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2024.4.0 (#336)
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* fix qos of trial_config subscriber to implement droppedpart challenge (#334)

* fix qos of trial_config subscriber to implement droppedpart challenge

* change qos profile to match task manager

* Updated version numbers

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Co-authored-by: Sahruday <[email protected]>
Co-authored-by: Joseph Fernandez <[email protected]>
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@jaybrecht @saahu27 @jfernandez37
3 people authored Apr 30, 2024
1 parent ffc8257 commit 557afa8
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Showing 9 changed files with 12 additions and 10 deletions.
2 changes: 1 addition & 1 deletion ariac_controllers/package.xml
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>ariac_controllers</name>
<version>2024.3.0</version>
<version>2024.4.0</version>
<description>ros2 controllers for ARIAC simulation</description>
<maintainer email="[email protected]"> Justin Albrecht</maintainer>
<license>NIST</license>
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2 changes: 1 addition & 1 deletion ariac_description/package.xml
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>ariac_description</name>
<version>2024.3.0</version>
<version>2024.4.0</version>
<description>Package containing URDF descriptions for all robots in the ARIAC simulation</description>
<maintainer email="[email protected]">justin</maintainer>
<license>NIST</license>
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2 changes: 1 addition & 1 deletion ariac_gazebo/package.xml
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>ariac_gazebo</name>
<version>2024.3.0</version>
<version>2024.4.0</version>
<description>ARIAC ROS2 port</description>
<maintainer email="[email protected]">justin</maintainer>
<license>NIST</license>
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2 changes: 1 addition & 1 deletion ariac_gui/package.xml
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>ariac_gui</name>
<version>2024.3.0</version>
<version>2024.4.0</version>
<description>GUI for creating trial configurations</description>
<maintainer email="[email protected]">Joseph Fernandez</maintainer>
<license>NIST</license>
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2 changes: 1 addition & 1 deletion ariac_moveit_config/package.xml
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>ariac_moveit_config</name>
<version>2024.3.0</version>
<version>2024.4.0</version>
<description> An package with MoveIt2 configurations for ARIAC robots</description>
<maintainer email="[email protected]">Justin Albrecht</maintainer>
<license>NIST</license>
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2 changes: 1 addition & 1 deletion ariac_msgs/package.xml
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>ariac_msgs</name>
<version>2024.3.0</version>
<version>2024.4.0</version>
<description>Interface definitions for ARIAC</description>
<maintainer email="[email protected]">justin</maintainer>
<license>NIST</license>
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2 changes: 1 addition & 1 deletion ariac_plugins/package.xml
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>ariac_plugins</name>
<version>2024.3.0</version>
<version>2024.4.0</version>
<description>Gazebo/ROS2 plugins for the ARAIC competition</description>
<maintainer email="[email protected]">justin albrecht</maintainer>
<maintainer email="[email protected]">zeid kootbally</maintainer>
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6 changes: 4 additions & 2 deletions ariac_plugins/src/vacuum_gripper_plugin.cpp
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impl_->first_publish_ = true;

// Connect Subscribers
impl_->trial_config_sub_ = impl_->ros_node_->create_subscription<ariac_msgs::msg::Trial>(
"/ariac/trial_config", qos.get_subscription_qos("/ariac/trial_config", rclcpp::QoS(1)),
rclcpp::QoS qos_profile = rclcpp::QoS(rclcpp::KeepLast(1)).transient_local().reliable();

impl_->trial_config_sub_ = impl_->ros_node_->create_subscription<ariac_msgs::msg::Trial>(
"/ariac/trial_config", qos.get_subscription_qos("/ariac/trial_config", qos_profile),
std::bind(&VacuumGripperPluginPrivate::OnTrialCallback, impl_.get(), std::placeholders::_1));

// Register enable service
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2 changes: 1 addition & 1 deletion ariac_sensors/package.xml
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>ariac_sensors</name>
<version>2024.3.0</version>
<version>2024.4.0</version>
<description>Gazebo plugins for the ARIAC sensors</description>
<maintainer email="[email protected]">justin</maintainer>
<license>NIST</license>
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