wait_time);
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// Absolute point-to-point (Cartesian) move. xyz in metres, ypr in degrees.
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static void MoveJoint(const std::array<double, 3>& xyz, const std::array<double, 3>& ypr, double speed, double wait_time);
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// Relative linear Cartesian increment. xyz in metres.
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static void MoveRelLinear(const std::array<double, 3>& xyz, double speed, double wait_time);
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// Relative TCP reorientation. ypr in degrees.
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static void MoveRelReor(const std::array<double, 3>& ypr, double speed, double wait_time);
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// Suction gripper control. on = true grips a graspable object in contact
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// with the cup, on = false releases the held object. wait_time in seconds.
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static void SuctionSet(bool on, double wait_time);
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private:
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static void init();
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friend class SystemBootstrapper;
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// Hidden internal state. Not accessible to the user.
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static std::shared_ptr<HALNode> hal_node_;
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static std::shared_ptr<rclcpp::executors::MultiThreadedExecutor> executor_;
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static std::thread spin_thread_;
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};
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#endif

‎exercises/palletizing/cpp_template/libs/libHAL.so‎

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