| feat: add task_dispatch framework for unified task-level execution
Add a unified task execution framework (task_dispatch) that bridges
task-level planners (visual_grasp, VoxPoser, etc.) and the existing
MoveIt motion execution layer (moveit_gateway + ros2_control).
Architecture overview:
Planners → ExecuteTaskPlan action → TaskExecutorNode
TaskExecutorNode dispatches:
MOVE_TO_POSE → /moveit_gateway/move_to_pose service
GRIPPER → gripper trajectory controller
WAIT → timed delay
New packages:
- task_dispatch: TaskExecutorNode with ExecuteTaskPlan action server
New message types (ibrobot_msgs):
- msg/TaskStep.msg: single step in a task plan (pose/gripper/wait)
- action/ExecuteTaskPlan.action: execute a sequence of TaskSteps
- srv/MoveToPose.srv: synchronous move-to-pose via MoveIt gateway
Modified packages:
- robot_moveit: moveit_gateway gains MoveToPose service + motion_status
- robot_config: launch_builders/task_execution.py auto-launches
task_executor for moveit-based control modes
- robot.launch.py: section 11.5 integrates task executor launch
This framework is the counterpart to action_dispatch:
action_dispatch = joint-level streaming (ACT/VLA, 100Hz)
task_dispatch = task-level sequencing (MoveIt planners, event-driven)
Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
Signed-off-by: XiaoqiangWu <wuxiaoqiang.rtos@huawei.com>
Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
| 1 个月前 |
| voice_asr_service: add ROS2 ASR node
Add a sherpa-onnx based ROS2 ASR package so the robot can capture
microphone audio, transcribe files, and expose hotword updates through
services and topics.
Register the new RecognizeFile and SetHotwords interfaces and extend the
build dependency bootstrap with the required ASR and audio Python packages.
Signed-off-by: liuweihong <liuweihong8@huawei.com>
| 2 个月前 |
| voice_asr_service: add ROS2 ASR node
Add a sherpa-onnx based ROS2 ASR package so the robot can capture
microphone audio, transcribe files, and expose hotword updates through
services and topics.
Register the new RecognizeFile and SetHotwords interfaces and extend the
build dependency bootstrap with the required ASR and audio Python packages.
Signed-off-by: liuweihong <liuweihong8@huawei.com>
| 2 个月前 |
| feat(msgs): add ibrobot_msgs ROS 2 interfaces
Add ROS 2 message, service and action definitions for the embodied AI pipeline:
- Actions: PrimitiveCommand, SkillCommand
- Messages: SceneAnalysisRequest, SceneAnalysisResult, TaskCommand, TaskStatus
- Services: ValidatePrimitive, ValidateSkill
Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
Signed-off-by: liuweihong <liuweihong8@huawei.com>
| 22 天前 |
| feat(msgs): add ibrobot_msgs ROS 2 interfaces
Add ROS 2 message, service and action definitions for the embodied AI pipeline:
- Actions: PrimitiveCommand, SkillCommand
- Messages: SceneAnalysisRequest, SceneAnalysisResult, TaskCommand, TaskStatus
- Services: ValidatePrimitive, ValidateSkill
Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
Signed-off-by: liuweihong <liuweihong8@huawei.com>
| 22 天前 |
