diff --git a/Dockerfile b/Dockerfile index 4ae260694..746567719 100644 --- a/Dockerfile +++ b/Dockerfile @@ -34,7 +34,7 @@ WORKDIR $ROS_WS # Copy ARIAC packages into workspace COPY ./ $ROS_WS/src/ -RUN apt-get update && pip3 install -r $ROS_WS/src/ariac_app/requirements.txt --break-system-packages +RUN apt-get update && pip3 install --ignore-installed -r $ROS_WS/src/ariac_app/requirements.txt --break-system-packages # ================================================================ # Resolve dependencies with rosdep diff --git a/ariac_app/CHANGELOG.rst b/ariac_app/CHANGELOG.rst index 3a2820ac6..aaf30dd34 100644 --- a/ariac_app/CHANGELOG.rst +++ b/ariac_app/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog ^^^^^^^^^ +2025.3.6 (2026-04-27) +---------------------- + 2025.3.5 (2026-02-25) ---------------------- diff --git a/ariac_app/package.xml b/ariac_app/package.xml index 3b87b8565..4a2d3a966 100644 --- a/ariac_app/package.xml +++ b/ariac_app/package.xml @@ -2,7 +2,7 @@ ariac_app - 2025.3.4 + 2025.3.6 TODO: Package description Justin Albrecht BSD-3-Clause diff --git a/ariac_db/CHANGELOG.rst b/ariac_db/CHANGELOG.rst index 75866ee9e..be0813cb5 100644 --- a/ariac_db/CHANGELOG.rst +++ b/ariac_db/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog ^^^^^^^^^ +2025.3.6 (2026-04-27) +---------------------- + 2025.3.5 (2026-02-25) ---------------------- diff --git a/ariac_db/package.xml b/ariac_db/package.xml index f281ca3f6..de23aa54b 100644 --- a/ariac_db/package.xml +++ b/ariac_db/package.xml @@ -2,7 +2,7 @@ ariac_db - 2025.3.4 + 2025.3.6 Package containing scripts and nodes for creating and working with the ariac database Justin Albrecht BSD-3-Clause diff --git a/ariac_description/CHANGELOG.rst b/ariac_description/CHANGELOG.rst index 31431fd7a..c5b5b5b98 100644 --- a/ariac_description/CHANGELOG.rst +++ b/ariac_description/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog ^^^^^^^^^ +2025.3.6 (2026-04-27) +---------------------- + 2025.3.5 (2026-02-25) ---------------------- diff --git a/ariac_description/package.xml b/ariac_description/package.xml index 10bcb418b..d15f31d1f 100644 --- a/ariac_description/package.xml +++ b/ariac_description/package.xml @@ -2,7 +2,7 @@ ariac_description - 2025.3.4 + 2025.3.6 TODO: Package description Joseph Fernandez TODO: License declaration diff --git a/ariac_gz/CHANGELOG.rst b/ariac_gz/CHANGELOG.rst index 05ba4e7f8..ba1c496b9 100644 --- a/ariac_gz/CHANGELOG.rst +++ b/ariac_gz/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog ^^^^^^^^^ +2025.3.6 (2026-04-27) +---------------------- + 2025.3.5 (2026-02-25) ---------------------- * Improved vacuum tool design for reduced stickiness diff --git a/ariac_gz/package.xml b/ariac_gz/package.xml index a9b82138d..fd14f01cd 100644 --- a/ariac_gz/package.xml +++ b/ariac_gz/package.xml @@ -2,7 +2,7 @@ ariac_gz - 2025.3.4 + 2025.3.6 TODO: Package description Joseph Fernandez TODO: License declaration diff --git a/ariac_interfaces/CHANGELOG.rst b/ariac_interfaces/CHANGELOG.rst index 5eea6fad5..44d264f06 100644 --- a/ariac_interfaces/CHANGELOG.rst +++ b/ariac_interfaces/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog ^^^^^^^^^ +2025.3.6 (2026-04-27) +---------------------- + 2025.3.5 (2026-02-25) ---------------------- diff --git a/ariac_interfaces/package.xml b/ariac_interfaces/package.xml index ae0dcaee0..b64dd09f1 100644 --- a/ariac_interfaces/package.xml +++ b/ariac_interfaces/package.xml @@ -2,7 +2,7 @@ ariac_interfaces - 2025.3.4 + 2025.3.6 TODO: Package description ubuntu TODO: License declaration diff --git a/ariac_plugins/CHANGELOG.rst