Gerneral gui

.gitmodules

@@ -43,7 +43,4 @@
 	path = submodules/match_robot_controllers
 	url = https://github.com/match-ROS/match_robot_controllers.git
 	branch = main
-[submodule "submodules/gazebo_ros_link_attacher"]
-	path = submodules/gazebo_ros_link_attacher
-	url = https://github.com/pal-robotics/gazebo_ros_link_attacher
-	branch = melodic-devel
+

general_mur_gui/CMakeLists.txt

@@ -0,0 +1,202 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(general_mur_gui)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES general_mur_gui
+#  CATKIN_DEPENDS other_catkin_pkg
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+# ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/general_mur_gui.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/general_mur_gui_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_general_mur_gui.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

general_mur_gui/config/gui_persistence.yaml

@@ -0,0 +1,119 @@
+path_index:
+  updated_at: '2025-12-22 16:44:56'
+  value: 1200
+robots:
+  mur620b:
+    driver_nodes:
+    - /dummy_lift_mur620b_UR10_l
+    - /dummy_lift_mur620b_UR10_r
+    - /mur620b/UR10_r/UR10_r_enable
+    - /mur620b/UR10_r/controller_stopper
+    - /mur620b/UR10_r/gripper_interface
+    - /mur620b/UR10_r/pose_composer_rosmaster_40191_1833764174809868928
+    - /mur620b/UR10_r/pose_composer_rosmaster_40191_3353493515075907955
+    - /mur620b/UR10_r/ros_control_controller_spawner
+    - /mur620b/UR10_r/ros_control_stopped_spawner
+    - /mur620b/UR10_r/rosnode_killer
+    - /mur620b/UR10_r/ur_calibrated_pose_pub_node
+    - /mur620b/UR10_r/ur_hardware_interface
+    - /mur620b/UR10_r/ur_hardware_interface/ur_robot_state_helper
+    - /mur620b/UR10_r/ur_twist_limiter
+    - /mur620b/b_rep117_laser_filter
+    - /mur620b/bms_can_node
+    - /mur620b/external_localization_broadcaster
+    - /mur620b/f_rep117_laser_filter
+    - /mur620b/fake_mir_joint_publisher
+    - /mur620b/light_cmd_transcode
+    - /mur620b/light_cmd_transcode_local
+    - /mur620b/mir_battery_state_publisher
+    - /mur620b/mir_bridge
+    - /mur620b/mir_pose_simple
+    - /mur620b/move_base_node
+    - /mur620b/move_group
+    - /mur620b/odom_transformer
+    - /mur620b/remove_tf_frames
+    - /mur620b/rgb_control
+    - /mur620b/robot_state_publisher
+    - /mur620b/tf_remove_state_publisher_frames
+    updated_at: '2025-12-22 16:21:53'
+  mur620c:
+    driver_nodes:
+    - /mur620c/UR10_r/UR10_r_enable
+    - /mur620c/UR10_r/controller_stopper
+    - /mur620c/UR10_r/ewellix_tlt_node_r
+    - /mur620c/UR10_r/gripper_interface
+    - /mur620c/UR10_r/pose_composer_rosmaster_54388_6894020522162214424
+    - /mur620c/UR10_r/pose_composer_rosmaster_54388_7415755212050513050
+    - /mur620c/UR10_r/ros_control_controller_spawner
+    - /mur620c/UR10_r/ros_control_stopped_spawner
+    - /mur620c/UR10_r/rosnode_killer
+    - /mur620c/UR10_r/ur_calibrated_pose_pub_node
+    - /mur620c/UR10_r/ur_hardware_interface
+    - /mur620c/UR10_r/ur_hardware_interface/ur_robot_state_helper
+    - /mur620c/UR10_r/ur_twist_limiter
+    - /mur620c/b_rep117_laser_filter
+    - /mur620c/bms_can_node
+    - /mur620c/external_localization_broadcaster
+    - /mur620c/f_rep117_laser_filter
+    - /mur620c/fake_mir_joint_publisher
+    - /mur620c/joint_state_aggregator
+    - /mur620c/light_cmd_transcode
+    - /mur620c/light_cmd_transcode_local
+    - /mur620c/mir_battery_state_publisher
+    - /mur620c/mir_bridge
+    - /mur620c/mir_pose_simple
+    - /mur620c/move_base_node
+    - /mur620c/move_group
+    - /mur620c/odom_transformer
+    - /mur620c/remove_tf_frames
+    - /mur620c/rgb_control
+    - /mur620c/robot_state_publisher
+    - /mur620c/tf_remove_state_publisher_frames
+    spray_distance:
+      updated_at: '2025-12-22 16:24:34'
+      value: 0.3
+    updated_at: '2025-12-22 16:21:53'
+  mur620d:
+    driver_nodes:
+    - /mur620d/UR10_r/UR10_r_enable
+    - /mur620d/UR10_r/controller_stopper
+    - /mur620d/UR10_r/ewellix_tlt_node_r
+    - /mur620d/UR10_r/gripper_interface
+    - /mur620d/UR10_r/pose_composer_rosmaster_51674_1544232900518303808
+    - /mur620d/UR10_r/pose_composer_rosmaster_51674_7135075766973754761
+    - /mur620d/UR10_r/ros_control_controller_spawner
+    - /mur620d/UR10_r/ros_control_stopped_spawner
+    - /mur620d/UR10_r/rosnode_killer
+    - /mur620d/UR10_r/ur_calibrated_pose_pub_node
+    - /mur620d/UR10_r/ur_hardware_interface
+    - /mur620d/UR10_r/ur_hardware_interface/ur_robot_state_helper
+    - /mur620d/UR10_r/ur_twist_limiter
+    - /mur620d/b_rep117_laser_filter
+    - /mur620d/bms_can_node
+    - /mur620d/external_localization_broadcaster
+    - /mur620d/f_rep117_laser_filter
+    - /mur620d/fake_mir_joint_publisher
+    - /mur620d/joint_state_aggregator
+    - /mur620d/light_cmd_transcode
+    - /mur620d/light_cmd_transcode_local
+    - /mur620d/mir_battery_state_publisher
+    - /mur620d/mir_bridge
+    - /mur620d/mir_pose_simple
+    - /mur620d/move_base_node
+    - /mur620d/move_group
+    - /mur620d/odom_transformer
+    - /mur620d/remove_tf_frames
+    - /mur620d/rgb_control
+    - /mur620d/robot_state_publisher
+    - /mur620d/tf_remove_state_publisher_frames
+    spray_distance:
+      updated_at: '2025-12-22 16:26:12'
+      value: 0.9
+    updated_at: '2025-12-22 16:21:53'
+servo_targets:
+  left: 20.0
+  right: 100.0
+  updated_at: '2025-12-12 16:47:58'
+spray_distance:
+  updated_at: '2025-12-22 16:26:12'
+  value: 0.9

