Release 3

[vamsikalagaturu]

No description provided.

[Copilot]

Pull request overview

This PR transitions the pick-and-place FSM implementation from a C++ mock client to a Python-based FSM with integrated slip detection and service-based reference capture. The changes introduce a new ROS2 service definition, refactor the FSM to use Python with DSL-generated code, add gripper slip detection capabilities, and update the build configuration to support Python executables and interface generation.

Key Changes:

• Replaced C++ FSM mock implementation with Python FSM using DSL-generated state machine
• Added slip detection node with service-based reference capture mechanism
• Introduced CaptureReference.srv service definition for coordinating gripper state monitoring

Reviewed changes

Copilot reviewed 43 out of 62 changed files in this pull request and generated 1 comment.

Show a summary per file

File	Description
srv/CaptureReference.srv	New service definition for capturing gripper reference position
src/pick_place_fsm_mock.cpp	Refactored C++ FSM to integrate with DSL-generated state machine
src/pick_place.py	New Python FSM implementation with comprehensive state management and action client integration
src/mock_servers_only.cpp	Removed mock server implementation
src/error_handling.py	New gripper slip detection node with service-based reference capture
package.xml	Updated dependencies to support Python execution and interface generation
CMakeLists.txt	Reconfigured build to generate interfaces and install Python executables
how_to_run.md	Added comprehensive setup and execution instructions
README.md	Added project overview and FSM documentation
include/pick_place_py.fsm	New FSM definition file for DSL code generation
include/fsm_pick_place.py	Auto-generated Python FSM implementation from DSL

Comments suppressed due to low confidence (2)

src/pick_place.py:1

• The methods arm_goal_response and arm_result on lines 362-388 are duplicates of the private methods _arm_goal_response and _arm_result defined earlier (lines 335-360). This code duplication should be removed to improve maintainability. Remove these duplicate methods and ensure all callers use the private underscore-prefixed versions.
  src/error_handling.py:1
• The filename error_handling.py does not accurately reflect the module's purpose, which is gripper slip detection. The module should be renamed to gripper_slip_detector.py to match the class name GripperSlipDetector and improve code clarity.

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[Copilot]

The example command publishes a pose with an empty orientation quaternion, which is invalid. A valid quaternion should have w: 1.0 for no rotation. Update the command to include orientation: {w: 1.0} to provide a valid example.

Suggested change

	ros2 topic pub --once /object_pose geometry_msgs/msg/PoseStamped "{header: {frame_id: 'eddie_right_arm_camera_link'}, pose: {position: {x: 0.0, y: 0.0, z: 0.4}, orientation: {}}}"
	ros2 topic pub --once /object_pose geometry_msgs/msg/PoseStamped "{header: {frame_id: 'eddie_right_arm_camera_link'}, pose: {position: {x: 0.0, y: 0.0, z: 0.4}, orientation: {w: 1.0}}}"

[vamsikalagaturu]

@jetcanine your object slip detection code should not be in this repo