b/ariac_plugins/CHANGELOG.rst index 44a3330cf..d1f4035a5 100644 --- a/ariac_plugins/CHANGELOG.rst +++ b/ariac_plugins/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog ^^^^^^^^^ +2025.3.6 (2026-04-27) +---------------------- +* Fixed top shell wobble and stability issues +* Reduced penalty deserialization issues + 2025.3.5 (2026-02-25) ---------------------- * Improved vacuum tool design for reduced stickiness diff --git a/ariac_plugins/include/ariac_components/penalty.hpp b/ariac_plugins/include/ariac_components/penalty.hpp index f2f4efc67..311e71b42 100644 --- a/ariac_plugins/include/ariac_components/penalty.hpp +++ b/ariac_plugins/include/ariac_components/penalty.hpp @@ -62,6 +62,16 @@ namespace ariac_components } } +inline std::ostream& operator<<(std::ostream& _out, const ariac_components::Penalty &_penalty) +{ + return ariac_components::serializers::PenaltySerializer::Serialize(_out, _penalty); +} + +inline std::istream& operator>>(std::istream& _in, ariac_components::Penalty &_penalty) +{ + return ariac_components::serializers::PenaltySerializer::Deserialize(_in, _penalty); +} + namespace gz::sim::components { using Penalty = Component ariac_plugins - 2025.3.4 + 2025.3.6 Plugins for the ARIAC competition Joseph Fernandez Apache-2.0 diff --git a/ariac_plugins/src/top_shell_plugin.cpp b/ariac_plugins/src/top_shell_plugin.cpp index 3b2d02ca1..f1ba6ef35 100644 --- a/ariac_plugins/src/top_shell_plugin.cpp +++ b/ariac_plugins/src/top_shell_plugin.cpp @@ -31,6 +31,15 @@ void TopShellPlugin::Configure( gz_node->Subscribe(topic_names[1], &TopShellPlugin::slot_1_contact_msg_cb, this); gz_node->Subscribe(topic_names[4], &TopShellPlugin::slot_4_contact_msg_cb, this); + std::optional assembly_conveyor_entity_opt = _ecm.EntityByName("assembly_conveyor"); + + if(!assembly_conveyor_entity_opt.has_value()){ + throw std::runtime_error("Could not find assembly conveyor entity"); + } + + gz::sim::Entity assembly_conveyor_entity = assembly_conveyor_entity_opt.value(); + section_3_link_entity = gz::sim::Model(assembly_conveyor_entity).LinkByName(_ecm, "section_3_belt"); + std::string base_topic = "/world/ariac/model/" + top_shell_model.Name(_ecm) + "/link/base_link/sensor/contact_sensor/contact"; gz_node->Subscribe(base_topic, &TopShellPlugin::base_contact_msg_cb, this); diff --git a/ariac_setup/CHANGELOG.rst b/ariac_setup/CHANGELOG.rst index a573c1a47..c213d6d46 100644 --- a/ariac_setup/CHANGELOG.rst +++ b/ariac_setup/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog ^^^^^^^^^ +2025.3.6 (2026-04-27) +---------------------- + 2025.3.5 (2026-02-25) ---------------------- diff --git a/ariac_setup/package.xml b/ariac_setup/package.xml index 983632a28..9adcf610e 100644 --- a/ariac_setup/package.xml +++ b/ariac_setup/package.xml @@ -2,7 +2,7 @@ ariac_setup - 2025.3.4 + 2025.3.6 Python nodes for setting up the environment Joseph Fernandez TODO: License declaration diff --git a/robotiq_gripper_controller/CHANGELOG.rst b/robotiq_gripper_controller/CHANGELOG.rst index 0128ff812..b150130ea 100644 --- a/robotiq_gripper_controller/CHANGELOG.rst +++ b/robotiq_gripper_controller/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog ^^^^^^^^^ +2025.3.6 (2026-04-27) +---------------------- + 2025.3.5 (2026-02-25) ---------------------- diff --git a/robotiq_gripper_controller/package.xml b/robotiq_gripper_controller/package.xml index 9e7bd658f..cc092444c 100644 --- a/robotiq_gripper_controller/package.xml +++ b/robotiq_gripper_controller/package.xml @@ -2,7 +2,7 @@ robotiq_gripper_controller - 2025.3.4 + 2025.3.6 TODO: Package description Justin Albrecht Apache-2.0