general_mur_gui/config/rosconsole_debug.config

@@ -0,0 +1,5 @@
+# Forces rosconsole to emit DEBUG logs for all ROS loggers.
+# See http://wiki.ros.org/rosconsole for syntax details.
+log4j.logger.ros=DEBUG
+log4j.logger.ros.roscpp=DEBUG
+log4j.logger.ros.rospy=DEBUG

general_mur_gui/config/servo_calibration_defaults.json

@@ -0,0 +1,12 @@
+{
+  "left": {
+    "max": 3326,
+    "min": 2769,
+    "zero": 1126
+  },
+  "right": {
+    "max": 263,
+    "min": 820,
+    "zero": 2463
+  }
+}

general_mur_gui/launch/enable_all_URs.launch

@@ -0,0 +1,10 @@
+<launch>
+    <!-- Argument für die Liste der Roboter -->
+    <arg name="robot_names" default="[]" />
+    <arg name="UR_prefixes" default="['UR10_l', 'UR10_r']" />
+
+    <node pkg="print_gui" type="enable_all_URs.py" name="enable_all_URs" output="screen">
+        <rosparam param="robot_names" subst_value="True">$(arg robot_names) </rosparam>
+        <rosparam param="UR_prefixes" subst_value="True">$(arg UR_prefixes) </rosparam>
+    </node>
+</launch>

general_mur_gui/launch/gui.launch

@@ -0,0 +1,5 @@
+<launch>
+
+    <node type="main.py" name="$(anon gui)" pkg="general_mur_gui" output="screen"/> 
+
+  </launch>

general_mur_gui/launch/increment_path_index.launch

@@ -0,0 +1,13 @@
+<launch>
+    <!-- Argument für die Liste der Roboter -->
+    <arg name="path_index_topic" default="/path_index" />
+    <arg name="initial_path_index" default="0" />
+
+    <node pkg="print_gui" type="increment_path_index.py" name="increment_path_index" output="screen">
+        <param name="path_index_topic" value="$(arg path_index_topic)" />
+        <param name="initial_path_index" value="$(arg initial_path_index)" />
+    </node>
+</launch>
+
+
+

general_mur_gui/launch/launch_rviz.launch

@@ -0,0 +1,5 @@
+<launch>
+
+    <node type="rviz" name="$(anon rviz_handling)" pkg="rviz" args="-d $(find print_gui)/rviz/print_HW.rviz"/> 
+
+  </launch>