Add Example Agent call_do_objective.py Scripts

src/moveit_studio_agent_utils/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.16.3)
+project(moveit_studio_agent_utils)
+
+find_package(ament_cmake REQUIRED)
+find_package(moveit_studio_agent_msgs REQUIRED)
+find_package(moveit_studio_behavior_interface REQUIRED)
+find_package(moveit_studio_behavior_msgs REQUIRED)
+find_package(pluginlib REQUIRED)
+find_package(std_msgs REQUIRED)
+
+set(THIS_PACKAGE_INCLUDE_DEPENDS
+    moveit_studio_agent_msgs
+    moveit_studio_behavior_interface
+    moveit_studio_behavior_msgs
+    std_msgs
+)
+
+#############
+## Install ##
+#############
+
+# Install scripts directory
+install(PROGRAMS 
+    scripts/call_do_objective.py 
+    scripts/call_do_objective_waypoint.py
+    DESTINATION lib/${PROJECT_NAME}
+)
+
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
+ament_package()

src/moveit_studio_agent_utils/README.md

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+# moveit_studio_agent_utils
+
+Provides Scripts to interact with MoveIt Studio Agent API programatically. 
+
+Please see the [Interact with the Objective Server Directly](https://docs.picknik.ai/en/stable/how_to/interact_with_the_objective_server_directly/interact_with_the_objective_server_directly.html) tutorial for more information on these scripts and their use.

src/moveit_studio_agent_utils/package.xml

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+<?xml version="1.0"?>
+<package format="3">
+  <name>moveit_studio_agent_utils</name>
+  <version>2.1.0</version>
+  <description>Package containing scripts for interacting with MoveIt Studio Agent</description>
+
+  <maintainer email="[email protected]">Chance Cardona</maintainer>
+  <author email="[email protected]">Chance Cardona</author>
+
+  <license>BSD-3</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <build_depend>moveit_common</build_depend>
+
+  <depend>moveit_studio_agent_msgs</depend>
+  <depend>moveit_studio_behavior_interface</depend>
+  <depend>moveit_studio_behavior_msgs</depend>
+  <depend>std_msgs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>ament_clang_format</test_depend>
+  <test_depend>ament_clang_tidy</test_depend>
+  <test_depend>ament_cmake_copyright</test_depend>
+  <test_depend>ament_cmake_lint_cmake</test_depend>
+  <test_depend>picknik_ament_copyright</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

src/moveit_studio_agent_utils/scripts/call_do_objective.py

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+#!/usr/bin/env python3
+
+# Copyright (c) 2023 PickNik Inc.
+# All rights reserved.
+
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+
+# * Redistributions of source code must retain the above copyright notice, this
+#   list of conditions and the following disclaimer.
+
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+
+# * Neither the name of the copyright holder nor the names of its
+#   contributors may be used to endorse or promote products derived from
+#   this software without specific prior written permission.
+
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+# FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+
+import rclpy
+from rclpy.action import ActionClient
+from rclpy.node import Node
+import sys
+
+from moveit_studio_agent_msgs.action import DoObjectiveSequence
+
+
+class DoObjectiveSequenceClient(Node):
+    def __init__(self):
+        super().__init__("DoObjectiveSequence")
+        self._action_client = ActionClient(self, DoObjectiveSequence, "do_objective")
+
+    def send_goal(self, objective_name):
+        goal_msg = DoObjectiveSequence.Goal()
+        goal_msg.objective_name = objective_name
+        self._action_client.wait_for_server()
+        result = self._action_client.send_goal_async(goal_msg)
+        return result
+
+
+def main(args=None):
+    if len(sys.argv) < 2:
+        print(
+            "usage: ros2 run moveit_studio_behavior call_do_objective.py 'Objective Name'"
+        )
+    else:
+        rclpy.init(args=args)
+
+        client = DoObjectiveSequenceClient()
+
+        future = client.send_goal(sys.argv[1])
+
+        rclpy.spin_until_future_complete(client, future)
+
+
+if __name__ == "__main__":
+    main()

src/moveit_studio_agent_utils/scripts/call_do_objective_waypoint.py

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+#!/usr/bin/env python3
+
+# Copyright (c) 2023 PickNik Inc.
+# All rights reserved.
+
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+
+# * Redistributions of source code must retain the above copyright notice, this
+#   list of conditions and the following disclaimer.
+
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+
+# * Neither the name of the copyright holder nor the names of its
+#   contributors may be used to endorse or promote products derived from
+#   this software without specific prior written permission.
+
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+# FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+
+import rclpy
+from rclpy.action import ActionClient
+from rclpy.node import Node
+import sys
+
+from moveit_studio_agent_msgs.action import DoObjectiveSequence
+from moveit_studio_behavior_msgs.msg import (
+    BehaviorParameter, 
+    BehaviorParameterDescription,
+)
+
+class DoObjectiveSequenceClient(Node):
+    def __init__(self):
+        super().__init__("DoObjectiveSequence")
+        self._action_client = ActionClient(self, DoObjectiveSequence, "do_objective")
+
+    def send_goal(self, waypoint_name="Behind"):
+        goal_msg = DoObjectiveSequence.Goal()
+        goal_msg.objective_name = "Move to Joint State"
+
+        behavior_parameter = BehaviorParameter()
+        behavior_parameter.behavior_namespaces.append("move_to_joint_state")
+        behavior_parameter.description.name = "waypoint_name"
+        behavior_parameter.description.type = BehaviorParameterDescription.TYPE_STRING
+        behavior_parameter.string_value = waypoint_name
+        goal_msg.parameter_overrides = [behavior_parameter]
+
+        self._action_client.wait_for_server()
+        result = self._action_client.send_goal_async(goal_msg)
+        return result
+
+
+def main(args=None):
+    if len(sys.argv) < 2:
+        print(
+            "usage: ros2 run moveit_studio_behavior call_do_objective.py 'Waypoint Name'"
+        )
+    else:
+        rclpy.init(args=args)
+
+        client = DoObjectiveSequenceClient()
+
+        future = client.send_goal(sys.argv[1])
+
+        rclpy.spin_until_future_complete(client, future)
+
+
+if __name__ == "__main__":
+    main()