- Created a new document for the Station interface, detailing its menu structure, process data, safety functions, frames, and smartPAD function buttons.
- Added a document for RobotPowerControl, explaining its purpose for safely shutting down or restarting the KUKA Sunrise Cabinet controller.
- Introduced ServerFriRos2 documentation, outlining its role in establishing an FRI connection between the KUKA LBR iiwa and a ROS 2 computer.
- Documented the TeachKuka application, which allows manual teaching of the KUKA LBR iiwa, including position capturing and trajectory recording.
- Added an overview of Sunrise Workbench, including installation instructions for Windows and Linux.
- Created a section on installing a Windows compatibility tool (PortProton) on Linux.
- Documented the installation process for SunriseWorkbench on Linux using PortProton.
- Added installation instructions for SunriseWorkbench on Windows.
- Created troubleshooting documentation for configuration errors and SSL errors during installation.
- Implemented a hook to generate the shared PDF only during the default-language build.
- Create libraries.md for library installation instructions in SunriseWorkbench.
- Create load-project.md for importing existing projects in SunriseWorkbench.
- Create new-project.md detailing the process of creating a new project in SunriseWorkbench.
- Add applications.md to describe the applications section in KUKA smartHMI.
- Add extra-menu.md for additional robot control options in KUKA smartHMI.
- Create io-group.md for managing input/output groups in KUKA smartHMI.
- Add robot-menu.md as a placeholder for the robot menu section in KUKA smartHMI.
- Create station.md to outline the main navigation and functionalities in KUKA smartHMI.
- Add LBRserver.md, robot-power-control.md, and teach-kuka.md as placeholders for respective control programs.
- Create config-error.md to provide troubleshooting steps for configuration errors in SunriseWorkbench.
- Add main.html to override base template with site root metadata.
- Deleted obsolete `test_motion_sequence.py` file.
- Updated `setup.py` to remove references to the old test script and motion configuration file.
- Added `motion_sequence_config.json` to define home position and waypoints for the robot.
- Introduced `motion_sequence_runner.py` to execute motion sequences based on the new configuration format, supporting both joint and pose movements.
- Added a new link "tcp" and a fixed joint "patron_tcp" in patron.xacro for better tool control.
- Updated ServerFriRos2.java to improve command mode handling and user configuration steps, including clearer logging and better control mode selection.
- Removed the deprecated iiwa_ros2.java file to streamline the codebase.
- Enhanced test_motion_sequence.py to allow dynamic topic recording based on user input, with improved logging for bag file management.
- Updated README.md to include examples for data collection and motion sequence testing.
- Modified setting.yaml to change the TCP link for planning from "patron" to "link_ee".
- Refactored move_to_pose_server.py to improve planner configuration readability.
- Updated setup.py to include motion_config.json in package resources and added a new console script for testing motion sequences.
- Introduced motion_config.json to define home joints and poses for motion sequences.
- Added test_motion_sequence.py to implement a test runner for executing motion sequences and recording data to a bag file.
- Implemented action servers for MoveToPose and MoveToJoints.
- Added service for MoveToNamedPose and stop action.
- Updated README with usage examples for new actions.
- Enhanced planning configurations in YAML and Python files.
- Removed deprecated motion planning scripts.
Все конфигурационные файлы переехали в пакет `iiwa_config`. также там появился общий конфигурационный файл, который упращает запуск `digital_twin.launch.py`
Добавлен дополнительный пакет `iiwa_utils`, в который переехал весь код с папки `iiwa_bringup/utils`, а также все тестовые ноды переехали с `iiwa_object_spawner` в этот пакет
Пакеты `iiwa_bringup` и `iiwa_description` переведены на `ament_cmake` для дальнейшего удобсва - пакеты не будут содержать код для реализации
- В файле `webots_spawn.launch.py` - добавлено использование времени симуляции
- Добавлен новый пакет `iiwa_object_spawne`, который отвечает за появление объектов (в разработке)
Добавлена папка `supported`, в которой будут размещаться файлы запуска подключаемые в основном файле.
Переименован контроллер на `iiwa_arm_controller`
Добавлен пакет `iiwa_bringup.utils`, в котором будут распологаться все вспомогательные функции, для папки `launch`
В файле `README`, были добавлены подсказки для автора
Даниил Грабарь