Dynamic payload analysis version with all basic feature implemented (max payloads, affordable configs, torque requirements, payload selection) (#11)

* added function to calculate max allowable payload for a given config

* improvements in usage in the rviz panel

* added calculation for max allowable payload in the calculated configurations of workspace

* fix personal name

* add method to compute maximum payloads with binary search

* small changes to show maximum payloads

* added publisher of the maximum payload as point cloud

* Remove files not necessary for PR

* Fix type hint variables

* added menu for tree selection

* small changes to fit the array format

* Added first version with tree selection

* modify core for trees handling

* small changes for new version with tree selection

* changes for better user experience with new version

* fix error in publishing markers

* refactor function to calculate maximum torques

* added method to avoid overlaps between torque labels

* small fix

* added new method to calculate sutrees

* added first version with mimic joints

* add support for mimic joints and add filter in the subtrees

* added parameter for advanced mode

* added new method to get mimic joints from the URDF

* small changes

* Change library to get mimic joints

* fixed publisher for payload visualization

* improvements to avoid not necessary calculations

* added configuration parameter for IK resolution

* added new method for payload selection

* changed way of publishing marker labels

* changed name of tip link in tree selection

* remove not necessary imported libraries

* adjusted visualization color for unified torque points

* changed range of IK solver

* fix range IK

* small change in the range of IK

* added removed files

* Apply suggestions from code review

Co-authored-by: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>

* added root joint name for a universal usage with multiple type of robot

* added IK range as node parameter

* added dependencies for the packages

* fix small problem with None object

* fix dependencies name for urdf parser library

---------

Co-authored-by: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>

Author: enrico391

dynamic_payload_analysis_core/dynamic_payload_analysis_core/core.py

@@ -4,14 +4,20 @@
   <name>dynamic_payload_analysis_core</name>
   <version>0.0.0</version>
   <description>Core package with calculation for torques calculator</description>
-  <maintainer email="enrimoro003@gmail.com">morolinux</maintainer>
+  <maintainer email="enrimoro003@gmail.com">Moro Enrico</maintainer>
   <license>Apache License 2.0</license>
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>
   <test_depend>ament_pep257</test_depend>
   <test_depend>python3-pytest</test_depend>
 
+  <depend>python3-numpy</depend>
+  <depend>urdf_parser_py</depend>
+  <depend>pinocchio</depend>
+  <depend>python-pathlib</depend>
+  <depend>python-typing</depend>
+
   <export>
     <build_type>ament_python</build_type>
   </export>

dynamic_payload_analysis_core/package.xml

@@ -11,13 +11,15 @@
             ['resource/' + package_name]),
         ('share/' + package_name, ['package.xml']),
     ],
-    install_requires=['setuptools'],
     zip_safe=True,
     maintainer='Enrico Moro',
     maintainer_email='enrimoro003@gmail.com',
     description='This package implements core functionalities for dynamic payload analysis in robotics, focusing on torque calculations and external force handling.',
     license='Apache License 2.0',
     tests_require=['pytest'],
+    install_requires=[
+        'setuptools',
+    ],
     entry_points={
         'console_scripts': [
         ],

dynamic_payload_analysis_core/setup.py

@@ -4,14 +4,22 @@
   <name>dynamic_payload_analysis_ros</name>
   <version>0.0.0</version>
   <description>This package provides tools for dynamic payload analysis in robotics with a focus on torque calculations and external force handling.</description>
-  <maintainer email="enrimoro003@gmail.com">morolinux</maintainer>
+  <maintainer email="enrimoro003@gmail.com">Moro Enrico</maintainer>
   <license>Apache License 2.0</license>
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>
   <test_depend>ament_pep257</test_depend>
   <test_depend>python3-pytest</test_depend>
 
+  <depend>dynamic_payload_analysis_core</depend>
+  <depend>rclpy</depend>
+  <depend>std_msgs</depend>
+  <depend>sensor_msgs</depend>
+  <depend>builtin_interfaces</depend>
+  <depend>visualization_msgs</depend>
+  <depend>interactive_markers</depend>
+
   <export>
     <build_type>ament_python</build_type>
   </export>

dynamic_payload_analysis_ros/dynamic_payload_analysis_ros/menu_visual.py

@@ -11,16 +11,18 @@
             ['resource/' + package_name]),
         ('share/' + package_name, ['package.xml']),
     ],
-    install_requires=['setuptools'],
     zip_safe=True,
     maintainer='Enrico Moro',
     maintainer_email='enrimoro003@gmail.com',
     description='This package provides graphics tools in Rviz for dynamic payload analysis in robotics with a focus on torque calculations and external force handling.',
     license='Apache License 2.0',
     tests_require=['pytest'],
+    install_requires=[
+        'setuptools',
+        'numpy'
+    ],
     entry_points={
         'console_scripts': [
-            'node_rviz_visualization = dynamic_payload_analysis_ros.rviz_visualization:main',
             'node_rviz_visualization_menu = dynamic_payload_analysis_ros.rviz_visualization_menu:main',
         ],
     },